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Add Mvs-Texturing 

Former-commit-id: 31e3203e5a
pull/1161/head
Dakota Benjamin 2016-03-24 13:35:29 -04:00
rodzic a91d859645
commit f95d55356f
20 zmienionych plików z 1193 dodań i 424 usunięć
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4
SuperBuild/CMakeLists.txt
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@ -103,7 +103,9 @@ set(custom_libs OpenGV
Catkin
Ecto
LAStools
PDAL)
PDAL
MvsTexturing
)
foreach(lib ${custom_libs})
SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})

29
SuperBuild/cmake/External-MvsTexturing.cmake 100644
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@ -0,0 +1,29 @@
set(_proj_name mvstexuring)
set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
ExternalProject_Add(${_proj_name}
DEPENDS
PREFIX ${_SB_BINARY_DIR}
TMP_DIR ${_SB_BINARY_DIR}/tmp
STAMP_DIR ${_SB_BINARY_DIR}/stamp
#--Download step--------------
DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
URL https://github.com/nmoehrle/mvs-texturing/archive/dab68acaa693275c183c254a958130ee6d29c3e4.zip
URL_MD5 0b0466f5d1046699594ce7fc77bdad02
#--Update/Patch step----------
UPDATE_COMMAND ""
#--Configure step-------------
SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
CMAKE_ARGS
-DRESEARCH=OFF
-DCMAKE_BUILD_TYPE:STRING=Release
-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
#--Build step-----------------
BINARY_DIR ${_SB_BINARY_DIR}
#--Install step---------------
INSTALL_DIR ${SB_INSTALL_DIR}
#--Output logging-------------
LOG_DOWNLOAD OFF
LOG_CONFIGURE OFF
LOG_BUILD OFF
)

0
ccd_defs_check.py 100755 → 100644
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8
configure.sh
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@ -26,8 +26,16 @@ sudo apt-get install build-essential \
git \
python-pip \
libgdal-dev \
gdal-bin \
libgeotiff-dev \
pkg-config -y
# If we have ubuntu version 14.04, the cmake version in apt-get is too low for mvs-texturing.
if [[ `lsb_release -rs` == "14.04" ]];
then
bash upgradecmake.sh
fi
if [ $? -ne 0 ]
then
echo -e "\e[1;31mERROR: \e[39mWhen Installing Required Requisites\e[0m"

