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ProcessBundle.cpp
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/*
* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
* and the University of Washington
*
* 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.
*
*/
/* ProcessBundle.cpp */
/* Perform operations on bundle files */
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include "BundlerApp.h"
#include "defines.h"
#include "matrix.h"
#include "util.h"
void BundlerApp::RotateCameras(char *rotate_file)
{
int num_images = GetNumImages();
FILE *ff = fopen(rotate_file, "r");
if (ff == NULL) {
printf("[RotateCameras] Error opening file %s "
"for reading\n", rotate_file);
return;
}
for (int i = 0; i < num_images; i++) {
char buf[512];
double rot;
fscanf(ff, "%s %lf\n", buf, &rot);
if (rot != 0.0) {
double rad = DEG2RAD(rot);
double R[9] = { cos(rad), -sin(rad), 0.0,
sin(rad), cos(rad), 0.0,
0.0, 0.0, 1.0 };
double Rtmp[9];
double ttmp[3];
matrix_product(3, 3, 3, 3, R, m_image_data[i].m_camera.m_R, Rtmp);
matrix_product(3, 3, 3, 1, R, m_image_data[i].m_camera.m_t, ttmp);
memcpy(m_image_data[i].m_camera.m_R, Rtmp, 9 * sizeof(double));
memcpy(m_image_data[i].m_camera.m_t, ttmp, 3 * sizeof(double));
}
}
/* Output the new bundle.out file */
char buf[256];
sprintf(buf, "bundle.rotated.out");
FILE *f = fopen(buf, "w");
if (f == NULL) {
printf("[RotateCameras] Error opening file %s "
"for writing\n", buf);
return;
}
int num_points = (int) m_point_data.size();
fprintf(f, "%d %d\n", num_images, num_points);
/* Dump cameras */
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) {
fprintf(f, "0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
continue;
}
fprintf(f, "%0.9e\n", m_image_data[i].m_camera.m_focal);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[0],
m_image_data[i].m_camera.m_R[1],
m_image_data[i].m_camera.m_R[2]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[3],
m_image_data[i].m_camera.m_R[4],
m_image_data[i].m_camera.m_R[5]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[6],
m_image_data[i].m_camera.m_R[7],
m_image_data[i].m_camera.m_R[8]);
double *t = m_image_data[i].m_camera.m_t;
fprintf(f, "%0.9e %0.9e %0.9e\n", t[0], t[1], t[2]);
}
/* Dump points */
for (int i = 0; i < num_points; i++) {
PointData &p = m_point_data[i];
/* Position */
fprintf(f, "%0.9e %0.9e %0.9e\n",
p.m_pos[0], p.m_pos[1], p.m_pos[2]);
/* Color */
fprintf(f, "%0.5e %0.5e %0.5e\n",
p.m_color[0], p.m_color[1], p.m_color[2]);
int num_visible = (int) p.m_views.size();
fprintf(f, "%d", num_visible);
for (int j = 0; j < num_visible; j++) {
int view = p.m_views[j].first;
// int key = p.m_views[j].second;
#if 0
if (!m_image_data[view].m_keys_loaded)
m_image_data[view].LoadKeys(false);
double x = m_image_data[view].m_keys[key].m_x;
double y = m_image_data[view].m_keys[key].m_y;
fprintf(f, " %d %d %.10f %.10f",
view_new, p.m_views[j].second, x, y);
#else
fprintf(f, " %d %d", view, p.m_views[j].second);
#endif
}
fprintf(f, "\n");
}
fclose(f);
}
void BundlerApp::ScaleFocalLengths(char *focal_file)
{
int num_images = GetNumImages();
FILE *ff = fopen(focal_file, "r");
if (ff == NULL) {
printf("[ScaleFocal] Error opening file %s "
"for reading\n", focal_file);
return;
}
for (int i = 0; i < num_images; i++) {
char buf[512];
double scale;
fscanf(ff, "%s %lf\n", buf, &scale);
if (m_image_data[i].m_camera.m_adjusted) {
m_image_data[i].m_camera.m_focal *= scale;
}
}
/* Output the new bundle.out file */
char buf[256];
sprintf(buf, "bundle.scale.out");
FILE *f = fopen(buf, "w");
if (f == NULL) {
printf("[ScaleFocal] Error opening file %s "
"for writing\n", buf);
