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BundlerApp.cpp
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/*
* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
/* BundlerApp.cpp */
#ifndef WIN32
#include <getopt.h>
#else
#include "getopt.h"
#endif
#include <assert.h>
#include <float.h>
#include <math.h>
#include <string.h>
#include <time.h>
#ifdef WIN32
#include <conio.h>
#endif
#include "BundlerApp.h"
#include "Epipolar.h"
#include "Register.h"
#include "SifterUtil.h"
#ifndef __USE_ANN__
#include "BruteForceSearch.h"
#endif
// #define WRITE_XML
#include "defines.h"
#include "fit.h"
#include "fmatrix.h"
#include "image.h"
#include "matrix.h"
#include "qsort.h"
#include "util.h"
#define SUBSAMPLE_LEVEL 1
#define MIN_MATCHES 10
extern int optind;
static void ReadFisheyeParameters(char *filename,
double &fCx, double &fCy,
double &fRad, double &fAngle,
double &fFocal)
{
fCx = 0.0;
fCy = 0.0;
/* Read fisheye params */
FILE *f = fopen(filename, "r");
if (f == NULL) {
printf("Error opening fisheye parameters file %s for reading\n",
filename);
exit(1);
}
char buf[256];
while (fgets(buf, 256, f) != NULL) {
/* Split the command into tokens */
std::string str(buf);
std::vector<std::string> toks;
Tokenize(str, toks, " ");
if (strcmp(toks[0].c_str(), "FisheyeCenter:") == 0) {
if (toks.size() != 3) {
printf("FisheyeCenter needs two arguments!\n");
exit(1);
} else {
fCx = atof(toks[1].c_str());
fCy = atof(toks[2].c_str());
}
} else if (strcmp(toks[0].c_str(), "FisheyeRadius:") == 0) {
if (toks.size() != 2) {
printf("FisheyeRadius needs one argument!\n");
exit(1);
} else {
fRad = atof(toks[1].c_str());
}
} else if (strcmp(toks[0].c_str(), "FisheyeAngle:") == 0) {
if (toks.size() != 2) {
printf("FisheyeAngle needs one argument!\n");
exit(1);
} else {
fAngle = atof(toks[1].c_str());
}
} else if (strcmp(toks[0].c_str(), "FisheyeFocal:") == 0) {
if (toks.size() != 2) {
printf("FisheyeFocal needs one argument!\n");
exit(1);
} else {
fFocal = atof(toks[1].c_str());
}
} else {
printf("Unrecognized fisheye field %s\n", toks[0].c_str());
}
}
fclose(f);
}
void PrintUsage()
{
printf("Usage: bundler <input.txt> [options]\n"
" Options:\n"
"\n"
" [Action options]\n"
" --run_bundle\n"
" Run structure from motion (usually what you want to do)\n"
" --rerun_bundle\n"
" Reoptimize a reconstruction specified by the --bundle "
"option\n"
" --compress_list\n"
" Create a 'compressed' list and bundle file, removing\n"
" images that weren't reconstructed. The list and bundle\n"
" file are written to list.compressed.txt and "
"bundle.compressed.out\n"
"\n"
" [Bundle adjustment options]\n"
" [Focal length options]\n"
" --init_focal_length <f>\n"
" Set initial focal length to <f>\n"
" --variable_focal_length\n"
" Allow focal lengths to vary for each image\n"
" --fixed_focal_length\n"
" Fix the focal length for all cameras\n"
" (set to init_focal_length)\n"
" --use_focal_estimate\n"
" Initialize using focal length estimates specified\n"
" in the list file\n"
" --trust_focal_estimate\n"
" Trust the provided focal length estimates (i.e.,\n"
" don't attempt to cross-check with self-calibration)\n"
" --constrain_focal\n"