0
hooks/pre-commit 100755 → 100644
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203
modules/odm_georef/CMakeLists.txt.user
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@ -1,203 +0,0 @@
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368
modules/odm_georef/src/Georef.cpp
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@ -6,9 +6,6 @@
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
// Modified PCL
#include "modifiedPclFunctions.hpp"
// This
#include "Georef.hpp"
@ -753,7 +750,7 @@ void Georef::performGeoreferencingWithGCP()
log_ << "Reading mesh file " << inputObjFilename_ <<"\n";
log_ << '\n';
pcl::TextureMesh mesh;
if (pcl::io::loadOBJFile(inputObjFilename_, mesh) == -1)
if (loadObjFile(inputObjFilename_, mesh) == -1)
{
throw GeorefException("Error when reading model from:\n" + inputObjFilename_ + "\n");
}
@ -1077,7 +1074,7 @@ void Georef::createGeoreferencedModelFromExifData()
log_ << '\n';
log_ << "Reading mesh file...\n";
pcl::TextureMesh mesh;
pcl::io::loadOBJFile(inputObjFilename_, mesh);
loadObjFile(inputObjFilename_, mesh);
log_ << ".. mesh file read.\n";
// Contains the vertices of the mesh.
@ -1249,3 +1246,364 @@ void Georef::printGeorefSystem()
}
bool Georef::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
{
int data_type;
unsigned int data_idx;
int file_version;
int offset = 0;
Eigen::Vector4f origin;
Eigen::Quaternionf orientation;
if (!readHeader(inputFile, mesh.cloud, origin, orientation, file_version, data_type, data_idx, offset))
{
throw GeorefException("Problem reading header in modelfile!\n");
}
std::ifstream fs;
fs.open (inputFile.c_str (), std::ios::binary);
if (!fs.is_open () || fs.fail ())
{
//PCL_ERROR ("[pcl::OBJReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno));
fs.close ();
log_<<"Could not read mesh from file ";
log_ << inputFile.c_str();
log_ <<"\n";
throw GeorefException("Problem reading mesh from file!\n");
}
// Seek at the given offset
fs.seekg (data_idx, std::ios::beg);
// Get normal_x field indices
int normal_x_field = -1;
for (std::size_t i = 0; i < mesh.cloud.fields.size (); ++i)
{
if (mesh.cloud.fields[i].name == "normal_x")
{
normal_x_field = i;
break;
}
}
std::size_t v_idx = 0;
std::size_t vn_idx = 0;
std::size_t vt_idx = 0;
std::size_t f_idx = 0;
std::string line;
std::vector<std::string> st;
std::vector<Eigen::Vector2f> coordinates;
std::vector<Eigen::Vector2f> allTexCoords;
std::map<int, int> f2vt;
try
{
while (!fs.eof ())
{
getline (fs, line);
// Ignore empty lines
if (line == "")
continue;
// Tokenize the line
std::stringstream sstream (line);
sstream.imbue (std::locale::classic ());
line = sstream.str ();
boost::trim (line);
boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
// Ignore comments
if (st[0] == "#")
continue;
// Vertex
if (st[0] == "v")
{
try
{
for (int i = 1, f = 0; i < 4; ++i, ++f)
{
float value = boost::lexical_cast<float> (st[i]);
memcpy (&mesh.cloud.data[v_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset], &value, sizeof (float));
}
++v_idx;
}
catch (const boost::bad_lexical_cast &e)
{
log_<<"Unable to convert %s to vertex coordinates!\n";
throw GeorefException("Unable to convert %s to vertex coordinates!");
}
continue;
}
// Vertex normal
if (st[0] == "vn")
{
try
{
for (int i = 1, f = normal_x_field; i < 4; ++i, ++f)
{
float value = boost::lexical_cast<float> (st[i]);
memcpy (&mesh.cloud.data[vn_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset],
&value,
sizeof (float));
}
++vn_idx;
}
catch (const boost::bad_lexical_cast &e)
{
log_<<"Unable to convert %s to vertex normal!\n";
throw GeorefException("Unable to convert %s to vertex normal!");
}
continue;
}
// Texture coordinates
if (st[0] == "vt")
{
try
{
Eigen::Vector3f c (0, 0, 0);
for (std::size_t i = 1; i < st.size (); ++i)
c[i-1] = boost::lexical_cast<float> (st[i]);
if (c[2] == 0)
coordinates.push_back (Eigen::Vector2f (c[0], c[1]));
else
coordinates.push_back (Eigen::Vector2f (c[0]/c[2], c[1]/c[2]));
++vt_idx;
}
catch (const boost::bad_lexical_cast &e)
{
log_<<"Unable to convert %s to vertex texture coordinates!\n";
throw GeorefException("Unable to convert %s to vertex texture coordinates!");
}
continue;
}
// Material
if (st[0] == "usemtl")
{
mesh.tex_polygons.push_back (std::vector<pcl::Vertices> ());
mesh.tex_materials.push_back (pcl::TexMaterial ());
for (std::size_t i = 0; i < companions_.size (); ++i)
{
std::vector<pcl::TexMaterial>::const_iterator mat_it = companions_[i].getMaterial (st[1]);
if (mat_it != companions_[i].materials_.end ())
{
mesh.tex_materials.back () = *mat_it;
break;
}
}
// We didn't find the appropriate material so we create it here with name only.
if (mesh.tex_materials.back ().tex_name == "")
mesh.tex_materials.back ().tex_name = st[1];
mesh.tex_coordinates.push_back (coordinates);
coordinates.clear ();
continue;
}
// Face
if (st[0] == "f")
{
//We only care for vertices indices
pcl::Vertices face_v; face_v.vertices.resize (st.size () - 1);
for (std::size_t i = 1; i < st.size (); ++i)
{
int v;
sscanf (st[i].c_str (), "%d", &v);
v = (v < 0) ? v_idx + v : v - 1;
face_v.vertices[i-1] = v;
int v2, vt, vn;
sscanf (st[i].c_str (), "%d/%d/%d", &v2, &vt, &vn);
f2vt[3*(f_idx) + i-1] = vt-1;
}
mesh.tex_polygons.back ().push_back (face_v);
++f_idx;
continue;
}
}
}
catch (const char *exception)
{
fs.close ();
log_<<"Unable to read file!\n";
throw GeorefException("Unable to read file!");
}
if (vt_idx != v_idx)
{
std::vector<Eigen::Vector2f> texcoordinates = std::vector<Eigen::Vector2f>(0);
for (size_t faceIndex = 0; faceIndex < f_idx; ++faceIndex)
{
for(size_t i = 0; i < 3; ++i)
{
Eigen::Vector2f vt = mesh.tex_coordinates[0][f2vt[3*faceIndex+i]];
texcoordinates.push_back(vt);
}
}
mesh.tex_coordinates.clear();
mesh.tex_coordinates.push_back(texcoordinates);
}
fs.close();
return (0);
}
bool Georef::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &file_version, int &data_type, unsigned int &data_idx,
const int offset)
{
origin = Eigen::Vector4f::Zero ();
orientation = Eigen::Quaternionf::Identity ();
file_version = 0;
cloud.width = cloud.height = cloud.point_step = cloud.row_step = 0;
cloud.data.clear ();
data_type = 0;
data_idx = offset;
std::ifstream fs;
std::string line;
if (file_name == "" || !boost::filesystem::exists (file_name))
{
return false;
}
// Open file in binary mode to avoid problem of
// std::getline() corrupting the result of ifstream::tellg()
fs.open (file_name.c_str (), std::ios::binary);
if (!fs.is_open () || fs.fail ())
{
fs.close ();
return false;
}
// Seek at the given offset
fs.seekg (offset, std::ios::beg);
// Read the header and fill it in with wonderful values
bool vertex_normal_found = false;
bool vertex_texture_found = false;
// Material library, skip for now!
// bool material_found = false;
std::vector<std::string> material_files;
std::size_t nr_point = 0;
std::vector<std::string> st;
try
{
while (!fs.eof ())
{
getline (fs, line);
// Ignore empty lines
if (line == "")
continue;
// Tokenize the line
std::stringstream sstream (line);
sstream.imbue (std::locale::classic ());
line = sstream.str ();
boost::trim (line);
boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
// Ignore comments
if (st.at (0) == "#")
continue;
// Vertex
if (st.at (0) == "v")
{
++nr_point;
continue;
}
// Vertex texture
if ((st.at (0) == "vt") && !vertex_texture_found)
{
vertex_texture_found = true;
continue;
}
// Vertex normal
if ((st.at (0) == "vn") && !vertex_normal_found)
{
vertex_normal_found = true;
continue;
}
// Material library, skip for now!
if (st.at (0) == "mtllib")
{
material_files.push_back (st.at (1));
continue;
}
}
}
catch (const char *exception)
{
fs.close ();
return false;
}
if (!nr_point)
{
fs.close ();
return false;
}
int field_offset = 0;
for (int i = 0; i < 3; ++i, field_offset += 4)
{
cloud.fields.push_back (pcl::PCLPointField ());
cloud.fields[i].offset = field_offset;
cloud.fields[i].datatype = pcl::PCLPointField::FLOAT32;
cloud.fields[i].count = 1;
}
cloud.fields[0].name = "x";
cloud.fields[1].name = "y";
cloud.fields[2].name = "z";
if (vertex_normal_found)
{
std::string normals_names[3] = { "normal_x", "normal_y", "normal_z" };
for (int i = 0; i < 3; ++i, field_offset += 4)
{
cloud.fields.push_back (pcl::PCLPointField ());
pcl::PCLPointField& last = cloud.fields.back ();
last.name = normals_names[i];
last.offset = field_offset;
last.datatype = pcl::PCLPointField::FLOAT32;
last.count = 1;
}
}
if (material_files.size () > 0)
{
for (std::size_t i = 0; i < material_files.size (); ++i)
{
pcl::MTLReader companion;
if (companion.read (file_name, material_files[i]))
{
log_<<"Problem reading material file.";
}
companions_.push_back (companion);
}
}
cloud.point_step = field_offset;
cloud.width = nr_point;
cloud.height = 1;
cloud.row_step = cloud.point_step * cloud.width;
cloud.is_dense = true;
cloud.data.resize (cloud.point_step * nr_point);
fs.close ();
return true;
}