return;
}
int num_points = (int) m_point_data.size();
fprintf(f, "%d %d\n", num_images, num_points);
/* Dump cameras */
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) {
fprintf(f, "0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
continue;
}
fprintf(f, "%0.9e\n", m_image_data[i].m_camera.m_focal);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[0],
m_image_data[i].m_camera.m_R[1],
m_image_data[i].m_camera.m_R[2]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[3],
m_image_data[i].m_camera.m_R[4],
m_image_data[i].m_camera.m_R[5]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[6],
m_image_data[i].m_camera.m_R[7],
m_image_data[i].m_camera.m_R[8]);
double *t = m_image_data[i].m_camera.m_t;
fprintf(f, "%0.9e %0.9e %0.9e\n", t[0], t[1], t[2]);
}
/* Dump points */
for (int i = 0; i < num_points; i++) {
PointData &p = m_point_data[i];
/* Position */
fprintf(f, "%0.9e %0.9e %0.9e\n",
p.m_pos[0], p.m_pos[1], p.m_pos[2]);
/* Color */
fprintf(f, "%0.5e %0.5e %0.5e\n",
p.m_color[0], p.m_color[1], p.m_color[2]);
int num_visible = (int) p.m_views.size();
fprintf(f, "%d", num_visible);
for (int j = 0; j < num_visible; j++) {
int view = p.m_views[j].first;
// int key = p.m_views[j].second;
#if 0
if (!m_image_data[view].m_keys_loaded)
m_image_data[view].LoadKeys(false);
double x = m_image_data[view].m_keys[key].m_x;
double y = m_image_data[view].m_keys[key].m_y;
fprintf(f, " %d %d %.10f %.10f",
view_new, p.m_views[j].second, x, y);
#else
fprintf(f, " %d %d", view, p.m_views[j].second);
#endif
}
fprintf(f, "\n");
}
fclose(f);
}
void BundlerApp::ScaleFocalLengths(double focal)
{
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted) {
m_image_data[i].m_camera.m_focal *= focal;
}
}
/* Output the new bundle.out file */
char buf[256];
sprintf(buf, "bundle.scale.out");
FILE *f = fopen(buf, "w");
if (f == NULL) {
printf("[ScaleFocal] Error opening file %s "
"for writing\n", buf);
return;
}
int num_points = (int) m_point_data.size();
fprintf(f, "%d %d\n", num_images, num_points);
/* Dump cameras */
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) {
fprintf(f, "0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
fprintf(f, "0 0 0\n");
continue;
}
fprintf(f, "%0.9e\n", m_image_data[i].m_camera.m_focal);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[0],
m_image_data[i].m_camera.m_R[1],
m_image_data[i].m_camera.m_R[2]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[3],
m_image_data[i].m_camera.m_R[4],
m_image_data[i].m_camera.m_R[5]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[6],
m_image_data[i].m_camera.m_R[7],
m_image_data[i].m_camera.m_R[8]);
double *t = m_image_data[i].m_camera.m_t;
fprintf(f, "%0.9e %0.9e %0.9e\n", t[0], t[1], t[2]);
}
/* Dump points */
for (int i = 0; i < num_points; i++) {
PointData &p = m_point_data[i];
/* Position */
fprintf(f, "%0.9e %0.9e %0.9e\n",
p.m_pos[0], p.m_pos[1], p.m_pos[2]);
/* Color */
fprintf(f, "%0.5e %0.5e %0.5e\n",
p.m_color[0], p.m_color[1], p.m_color[2]);
int num_visible = (int) p.m_views.size();
fprintf(f, "%d", num_visible);
for (int j = 0; j < num_visible; j++) {
int view = p.m_views[j].first;
// int key = p.m_views[j].second;
#if 0
if (!m_image_data[view].m_keys_loaded)
m_image_data[view].LoadKeys(false);
double x = m_image_data[view].m_keys[key].m_x;
double y = m_image_data[view].m_keys[key].m_y;
fprintf(f, " %d %d %.10f %.10f",
view_new, p.m_views[j].second, x, y);
#else
fprintf(f, " %d %d", view, p.m_views[j].second);
#endif
}
fprintf(f, "\n");
}
fclose(f);
}
void BundlerApp::OutputCompressed(const char *ext)
{
// EstimatePointNormals();
/* Output the new list of images */
char buf[256];