" Add a soft constraint on focal lengths to stay near\n"
" their estimated values\n"
" --constrain_focal_weight <weight>\n"
" Strength of the focal length constraints.\n"
" Default is 0.0001.\n"
"\n"
" [Other bundle adjustment options]\n"
" --fisheye <paramfile>\n"
" Read fisheye parameters from given file\n"
" --init_pair1 <img1>\n"
" --init_pair2 <img1>\n"
" Indices of the images with which to seed\n"
" bundle adjustment\n"
" --estimate_distortion\n"
" Estimate radial distortion parameters (2 coefficients)\n"
" --ray_angle_threshold <degrees>\n"
" Don't triangulate points whose rays have an angle less\n"
" than <degrees>. Default is 2 degrees.\n"
" --projection_estimation_threshold <thres>\n"
" Use a RANSAC threshold of <thres> when doing\n"
" pose estimation to add in a new image. Default is 4.\n"
" --min_proj_error_threshold <min>\n"
" --max_proj_error_threshold <max>\n"
" The minimum and maximum values of the adaptive outlier\n"
" threshold. Defaults are 8 and 16.\n"
" --bundle <file>\n"
" Read previous bundle adjustment results from <file>\n"
" --ignore_file <file>\n"
" Don't try to register any image whose index appears in "
"<file>\n"
" --slow_bundle\n"
" Run the slow version of bundle adjustment (adds one\n"
" image at a time)\n"
"\n"
" [Output options]\n"
" --output <file>\n"
" Save bundle adjustment output to <file>\n"
" --output_all <base>\n"
" Save intermediate bundle adjustment results\n"
" --output_dir\n"
" Specifies the directory in which to save output files\n"
"\n"
" [Other options]\n"
" --options_file <file>\n"
" Read options from <file>.\n"
" --match_dir <dir>\n"
" Specifies the directory where the match-*-*.txt\n"
" files are stored.\n"
" --help\n"
" Print this message\n\n");
}
void BundlerApp::ProcessOptions(int argc, char **argv)
{
/* Read options */
while (1) {
static struct option long_options[] = {
{"fisheye", 1, 0, 'f'},
{"intrinsics", 1, 0, 357}, //
{"init_pair1", 1, 0, 'p'},
{"init_pair2", 1, 0, 'q'},
{"output", 1, 0, 'o'},
{"output_all", 1, 0, 'a'},
{"init_focal_length", 1, 0, 'i'},
{"variable_focal_length", 0, 0, 'v'},
{"fixed_focal_length", 0, 0, 'x'},
{"run_bundle", 0, 0, 'r'},
{"rerun_bundle", 0, 0, 'j'},
{"slow_bundle", 0, 0, 'D'},
#ifdef __USE_CERES__
{"use_ceres", 0, 0, 371},
#endif /* __USE_CERES__ */
{"skip_full_bundle", 0, 0, 321},//
{"skip_add_points", 0, 0, 322},//
{"compress_list", 0, 0, '4'},
{"scale_focal", 1, 0, 305},//
{"scale_focal_file", 1, 0, 307},//
{"write_tracks", 1, 0, 311},//
{"rotate_cameras", 1, 0, 309},//
{"zero_distortion_params",0, 0, 363},//
{"enrich_points", 0, 0, 361},//
{"output_relposes", 1, 0, 368},
{"compute_color_statistics", 0, 0, 323},//
{"detect_duplicates", 0, 0, 352},//
{"bundle_from_tracks", 0, 0, 353},//
{"bundle_from_points", 0, 0, 354},//
{"stretch_factor", 1, 0, 356},//
{"classify_photos", 0, 0, 324},//
{"compare_histograms", 0, 0, 334},//
{"panorama_mode", 0, 0, 332},
{"use_fit_plane", 0, 0, 'l'},
{"day_photos", 1, 0, 325},
{"night_photos", 1, 0, 326},
{"cloudy_photos", 1, 0, 327},
{"projective_cameras", 1, 0, 315},
{"projective_points", 1, 0, 316},
{"prune_bad_points", 0, 0, 351},//