24
modules/odm_georef/src/Georef.hpp
Wyświetl plik

@ -8,6 +8,8 @@
// PCL
#include <pcl/common/eigen.h>
#include <pcl/common/common.h>
// Modified PCL
#include "modifiedPclFunctions.hpp"
// Logger
#include "Logger.hpp"
@ -204,6 +206,24 @@ private:
**/
void printGeorefSystem();
/*!
* \brief Loads a model from an .obj file (replacement for the pcl obj loader).
*
* \param inputFile Path to the .obj file.
* \param mesh The model.
* \return True if model was loaded successfully.
*/
bool loadObjFile(std::string inputFile, pcl::TextureMesh &mesh);
/*!
* \brief Function is compied straight from the function in the pcl::io module.
*/
bool readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &file_version, int &data_type, unsigned int &data_idx,
const int offset);
Logger log_; /**< Logging object. */
std::string logFile_; /**< The path to the output log file. */
@ -230,6 +250,10 @@ private:
std::vector<std::string> imageList_; /**< A vector containing the names of the corresponding cameras. **/
GeorefSystem georefSystem_; /**< Contains the georeference system. **/
bool multiMaterial_; /**< True if the mesh has multiple materials. **/
std::vector<pcl::MTLReader> companions_; /**< Materials (used by loadOBJFile). **/
};
/*!

1
modules/odm_georef/src/modifiedPclFunctions.hpp
Wyświetl plik

@ -8,6 +8,7 @@
#include <pcl/point_types.h>
#include <pcl/surface/texture_mapping.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
int saveOBJFile(const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision);

203
modules/odm_orthophoto/CMakeLists.txt.user
Wyświetl plik

@ -1,203 +0,0 @@
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<!DOCTYPE QtCreatorProject>
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426
modules/odm_orthophoto/src/OdmOrthoPhoto.cpp
Wyświetl plik