sprintf(buf, "list.%s.txt", ext);
FILE *f = fopen(buf, "w");
if (f == NULL) {
printf("[OutputCompress] "
"Error opening file %s for writing\n", buf);
return;
}
int num_images = GetNumImages();
int num_adj_images = 0;
int *map = new int[num_images];
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted)
continue;
if (m_image_data[i].m_ignore_in_bundle) {
printf("[OutputCompressed] Ignoring image %d\n", i);
continue;
}
if (m_image_data[i].m_has_init_focal)
fprintf(f, "%s %d %0.5f\n", m_image_data[i].m_name,
m_image_data[i].m_fisheye, m_image_data[i].m_init_focal);
else
fprintf(f, "%s\n", m_image_data[i].m_name);
map[i] = num_adj_images;
num_adj_images++;
}
fclose(f);
/* Output the new bundle.out file */
sprintf(buf, "bundle.%s.out", ext);
f = fopen(buf, "w");
if (f == NULL) {
printf("[OutputCompress] Error opening file %s "
"for writing\n", buf);
return;
}
#if 0
if (m_estimate_distortion && m_bundle_version > 0.1) {
fprintf(f, "v%lf\n", m_bundle_version);
}
#endif
fprintf(f, "# Bundle file v0.3\n");
int num_points = (int) m_point_data.size();
int num_good_points = 0;
for (int i = 0; i < num_points; i++) {
if (m_point_data[i].m_views.size() >= 2)
num_good_points++;
}
fprintf(f, "%d %d\n", num_adj_images, num_good_points);
/* Dump cameras */
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted)
continue;
// if (m_estimate_distortion && m_bundle_version > 0.1) {
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_focal,
m_image_data[i].m_camera.m_k[0],
m_image_data[i].m_camera.m_k[1]);
// } else {
// fprintf(f, "%0.9e\n", m_image_data[i].m_camera.m_focal);
// }
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[0],
m_image_data[i].m_camera.m_R[1],
m_image_data[i].m_camera.m_R[2]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[3],
m_image_data[i].m_camera.m_R[4],
m_image_data[i].m_camera.m_R[5]);
fprintf(f, "%0.9e %0.9e %0.9e\n",
m_image_data[i].m_camera.m_R[6],
m_image_data[i].m_camera.m_R[7],
m_image_data[i].m_camera.m_R[8]);
double *t = m_image_data[i].m_camera.m_t;
fprintf(f, "%0.9e %0.9e %0.9e\n", t[0], t[1], t[2]);
}
/* Dump points */
for (int i = 0; i < num_points; i++) {
PointData &p = m_point_data[i];
int num_visible = (int) p.m_views.size();
if (num_visible < 2)
continue;
/* Position */
fprintf(f, "%0.9e %0.9e %0.9e\n",
p.m_pos[0], p.m_pos[1], p.m_pos[2]);
/* Color */
fprintf(f, "%d %d %d\n",
iround(p.m_color[0]),
iround(p.m_color[1]),
iround(p.m_color[2]));
/* Normal */
// fprintf(f, "%0.5e %0.5e %0.5e\n",
// p.m_norm[0], p.m_norm[1], p.m_norm[2]);
fprintf(f, "%d", num_visible);
for (int j = 0; j < num_visible; j++) {
int view = p.m_views[j].first;
int view_new = map[view];
int key = p.m_views[j].second;
#if 1
if (!m_image_data[view].m_keys_loaded)
m_image_data[view].LoadKeys(false);
double x = 0.0, y = 0.0;
if (key < (int) m_image_data[view].m_keys.size()) {
x = m_image_data[view].m_keys[key].m_x;
y = m_image_data[view].m_keys[key].m_y;
}
fprintf(f, " %d %d %0.4f %0.4f", view_new, key, x, y);
#else
fprintf(f, " %d %d", view_new, key);
#endif
}
fprintf(f, "\n");
}
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_keys_loaded)
m_image_data[i].UnloadKeys();
}
fclose(f);
delete [] map;
}
void BundlerApp::PruneBadPoints()
{
int num_points = (int) m_point_data.size();
const double MIN_ANGLE_THRESHOLD = 1.5;
int num_pruned = 0;
for (int i = 0; i < num_points; i++) {
double *pos = m_point_data[i].m_pos;
int num_views = (int) m_point_data[i].m_views.size();
double max_angle = 0.0;
for (int j = 0; j < num_views; j++) {
int v1 = m_point_data[i].m_views[j].first;
double p1[3], r1[3];
m_image_data[v1].m_camera.GetPosition(p1);