{"compute_covariance", 0, 0, 340},//
{"covariance_fix1", 1, 0, 341},//
{"covariance_fix2", 1, 0, 342},//
{"ignore_file", 1, 0, 'L'},
{"use_focal_estimate", 0, 0, 'U'},
{"trust_focal_estimate", 0, 0, '_'},
{"estimate_ignored", 0, 0, 344},//
{"reposition_scene", 0, 0, 'R'},//
{"keypoint_border_width", 1, 0, 355},//
{"keypoint_border_bottom", 1, 0, 365},//
{"min_track_views", 1, 0, 'V'},//
{"max_track_views", 1, 0, 320},//
{"min_max_matches", 1, 0, 362},//
{"min_feature_matches", 1, 0, 369},//
{"num_matches_add_camera", 1, 0, 370},
{"ray_angle_threshold", 1, 0, 'N'},
{"estimate_distortion", 0, 0, 347},
{"distortion_weight", 1, 0, 348},//
{"construct_max_connectivity", 0, 0, '*'},//
{"homography_threshold", 1, 0, 'H'},//
{"homography_rounds", 1, 0, 345},//
{"fmatrix_threshold", 1, 0, 'F'},//
{"fmatrix_rounds", 1, 0, 'S'},//
{"skip_fmatrix", 0, 0, 306},//
{"skip_homographies", 0, 0, 319},//
{"projection_estimation_threshold", 1, 0, 'P'},
{"min_proj_error_threshold", 1, 0, 317},
{"max_proj_error_threshold", 1, 0, 318},
{"use_angular_score", 0, 0, 349},//
{"up_image", 1, 0, 'E'},
{"estimate_up_vector_szeliski", 0, 0, 'Z'},
{"min_camera_distance_ratio", 1, 0, 'C'},//
// {"baseline_threshold", 1, 0, 'B'},
{"optimize_for_fisheye", 0, 0, 'B'},//
{"assemble", 0, 0, 308},//
{"bundle", 1, 0, 'b'},
{"match_dir", 1, 0, 'm'},
{"match_index_dir", 1, 0, 366},
{"match_table", 1, 0, 364},
{"image_dir", 1, 0, 300},//
{"key_dir", 1, 0, 301},//
{"analyze_matches", 0, 0, 'M'},//
{"ann_max_pts_visit", 1, 0, 302},//
{"output_dir", 1, 0, 'u'},
{"use_constraints", 0, 0, '=' },
{"constrain_focal", 0, 0, '$'},
{"constrain_focal_weight", 1, 0, 'J'},
{"only_bundle_init_focal", 0, 0, 'y'},//
{"no_factor_essential", 0, 0, 339},//
{"point_constraint_file", 1, 0, 'Y'},//
{"point_constraint_weight", 1, 0, 'w'},//
{"fix_necker", 0, 0, 'n'},//
{"sift_binary", 1, 0, 's'},//
{"options_file", 1, 0, 'z'},
{"add_images", 1, 0, '@'},//
{"scale", 1, 0, '9'},
{"morph_steps", 1, 0, '0'},
{"image_rescale", 1, 0, '+'},
{"help", 0, 0, 'h'},
{0, 0, 0, 0}
};
int option_index;
int c = getopt_long(argc, argv, "f:do:a:i:x",
long_options, &option_index);
if (c == -1)
break;
switch (c) {
case 'h':
/* Print usage */
PrintUsage();
exit(0);
break;
case 'f':
m_fisheye = true;
printf("Using fisheye lens, param file: %s\n", optarg);
m_fisheye_params = strdup(optarg);
break;
case 357:
m_use_intrinsics = true;
m_intrinsics_file = strdup(optarg);
break;
case 'p':
m_initial_pair[0] = atoi(optarg);
break;
case 'q':
m_initial_pair[1] = atoi(optarg);
break;
case 347:
m_estimate_distortion = true;
break;
case 348:
m_distortion_weight = atof(optarg);
break;
case 349:
m_use_angular_score = true;
break;
case '*':
m_construct_max_connectivity = true;
break;
case 'o':
m_bundle_output_file = strdup(optarg);
break;
case 'a':
m_bundle_output_base = strdup(optarg);
break;
case 'i':
m_init_focal_length = atof(optarg);
break;
case 'v':
m_fixed_focal_length = false;
break;
case 'x':
m_fixed_focal_length = true;
break;
case 'r':
m_run_bundle = true;
break;
case 'j':
m_rerun_bundle = true;
break;
case 'D':
m_fast_bundle = false;
break;
#ifdef __USE_CERES__
case 371:
m_use_ceres = true;