@ -266,7 +266,7 @@ void OdmOrthoPhoto::printHelp()
log_ << "Call the program with flag \"-help\", or without parameters to print this message, or check any generated log file.\n";
log_ << "Call the program with flag \"-verbose\", to print log messages in the standard output stream as well as in the log file.\n\n";
log_ << "Parameters are specified as: \"-<argument name> <argument>\", (without <>), and the following parameters are configureable:n";
log_ << "Parameters are specified as: \"-<argument name> <argument>\", (without <>), and the following parameters are configureable:\n";
log_ << "\"-inputFile <path>\" (mandatory)\n";
log_ << "\"Input obj file that must contain a textured mesh.\n\n";
@ -321,18 +321,20 @@ void OdmOrthoPhoto::createOrthoPhoto()
log_ << "Reading mesh file...\n";
// The textureds mesh.
pcl::TextureMesh mesh;
pcl::io::loadOBJFile(inputFile_, mesh);
loadObjFile(inputFile_, mesh);
log_ << ".. mesh file read.\n\n";
// Does the model have more than one material?
multiMaterial_ = 1 < mesh.tex_materials.size();
bool splitModel = false;
if(multiMaterial_)
{
// Need to check relationship between texture coordinates and faces.
if(!isModelOk(mesh))
{
throw OdmOrthoPhotoException("Could not generate ortho photo: The given mesh has multiple textures, but the number of texture coordinates is NOT equal to 3 times the number of faces.");
splitModel = true;
}
}
@ -386,6 +388,58 @@ void OdmOrthoPhoto::createOrthoPhoto()
pcl::PointCloud<pcl::PointXYZ>::Ptr meshCloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2 (mesh.cloud, *meshCloud);
// Split model and make copies of vertices and texture coordinates for all faces
//if (splitModel)
if (splitModel)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr meshCloudSplit (new pcl::PointCloud<pcl::PointXYZ>);
std::vector<Eigen::Vector2f> textureCoordinates = std::vector<Eigen::Vector2f>(0);
size_t vertexIndexCount = 0;
for(size_t t = 0; t < mesh.tex_polygons.size(); ++t)
{
for(size_t faceIndex = 0; faceIndex < mesh.tex_polygons[t].size(); ++faceIndex)
{
pcl::Vertices polygon = mesh.tex_polygons[t][faceIndex];
// The index to the vertices of the polygon.
size_t v1i = polygon.vertices[0];
size_t v2i = polygon.vertices[1];
size_t v3i = polygon.vertices[2];
// The polygon's points.
pcl::PointXYZ v1 = meshCloud->points[v1i];
pcl::PointXYZ v2 = meshCloud->points[v2i];
pcl::PointXYZ v3 = meshCloud->points[v3i];
Eigen::Vector2f vt1 = mesh.tex_coordinates[0][3*faceIndex];
Eigen::Vector2f vt2 = mesh.tex_coordinates[0][3*faceIndex + 1];
Eigen::Vector2f vt3 = mesh.tex_coordinates[0][3*faceIndex + 2];
meshCloudSplit->points.push_back(v1);
textureCoordinates.push_back(vt1);
mesh.tex_polygons[t][faceIndex].vertices[0] = vertexIndexCount;
++vertexIndexCount;
meshCloudSplit->points.push_back(v2);
textureCoordinates.push_back(vt2);
mesh.tex_polygons[t][faceIndex].vertices[1] = vertexIndexCount;
++vertexIndexCount;
meshCloudSplit->points.push_back(v3);
textureCoordinates.push_back(vt3);
mesh.tex_polygons[t][faceIndex].vertices[2] = vertexIndexCount;
++vertexIndexCount;
}
}
mesh.tex_coordinates.clear();
mesh.tex_coordinates.push_back(textureCoordinates);
meshCloud = meshCloudSplit;
}
// Creates a transformation which aligns the area for the ortho photo.
Eigen::Transform<float, 3, Eigen::Affine> transform = getROITransform(xMin, -yMax);
@ -401,6 +455,7 @@ void OdmOrthoPhoto::createOrthoPhoto()
{
uvs.insert(uvs.end(), mesh.tex_coordinates[t].begin(), mesh.tex_coordinates[t].end());
}
//cv::namedWindow("dsfs");
// The current material texture
cv::Mat texture;
@ -416,7 +471,7 @@ void OdmOrthoPhoto::createOrthoPhoto()
// The material of the current submesh.
pcl::TexMaterial material = mesh.tex_materials[t];
texture = cv::imread(material.tex_file);
// Check for missing files.
if(texture.empty())
{
@ -659,6 +714,7 @@ void OdmOrthoPhoto::drawTexturedTriangle(const cv::Mat &texture, const pcl::Vert
v1u = uvs[3*faceIndex][0]; v1v = uvs[3*faceIndex][1];
v2u = uvs[3*faceIndex+1][0]; v2v = uvs[3*faceIndex+1][1];
v3u = uvs[3*faceIndex+2][0]; v3v = uvs[3*faceIndex+2][1];
}
else
{
@ -994,3 +1050,365 @@ bool OdmOrthoPhoto::isModelOk(const pcl::TextureMesh &mesh)
return 3*nFaces == nTextureCoordinates;
}
bool OdmOrthoPhoto::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
{
int data_type;
unsigned int data_idx;
int file_version;
int offset = 0;
Eigen::Vector4f origin;
Eigen::Quaternionf orientation;
if (!readHeader(inputFile, mesh.cloud, origin, orientation, file_version, data_type, data_idx, offset))
{
throw OdmOrthoPhotoException("Problem reading header in modelfile!\n");
}
std::ifstream fs;
fs.open (inputFile.c_str (), std::ios::binary);
if (!fs.is_open () || fs.fail ())
{
//PCL_ERROR ("[pcl::OBJReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno));
fs.close ();
log_<<"Could not read mesh from file ";
log_ << inputFile.c_str();
log_ <<"\n";
throw OdmOrthoPhotoException("Problem reading mesh from file!\n");
}
// Seek at the given offset
fs.seekg (data_idx, std::ios::beg);
// Get normal_x field indices
int normal_x_field = -1;
for (std::size_t i = 0; i < mesh.cloud.fields.size (); ++i)
{
if (mesh.cloud.fields[i].name == "normal_x")
{
normal_x_field = i;
break;
}
}
std::size_t v_idx = 0;
std::size_t vn_idx = 0;
std::size_t vt_idx = 0;
std::size_t f_idx = 0;
std::string line;
std::vector<std::string> st;
std::vector<Eigen::Vector2f> coordinates;
std::vector<Eigen::Vector2f> allTexCoords;
std::map<int, int> f2vt;
try
{
while (!fs.eof ())
{
getline (fs, line);
// Ignore empty lines
if (line == "")
continue;
// Tokenize the line
std::stringstream sstream (line);
sstream.imbue (std::locale::classic ());
line = sstream.str ();
boost::trim (line);
boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
// Ignore comments
if (st[0] == "#")
continue;
// Vertex
if (st[0] == "v")
{
try
{
for (int i = 1, f = 0; i < 4; ++i, ++f)
{
float value = boost::lexical_cast<float> (st[i]);
memcpy (&mesh.cloud.data[v_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset], &value, sizeof (float));
}
++v_idx;
}
catch (const boost::bad_lexical_cast &e)
{
log_<<"Unable to convert %s to vertex coordinates!\n";
throw OdmOrthoPhotoException("Unable to convert %s to vertex coordinates!");
}
continue;
}
// Vertex normal
if (st[0] == "vn")
{
try
{
for (int i = 1, f = normal_x_field; i < 4; ++i, ++f)
{
float value = boost::lexical_cast<float> (st[i]);
memcpy (&mesh.cloud.data[vn_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset],
&value,
sizeof (float));
}
++vn_idx;
}
catch (const boost::bad_lexical_cast &e)
{
log_<<"Unable to convert %s to vertex normal!\n";
throw OdmOrthoPhotoException("Unable to convert %s to vertex normal!");
}
continue;
}
// Texture coordinates
if (st[0] == "vt")
{
try
{
Eigen::Vector3f c (0, 0, 0);
for (std::size_t i = 1; i < st.size (); ++i)
c[i-1] = boost::lexical_cast<float> (st[i]);
if (c[2] == 0)
coordinates.push_back (Eigen::Vector2f (c[0], c[1]));
else
coordinates.push_back (Eigen::Vector2f (c[0]/c[2], c[1]/c[2]));
++vt_idx;
}
catch (const boost::bad_lexical_cast &e)
{
log_<<"Unable to convert %s to vertex texture coordinates!\n";
throw OdmOrthoPhotoException("Unable to convert %s to vertex texture coordinates!");
}
continue;
}
// Material
if (st[0] == "usemtl")
{
mesh.tex_polygons.push_back (std::vector<pcl::Vertices> ());
mesh.tex_materials.push_back (pcl::TexMaterial ());
for (std::size_t i = 0; i < companions_.size (); ++i)
{
std::vector<pcl::TexMaterial>::const_iterator mat_it = companions_[i].getMaterial (st[1]);
if (mat_it != companions_[i].materials_.end ())
{
mesh.tex_materials.back () = *mat_it;
break;
}
}
// We didn't find the appropriate material so we create it here with name only.
if (mesh.tex_materials.back ().tex_name == "")
mesh.tex_materials.back ().tex_name = st[1];
mesh.tex_coordinates.push_back (coordinates);
coordinates.clear ();
continue;
}
// Face
if (st[0] == "f")
{
//We only care for vertices indices
pcl::Vertices face_v; face_v.vertices.resize (st.size () - 1);
for (std::size_t i = 1; i < st.size (); ++i)
{
int v;
sscanf (st[i].c_str (), "%d", &v);
v = (v < 0) ? v_idx + v : v - 1;
face_v.vertices[i-1] = v;
int v2, vt, vn;
sscanf (st[i].c_str (), "%d/%d/%d", &v2, &vt, &vn);
f2vt[3*(f_idx) + i-1] = vt-1;
}
mesh.tex_polygons.back ().push_back (face_v);
++f_idx;
continue;
}
}
}
catch (const char *exception)
{
fs.close ();
log_<<"Unable to read file!\n";
throw OdmOrthoPhotoException("Unable to read file!");
}
if (vt_idx != v_idx)
{
std::vector<Eigen::Vector2f> texcoordinates = std::vector<Eigen::Vector2f>(0);
for (size_t faceIndex = 0; faceIndex < f_idx; ++faceIndex)
{
for(size_t i = 0; i < 3; ++i)
{
Eigen::Vector2f vt = mesh.tex_coordinates[0][f2vt[3*faceIndex+i]];
texcoordinates.push_back(vt);
}
}
mesh.tex_coordinates.clear();
mesh.tex_coordinates.push_back(texcoordinates);
}
fs.close();
return (0);
}
bool OdmOrthoPhoto::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &file_version, int &data_type, unsigned int &data_idx,
const int offset)
{
origin = Eigen::Vector4f::Zero ();
orientation = Eigen::Quaternionf::Identity ();
file_version = 0;
cloud.width = cloud.height = cloud.point_step = cloud.row_step = 0;
cloud.data.clear ();
data_type = 0;
data_idx = offset;
std::ifstream fs;
std::string line;
if (file_name == "" || !boost::filesystem::exists (file_name))
{
return false;
}
// Open file in binary mode to avoid problem of
// std::getline() corrupting the result of ifstream::tellg()
fs.open (file_name.c_str (), std::ios::binary);
if (!fs.is_open () || fs.fail ())
{
fs.close ();
return false;
}
// Seek at the given offset
fs.seekg (offset, std::ios::beg);
// Read the header and fill it in with wonderful values
bool vertex_normal_found = false;
bool vertex_texture_found = false;
// Material library, skip for now!
// bool material_found = false;
std::vector<std::string> material_files;
std::size_t nr_point = 0;
std::vector<std::string> st;
try
{
while (!fs.eof ())
{
getline (fs, line);
// Ignore empty lines
if (line == "")
continue;
// Tokenize the line
std::stringstream sstream (line);
sstream.imbue (std::locale::classic ());
line = sstream.str ();
boost::trim (line);
boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
// Ignore comments
if (st.at (0) == "#")
continue;
// Vertex
if (st.at (0) == "v")
{
++nr_point;
continue;
}
// Vertex texture
if ((st.at (0) == "vt") && !vertex_texture_found)
{
vertex_texture_found = true;
continue;
}
// Vertex normal
if ((st.at (0) == "vn") && !vertex_normal_found)
{
vertex_normal_found = true;
continue;
}
// Material library, skip for now!
if (st.at (0) == "mtllib")
{
material_files.push_back (st.at (1));
continue;
}
}
}
catch (const char *exception)
{
fs.close ();
return false;
}
if (!nr_point)
{
fs.close ();
return false;
}
int field_offset = 0;
for (int i = 0; i < 3; ++i, field_offset += 4)
{
cloud.fields.push_back (pcl::PCLPointField ());
cloud.fields[i].offset = field_offset;
cloud.fields[i].datatype = pcl::PCLPointField::FLOAT32;
cloud.fields[i].count = 1;
}
cloud.fields[0].name = "x";
cloud.fields[1].name = "y";
cloud.fields[2].name = "z";
if (vertex_normal_found)
{
std::string normals_names[3] = { "normal_x", "normal_y", "normal_z" };
for (int i = 0; i < 3; ++i, field_offset += 4)
{
cloud.fields.push_back (pcl::PCLPointField ());
pcl::PCLPointField& last = cloud.fields.back ();
last.name = normals_names[i];
last.offset = field_offset;
last.datatype = pcl::PCLPointField::FLOAT32;
last.count = 1;
}
}
if (material_files.size () > 0)
{
for (std::size_t i = 0; i < material_files.size (); ++i)
{
pcl::MTLReader companion;
if (companion.read (file_name, material_files[i]))
{
log_<<"Problem reading material file.";
}
companions_.push_back (companion);
}
}
cloud.point_step = field_offset;
cloud.width = nr_point;
cloud.height = 1;
cloud.row_step = cloud.point_step * cloud.width;
cloud.is_dense = true;
cloud.data.resize (cloud.point_step * nr_point);
fs.close ();
return true;
}