break;
#endif /* __USE_CERES__ */
case 321:
m_skip_full_bundle = true;
break;
case 322:
m_skip_add_points = true;
break;
case '4':
m_compress_list = true;
break;
case 'R':
m_reposition_scene = true;
break;
case 351:
m_prune_bad_points = true;
break;
case 368:
m_output_relposes = true;
m_output_relposes_file = strdup(optarg);
break;
case 305:
m_scale_focal = atof(optarg);
break;
case 307:
m_scale_focal_file = strdup(optarg);
break;
case 309:
m_rotate_cameras_file = strdup(optarg);
break;
case 311:
m_track_file = strdup(optarg);
break;
case 340:
m_compute_covariance = true;
break;
case 341:
m_covariance_fix1 = atoi(optarg);
break;
case 342:
m_covariance_fix2 = atoi(optarg);
break;
case 355:
m_keypoint_border_width = atoi(optarg);
break;
case 365:
m_keypoint_border_bottom = atoi(optarg);
break;
case 344:
m_estimate_ignored = true;
break;
case 363:
m_zero_distortion_params = true;
break;
case 361:
m_enrich_points = true;
break;
case 'L':
m_ignore_file = strdup(optarg);
break;
case '@':
m_add_image_file = strdup(optarg);
break;
case 'U':
m_use_focal_estimate = true;
break;
case '_':
m_trust_focal_estimate = true;
break;
case 'H':
m_homography_threshold = atof(optarg);
break;
case 345:
m_homography_rounds = atoi(optarg);
break;
case 'F':
m_fmatrix_threshold = atof(optarg);
break;
case 'S':
m_fmatrix_rounds = atoi(optarg);
break;
case 306:
m_skip_fmatrix = true;
break;
case 319:
m_skip_homographies = true;
break;
case 'P':
m_projection_estimation_threshold = atof(optarg);
break;
case 317:
m_min_proj_error_threshold = atof(optarg);
break;
case 318:
m_max_proj_error_threshold = atof(optarg);
break;
case 'C':
m_min_camera_distance_ratio = atof(optarg);
break;
case 'B':
// m_baseline_threshold = atof(optarg);
m_optimize_for_fisheye = true;
break;
case 'E':
m_up_image = atoi(optarg);
break;
#if 0
case 'T':
m_start_camera = atoi(optarg);
break;
#endif
case 'V':
m_min_track_views = atoi(optarg);
break;
case 320:
m_max_track_views = atoi(optarg);
break;
case 362:
m_min_max_matches = atoi(optarg);
break;
case 369:
m_min_num_feat_matches = atoi(optarg);
break;
case 370:
m_num_matches_add_camera = atoi(optarg);
break;
case 'N':
m_ray_angle_threshold = atof(optarg);
break;
case 308: /* assemble */
m_assemble = true;
break;
case 'b':
m_bundle_provided = true;
m_bundle_file = strdup(optarg);
break;
case 'm':
m_match_directory = strdup(optarg);
break;
case 366:
m_match_index_dir = strdup(optarg);
break;
case 364:
m_match_table = strdup(optarg);
break;
case 300:
m_image_directory = strdup(optarg);
break;
case 301:
m_key_directory = strdup(optarg);
break;
case 'M':
m_analyze_matches = true;
break;
case 332:
m_panorama_mode = true;
break;
case 339:
m_factor_essential = false;
break;
case 302:
m_ann_max_pts_visit = atoi(optarg);
printf(" ann_max_pts_visit: %d\n", m_ann_max_pts_visit);
break;
case 'u':
m_output_directory = strdup(optarg);
break;
case '=':
m_use_constraints = true;
break;
case '$':
m_constrain_focal = true;
break;
case 'J':
m_constrain_focal_weight = atof(optarg);
break;
case 'y':
m_only_bundle_init_focal = true;
break;
case 'Y':
m_point_constraint_file = strdup(optarg);
break;
case 'w':
m_point_constraint_weight = atof(optarg);
break;
case 'n':
m_fix_necker = true;
break;
case 's':
m_sift_binary = strdup(optarg);
break;
case 'Z':
m_estimate_up_vector_szeliski = true;
break;
case '9':
m_scale = atof(optarg);
break;
case 'W':
m_metric = true;
break;
case 'z': {
int optind_curr = optind;
optind = 1;
/* Load options from file */
std::vector<std::string> tokens;
char *filename = optarg;
FILE *f = fopen(optarg, "r");
if (f == NULL) {
printf("Error reading options file %s\n", filename);
exit(1);
}
char *opt_str = new char[4096];
fread(opt_str, 1, 4096, f);
fclose(f);
std::string str(opt_str);
// wxStringTokenizer t(str, wxT(" \n"));
Tokenize(str, tokens, " \n");
#if 0
while (t.HasMoreTokens()) {
wxString tok = t.GetNextToken();
tokens.push_back(tok);
}
#endif
int argc_new = (int) tokens.size() + 1;
char **argv_new = new char * [argc_new];
argv_new[0] = strdup("test");
for (int i = 1; i < argc_new; i++) {
argv_new[i] = strdup(tokens[i-1].c_str());
}
ProcessOptions(argc_new, argv_new);
for (int i = 0; i < argc_new; i++) {
free(argv_new[i]);
}
delete [] argv_new;
delete [] opt_str;
optind = optind_curr;
#ifdef WIN32
return;
#else
break;
#endif
}
default:
printf("Unrecognized option %d\n", c);
break;
}
}
}
#ifdef WIN32
static void sifter_die() {
getch();
}
#endif
bool BundlerApp::OnInit()
{
printf("[OnInit] Running program %s\n", argv[0]);
char *imageList;
bool load_file = false;
if (argc >= 2) {
printf("Loading images from file '%s'\n", argv[1]);
imageList = argv[1];
load_file = true;
} else {
PrintUsage();
exit(0);
}
printf("[BundlerApp::OnInit] Processing options...\n");
ProcessOptions(argc - 1, argv + 1);
if (m_use_intrinsics && m_estimate_distortion) {
printf("Error: --intrinsics and --estimate_distortion "
"are incompatible\n");
exit(1);
}
if (m_fixed_focal_length && m_estimate_distortion) {
printf("Error: --fixed_focal_length and --estimate_distortion "
"are currently incompatible\n");
exit(1);
}
printf("[BundlerApp::OnInit] Loading frame...\n");
printf("[BundlerApp::OnInit] Loading images...\n");
fflush(stdout);
if (load_file) {
FILE *f = fopen(imageList, "r");
if (f == NULL) {
printf("[BundlerApp::OnInit] Error opening file %s for reading\n",
imageList);
exit(1);
}
LoadImageNamesFromFile(f);
int num_images = GetNumImages();
if (m_fisheye) {
double fCx = 0.0, fCy = 0.0, fRad = 0.0, fAngle = 0.0, fFocal = 0.0;
ReadFisheyeParameters(m_fisheye_params,
fCx, fCy, fRad, fAngle, fFocal);
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_fisheye) {
m_image_data[i].m_fCx = fCx;
m_image_data[i].m_fCy = fCy;
m_image_data[i].m_fRad = fRad;
m_image_data[i].m_fAngle = fAngle;
m_image_data[i].m_fFocal = fFocal;
}
}
}
fclose(f);
}
#if 0
if (input_model == MODEL_PANORAMA) {
printf("[BundlerApp::OnInit] Computing homographies\n");
ComputeTransforms(true);
MakeMatchListsSymmetric();
DumpCorrespondenceImages();
} else if (input_model == MODEL_OBJECT_MOVIE) {
printf("[BundlerApp::OnInit] Computing epipolar geometry\n");
/* Compute homographies between images */
ComputeTransforms(false);
ComputeEpipolarGeometry();
MakeMatchListsSymmetric();
ComputeMatchPoints();
DumpCorrespondenceImages();