19
modules/odm_orthophoto/src/OdmOrthoPhoto.hpp
Wyświetl plik

@ -172,6 +172,23 @@ private:
*/
bool isModelOk(const pcl::TextureMesh &mesh);
/*!
* \brief Loads a model from an .obj file (replacement for the pcl obj loader).
*
* \param inputFile Path to the .obj file.
* \param mesh The model.
* \return True if model was loaded successfully.
*/
bool loadObjFile(std::string inputFile, pcl::TextureMesh &mesh);
/*!
* \brief Function is compied straight from the function in the pcl::io module.
*/
bool readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &file_version, int &data_type, unsigned int &data_idx,
const int offset);
Logger log_; /**< Logging object. */
std::string inputFile_; /**< Path to the textured mesh as an obj-file. */
@ -198,6 +215,8 @@ private:
cv::Mat depth_; /**< The depth of the ortho photo as an OpenCV matrix, CV_32F. */
bool multiMaterial_; /**< True if the mesh has multiple materials. **/
std::vector<pcl::MTLReader> companions_; /**< Materials (used by loadOBJFile). **/
};
/*!

42
opendm/config.py
Wyświetl plik

@ -3,7 +3,7 @@ import context
# parse arguments
processopts = ['resize', 'opensfm', 'cmvs', 'pmvs',
'odm_meshing', 'odm_texturing', 'odm_georeferencing',
'odm_meshing', 'mvs_texturing', 'odm_georeferencing',
'odm_orthophoto']
@ -196,6 +196,45 @@ parser.add_argument('--odm_meshing-solverDivide',
'times slightly but helps reduce memory usage. '
'Default: %(default)s'))
parser.add_argument('--mvs_texturing-dataTerm',
metavar='<string>',
default='gmi',
help=('Data term: [area, gmi]. Default: %(default)s'))
parser.add_argument('--mvs_texturing-outlierRemovalType',
metavar='<string>',
default='none',
help=('Type of photometric outlier removal method: '
'[none, gauss_damping, gauss_clamping]. Default: '
'%(default)s'))
parser.add_argument('--mvs_texturing-skipGeometricVisibilityTest',
metavar='<string>',
default="false",
help=('Skip geometric visibility test. Default: %(default)s'))
parser.add_argument('--mvs_texturing-skipGlobalSeamLeveling',
metavar='<string>',
default="false",
help=('Skip geometric visibility test. Default: %(default)s'))
parser.add_argument('--mvs_texturing-skipLocalSeamLeveling',
metavar='<string>',
default="false",
help=('Skip local seam blending. Default: %(default)s'))
parser.add_argument('--mvs_texturing-skipHoleFilling',
metavar='<string>',
default="false",
help=('Skip filling of holes in the mesh. Default: %(default)s'))
parser.add_argument('--mvs_texturing-keepUnseenFaces',
metavar='<string>',
default="false",
help=('Keep faces in the mesh that are not seen in any camera. '
'Default: %(default)s'))
# Old odm_texturing arguments
parser.add_argument('--odm_texturing-textureResolution',
metavar='<positive integer>',
default=4096,
@ -209,6 +248,7 @@ parser.add_argument('--odm_texturing-textureWithSize',
type=int,
help=('The resolution to rescale the images performing '
'the texturing. Default: %(default)s'))
# End of old odm_texturing arguments
parser.add_argument('--odm_georeferencing-gcpFile',
metavar='<path string>',

3
opendm/context.py
Wyświetl plik

@ -23,6 +23,9 @@ cmvs_path = os.path.join(superbuild_path, "install/bin/cmvs")
cmvs_opts_path = os.path.join(superbuild_path, "install/bin/genOption")
pmvs2_path = os.path.join(superbuild_path, "install/bin/pmvs2")
# define mvstex path
mvstex_path = os.path.join(superbuild_path, "install/bin/texrecon")
# define txt2las path
txt2las_path = os.path.join(superbuild_path, 'src/las-tools/bin')
pdal_path = os.path.join(superbuild_path, 'build/pdal/bin')

5
opendm/tasks.py
Wyświetl plik

@ -13,7 +13,8 @@ tasks_dict = {'1': 'resize',
'3': 'cmvs',
'4': 'pmvs',
'5': 'odm_meshing',
'6': 'odm_texturing',
# '6': 'odm_texturing',
'6': 'mvs_texturing',
'7': 'odm_georeferencing',
'8': 'odm_orthophoto',
'9': 'zip_results'}
@ -68,7 +69,7 @@ class ODMTaskManager(object):
command = None
inputs = {}
elif task_name == 'odm_texturing':
elif task_name == 'mvs_texturing':
# setup this task
command = None
inputs = {}

3
opendm/types.py
Wyświetl plik

@ -346,11 +346,12 @@ class ODM_Tree(object):
self.odm_mesh = io.join_paths(self.odm_meshing, 'odm_mesh.ply')
self.odm_meshing_log = io.join_paths(self.odm_meshing, 'odm_meshing_log.txt')
# odm_texturing
# texturing
self.odm_textured_model_obj = io.join_paths(
self.odm_texturing, 'odm_textured_model.obj')
self.odm_textured_model_mtl = io.join_paths(
self.odm_texturing, 'odm_textured_model.mtl')
# Log is only used by old odm_texturing
self.odm_texuring_log = io.join_paths(
self.odm_texturing, 'odm_texturing_log.txt')