BundleAdjust(output_file, output_base);
}
#else
#ifndef __DEMO__
if (m_rerun_bundle) {
// ReadCameraConstraints();
assert(m_bundle_provided);
printf("[BundlerApp::OnInit] Reading bundle file...\n");
ReadBundleFile(m_bundle_file);
if (m_bundle_version < 0.3) {
printf("[BundlerApp::OnInit] Reflecting scene...\n");
FixReflectionBug();
}
ReRunSFM();
exit(0);
}
if (m_use_constraints) {
ReadCameraConstraints();
}
if (m_ignore_file != NULL) {
printf("[BundlerApp::OnInit] Reading ignore file...\n");
ReadIgnoreFile();
}
#endif
if (m_ignore_file != NULL) {
printf("[BundlerApp::OnInit] Reading ignore file...\n");
ReadIgnoreFile();
}
#if 0
#ifndef __DEMO__
#endif /* __DEMO__ */
#endif
/* Do bundle adjustment (or read from file if provided) */
if (m_bundle_provided) {
printf("[BundlerApp::OnInit] Reading bundle file...\n");
ReadBundleFile(m_bundle_file);
if (m_bundle_version < 0.3) {
printf("[BundlerApp::OnInit] Reflecting scene...\n");
FixReflectionBug();
}
#ifndef __DEMO__
#endif /* __DEMO__ */
if (m_compress_list) {
// ParseCommand("UndistortAll", NULL);
OutputCompressed();
return 0;
}
if (m_reposition_scene) {
double center[3], R[9], scale;
RepositionScene(center, R, scale);
OutputCompressed("reposition");
return 0;
}
if (m_prune_bad_points) {
SetupImagePoints(3);
RemoveBadImages(24);
PruneBadPoints();
OutputCompressed("pruned");
return 0;
}
if (m_scale_focal != 1.0) {
ScaleFocalLengths(m_scale_focal);
return 0;
}
if (m_scale_focal_file != NULL) {
ScaleFocalLengths(m_scale_focal_file);
return 0;
}
if (m_rotate_cameras_file != NULL) {
RotateCameras(m_rotate_cameras_file);
}
if (m_track_file != NULL) {
// ReadGeometricConstraints("constraints.txt");
CreateTracksFromPoints();
WriteTracks(m_track_file);
}
#ifndef __DEMO__
#endif /* __DEMO__ */
#ifndef __DEMO__
#endif /* __DEMO__ */
if (m_zero_distortion_params) {
ZeroDistortionParams();
OutputCompressed("nord");
return 0;
}
if (m_output_relposes) {
double center[3], R[9], scale;
RepositionScene(center, R, scale);
RepositionScene(center, R, scale);
// OutputRelativePoses2D(m_output_relposes_file);
OutputRelativePoses3D(m_output_relposes_file);
return 0;
}
if (m_compute_covariance) {
ComputeCameraCovariance();
return 0;
}
#define MIN_POINT_VIEWS 3 // 0 // 2
if (!m_run_bundle) {
SetMatchesFromPoints(MIN_POINT_VIEWS);
printf("[BundlerApp::OnInit] "
"Setting up image points and lines...\n");
SetupImagePoints(/*2*/ MIN_POINT_VIEWS);
RemoveBadImages(6);
if (m_point_constraint_file != NULL) {
printf("[BundlerApp::OnInit] Reading point constraints...\n");
m_use_point_constraints = true;
ReadPointConstraints();
}
printf("[BundlerApp::OnInit] Scaling world...\n");
printf("[BundlerApp::OnInit] Computing camera orientations...\n");
ComputeImageRotations();
// printf("[BundlerApp::OnInit] Computing ground plane...\n");
// FindGroundPlane();
double center[3], R[9], scale;
RepositionScene(center, R, scale);
#ifndef __DEMO__
if (m_rerun_bundle) {
ReRunSFM();
}
#endif
}
if (m_add_image_file != NULL) {
printf("[BundlerApp::OnInit] Adding additional images...\n");
FILE *f = fopen(m_add_image_file, "r");
if (f == NULL) {
printf("[BundlerApp::OnInit] Error opening file %s for "