111
scripts/mvstex.py 100644
Wyświetl plik

@ -0,0 +1,111 @@
import ecto
from opendm import log
from opendm import io
from opendm import system
from opendm import context
import pmvs2nvmcams
class ODMMvsTexCell(ecto.Cell):
def declare_params(self, params):
params.declare("data_term", 'Data term: [area, gmi] default: gmi', "gmi")
params.declare("outlier_rem_type", 'Type of photometric outlier removal method: [none, gauss_damping, gauss_clamping]. default: none', "none")
params.declare("skip_vis_test", 'Skip geometric visibility test based on ray intersection.', "false")
params.declare("skip_glob_seam_leveling", 'Skip global seam leveling.', "false")
params.declare("skip_loc_seam_leveling", 'Skip local seam leveling (Poisson editing).', "false")
params.declare("skip_hole_fill", 'Skip hole filling.', "false")
params.declare("keep_unseen_faces", 'Keep unseen faces.', "false")
def declare_io(self, params, inputs, outputs):
inputs.declare("tree", "Struct with paths", [])
inputs.declare("args", "The application arguments.", {})
inputs.declare("reconstruction", "Clusters output. list of ODMReconstructions", [])
outputs.declare("reconstruction", "Clusters output. list of ODMReconstructions", [])
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVS Texturing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
# check if we rerun cell or not
rerun_cell = (args['rerun'] is not None and
args['rerun'] == 'mvs_texturing') or \
(args['rerun_all']) or \
(args['rerun_from'] is not None and
'mvs_texturing' in args['rerun_from'])
if not io.file_exists(tree.odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing MVS Textured file in: %s'
% tree.odm_textured_model_obj)
# Format arguments to fit Mvs-Texturing app
skipGeometricVisibilityTest = ""
skipGlobalSeamLeveling = ""
skipLocalSeamLeveling = ""
skipHoleFilling = ""
keepUnseenFaces = ""
if (self.params.skip_vis_test.lower() == "true"):
skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
if (self.params.skip_glob_seam_leveling.lower() == "true"):
skipGlobalSeamLeveling = "--skip_global_seam_leveling"
if (self.params.skip_loc_seam_leveling.lower() == "true"):
skipLocalSeamLeveling = "--skip_local_seam_leveling"
if (self.params.skip_hole_fill.lower() == "true"):
skipHoleFilling = "--skip_hole_filling"
if (self.params.keep_unseen_faces.lower() == "true"):
keepUnseenFaces = "--keep_unseen_faces"
# mvstex definitions
kwargs = {
'bin': context.mvstex_path,
'out_dir': io.join_paths(tree.odm_texturing, "odm_textured_model"),
'pmvs_folder': tree.pmvs_rec_path,
'nvm_file': io.join_paths(tree.pmvs_rec_path, "nvmCams.nvm"),
'model': tree.odm_mesh,
'dataTerm': self.params.data_term,
'outlierRemovalType': self.params.outlier_rem_type,
'skipGeometricVisibilityTest': skipGeometricVisibilityTest,
'skipGlobalSeamLeveling': skipGlobalSeamLeveling,
'skipLocalSeamLeveling': skipLocalSeamLeveling,
'skipHoleFilling': skipHoleFilling,
'keepUnseenFaces': keepUnseenFaces
}
log.ODM_DEBUG('Generating .nvm file from pmvs output: %s'
% '{nvm_file}'.format(**kwargs))
# Create .nvm camera file.
pmvs2nvmcams.run('{pmvs_folder}'.format(**kwargs),
'{nvm_file}'.format(**kwargs))
# run texturing binary
system.run('{bin} {nvm_file} {model} {out_dir} '
'-d {dataTerm} -o {outlierRemovalType} '
'{skipGeometricVisibilityTest} '
'{skipGlobalSeamLeveling} '
'{skipLocalSeamLeveling} '
'{skipHoleFilling} '
'{keepUnseenFaces}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s'
% tree.odm_textured_model_obj)
if args['time']:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running OMD Texturing Cell - Finished')
return ecto.OK if args['end_with'] != 'odm_texturing' else ecto.QUIT

17
scripts/odm_app.py
Wyświetl plik

@ -13,7 +13,8 @@ from opensfm import ODMOpenSfMCell
from pmvs import ODMPmvsCell
from cmvs import ODMCmvsCell
from odm_meshing import ODMeshingCell
from odm_texturing import ODMTexturingCell
#from odm_texturing import ODMTexturingCell
from mvstex import ODMMvsTexCell
from odm_georeferencing import ODMGeoreferencingCell
from odm_orthophoto import ODMOrthoPhotoCell
@ -57,9 +58,17 @@ class ODMApp(ecto.BlackBox):
oct_tree=p.args['odm_meshing_octreeDepth'],
samples=p.args['odm_meshing_samplesPerNode'],
solver=p.args['odm_meshing_solverDivide']),
'texturing': ODMTexturingCell(resize=p.args['resize_to'],
resolution=p.args['odm_texturing_textureResolution'],
size=p.args['odm_texturing_textureWithSize']),
'texturing': ODMMvsTexCell(data_term=p.args['mvs_texturing_dataTerm'],
outlier_rem_type=p.args['mvs_texturing_outlierRemovalType'],
skip_vis_test=p.args['mvs_texturing_skipGeometricVisibilityTest'],
skip_glob_seam_leveling=p.args['mvs_texturing_skipGlobalSeamLeveling'],
skip_loc_seam_leveling=p.args['mvs_texturing_skipLocalSeamLeveling'],
skip_hole_fill=p.args['mvs_texturing_skipHoleFilling'],
keep_unseen_faces=p.args['mvs_texturing_keepUnseenFaces']),
# Old odm_texturing
# 'texturing': ODMTexturingCell(resize=p.args['resize_to'],
# resolution=p.args['odm_texturing_textureResolution'],
# size=p.args['odm_texturing_textureWithSize']),
'georeferencing': ODMGeoreferencingCell(img_size=p.args['resize_to'],
gcp_file=p.args['odm_georeferencing_gcpFile'],
use_gcp=p.args['odm_georeferencing_useGcp']),

144
scripts/pmvs2nvmcams.py 100644
Wyświetl plik

@ -0,0 +1,144 @@
import os
import numpy as np
from opendm import log
# Go from QR-factorizatoin to corresponding RQ-factorization.
def rq(A):
Q,R = np.linalg.qr(np.flipud(A).T)
R = np.flipud(R.T)
Q = Q.T
return R[:,::-1],Q[::-1,:]
# Create a unit quaternion from rotation matrix.
def rot2quat(R):
# Float epsilon (use square root to be well with the stable region).
eps = np.sqrt(np.finfo(float).eps)
# If the determinant is not 1, it's not a rotation matrix
if np.abs(np.linalg.det(R) - 1.0) > eps:
log.ODM_ERROR('Matrix passed to rot2quat was not a rotation matrix, det != 1.0')
tr = np.trace(R)
quat = np.zeros((1,4))
# Is trace big enough be computationally stable?
if tr > eps:
S = 0.5 / np.sqrt(tr + 1.0)
quat[0,0] = 0.25 / S
quat[0,1] = (R[2,1] - R[1,2]) * S
quat[0,2] = (R[0,2] - R[2,0]) * S
quat[0,3] = (R[1,0] - R[0,1]) * S
else: # It's not, use the largest diagonal.
if R[0,0] > R[1,1] and R[0,0] > R[2,2]:
S = np.sqrt(1.0 + R[0,0] - R[1,1] - R[2,2]) * 2.0
quat[0,0] = (R[2,1] - R[1,2]) / S
quat[0,1] = 0.25 * S
quat[0,2] = (R[0,1] + R[1,0]) / S
quat[0,3] = (R[0,2] + R[2,0]) / S
elif R[1,1] > R[2,2]:
S = np.sqrt(1.0 - R[0,0] + R[1,1] - R[2,2]) * 2.0
quat[0,0] = (R[0,2] - R[2,0]) / S
quat[0,1] = (R[0,1] + R[1,0]) / S
quat[0,2] = 0.25 * S
quat[0,3] = (R[1,2] + R[2,1]) / S
else:
S = np.sqrt(1.0 - R[0,0] - R[1,1] + R[2,2]) * 2.0
quat[0,0] = (R[1,0] - R[0,1]) / S
quat[0,1] = (R[0,2] + R[2,0]) / S
quat[0,2] = (R[1,2] + R[2,1]) / S
quat[0,3] = 0.25 * S
return quat
# Decompose a projection matrix into parts
# (Intrinsic projection, Rotation, Camera position)
def decomposeProjection(projectionMatrix):
# Check input:
if projectionMatrix.shape != (3,4):
log.ODM_ERROR('Unable to decompose projection matrix, shape != (3,4)')
RQ = rq(projectionMatrix[:,:3])
# Fix sign, since we know K is upper triangular and has a positive diagonal.
signMat = np.diag(np.diag(np.sign(RQ[0])))
K = signMat*RQ[0]
R = signMat*RQ[1]
# Calculate camera position from translation vector.
t = np.linalg.inv(-1.0*projectionMatrix[:,:3])*projectionMatrix[:,3]
return K, R, t
# Parses pvms contour file.
def parseContourFile(filePath):
with open(filePath, 'r') as contourFile:
if (contourFile.readline().strip() != "CONTOUR"):
return np.array([])
else:
pMatData = np.loadtxt(contourFile, float, '#', None, None, 0)
if pMatData.shape == (3,4):
return pMatData
return np.array([])
# Creates a .nvm camera file in the pmvs folder.
def run(pmvsFolder, outputFile):
projectionFolder = pmvsFolder + "/txt"
imageFolder = pmvsFolder + "/visualize"
pMatrices = []
imageFileNames = []
# for all files in the visualize folder:
for imageFileName in os.listdir(imageFolder):
fileNameNoExt = os.path.splitext(imageFileName)[0]
# look for corresponding projection matrix txt file
projectionFilePath = os.path.join(projectionFolder, fileNameNoExt)
projectionFilePath += ".txt"
if os.path.isfile(projectionFilePath):
pMatData = parseContourFile(projectionFilePath)
if pMatData.size == 0:
log.ODM_WARNING('Unable to parse contour file, skipping: %s'
% projectionFilePath)
else:
pMatrices.append(np.matrix(pMatData))
imageFileNames.append(imageFileName)
# Decompose projection matrices
focals = []
rotations = []
translations = []
for projection in pMatrices:
KRt = decomposeProjection(projection)
focals.append(KRt[0][0,0])
rotations.append(rot2quat(KRt[1]))
translations.append(KRt[2])
# Create .nvm file
with open (outputFile, 'w') as nvmFile:
nvmFile.write("NVM_V3\n\n")
nvmFile.write('%d' % len(rotations) + "\n")
for idx, imageFileName in enumerate(imageFileNames):
nvmFile.write(os.path.join("visualize", imageFileName))
nvmFile.write(" " + '%f' % focals[idx])
nvmFile.write(" " + '%f' % rotations[idx][0,0] +
" " + '%f' % rotations[idx][0,1] +
" " + '%f' % rotations[idx][0,2] +
" " + '%f' % rotations[idx][0,3])
nvmFile.write(" " + '%f' % translations[idx][0] +
" " + '%f' % translations[idx][1] +
" " + '%f' % translations[idx][2])
nvmFile.write(" 0 0\n")
nvmFile.write("0\n\n")
nvmFile.write("0\n\n")
nvmFile.write("0")

7
upgradecmake.sh 100644
Wyświetl plik

@ -0,0 +1,7 @@
# Install cmake 3.2 since cmake > 3.1 is is required by mvs-texturing.
# Installation as proposed by:
# http://askubuntu.com/questions/610291/how-to-install-cmake-3-2-on-ubuntu-14-04
sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
sudo apt-get update -y
sudo apt-get install cmake -y