matrix_diff(3, 1, 3, 1, pos, p1, r1);
double norm = matrix_norm(3, 1, r1);
matrix_scale(3, 1, r1, 1.0 / norm, r1);
for (int k = j+1; k < num_views; k++) {
int v2 = m_point_data[i].m_views[k].first;
double p2[3], r2[3];
m_image_data[v2].m_camera.GetPosition(p2);
matrix_diff(3, 1, 3, 1, pos, p2, r2);
double norm = matrix_norm(3, 1, r2);
matrix_scale(3, 1, r2, 1.0 / norm, r2);
double dot;
matrix_product(1, 3, 3, 1, r1, r2, &dot);
double angle =
acos(CLAMP(dot, -1.0 + 1.0e-8, 1.0 - 1.0e-8));
if (angle > max_angle) {
max_angle = angle;
}
}
}
if (num_views < 3 || RAD2DEG(max_angle) < MIN_ANGLE_THRESHOLD) {
printf("[PruneBadPoints] Removing point %d with angle %0.3f\n",
i, RAD2DEG(max_angle));
m_point_data[i].m_views.clear();
m_point_data[i].m_color[0] = 0x0;
m_point_data[i].m_color[1] = 0x0;
m_point_data[i].m_color[2] = 0xff;
num_pruned++;
}
}
printf("[PruneBadPoints] Pruned %d points\n", num_pruned);
}
void BundlerApp::ZeroDistortionParams()
{
int num_cameras = GetNumImages();
for (int i = 0; i < num_cameras; i++) {
m_image_data[i].m_camera.m_k[0] = 0.0;
m_image_data[i].m_camera.m_k[1] = 0.0;
}
}
void BundlerApp::OutputRelativePoses2D(const char *outfile)
{
FILE *f = fopen(outfile, "w");
if (f == NULL) {
printf("[OutputRelativePose2D] Error opening file %s for writing\n",
outfile);
return;
}
int num_images = GetNumImages();
SetMatchesFromPoints(16);
int num_pairs = 0;
for (int i = 0; i < num_images; i++) {
// std::list<unsigned int> &nbrs = m_matches.GetNeighbors(i);
// int num_nbrs = (int) nbrs.size();
int num_nbrs = (int) m_matches.GetNumNeighbors(i);
num_pairs += num_nbrs;
}
// num_pairs = num_pairs / 2;
fprintf(f, "%d %d\n", num_images, num_pairs);
FILE *f_gt = fopen("groundtruth.txt", "w");
fprintf(f_gt, "%d\n", num_images);
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) {
fprintf(f_gt, "0.0 0.0 0.0\n");
continue;
}
/* Get the position and view direction */
double pos[3], view[3];
m_image_data[i].m_camera.GetPosition(pos);
m_image_data[i].m_camera.GetViewDirection(view);
v2_t view2D = v2_new(view[0], -view[2]);
view2D = v2_unit(view2D);
double view_angle = atan2(Vy(view2D), Vx(view2D));
fprintf(f_gt, "%0.6f %0.6f %0.6f\n", pos[0], -pos[2], view_angle);
/* Get the neighbors */
// std::list<unsigned int> &nbrs = m_matches.GetNeighbors(i);
MatchAdjList &nbrs = m_matches.GetNeighbors(i);
int num_nbrs = (int) nbrs.size();
// std::list<unsigned int>::iterator iter;
MatchAdjList::iterator iter;
for (iter = nbrs.begin(); iter != nbrs.end(); iter++) {
int nbr = iter->m_index; // *iter;
// if (nbr <= i)
// continue; /* only print neighbors once */
double pos2[3], view2[3];
m_image_data[nbr].m_camera.GetPosition(pos2);
m_image_data[nbr].m_camera.GetViewDirection(view2);
v2_t view2D_2 = v2_new(view2[0], -view2[2]);
view2D_2 = v2_unit(view2D_2);
double dx = pos2[0] - pos[0];
double dz = pos[2] - pos2[2];
double angle = v2_angle(view2D, view2D_2);
// double angle2 = v2_angle(view2D_2, view2D);
/* Rotate dx,dz so that the first camera is pointed in the
* positive z direction */
double R[4] = { Vy(view2D), -Vx(view2D),
Vx(view2D), Vy(view2D) };
double d[2] = { dx, dz };
double Rd[2];
matrix_product(2, 2, 2, 1, R, d, Rd);
// double norm = matrix_norm(2, 1, Rd);
// matrix_scale(2, 1, Rd, 1.0 / norm, Rd);
fprintf(f, "%d %d %0.6f %0.6f %0.6f\n",
i, nbr, Rd[0], Rd[1], angle);
}
}
fclose(f_gt);
}
static void WriteVector(FILE *f, int n, const double *v)
{
for (int i = 0; i < n; i++) {
fprintf(f, "%0.16e ", v[i]);
}
fprintf(f, "\n");
}
static double GetTwist(double *R)
{
double c_twist =
(R[0] * R[8] - R[6] * R[2]) / sqrt(1 - R[5] * R[5]);
c_twist = CLAMP(c_twist, -1.0 + 1.0e-8, 1.0 - 1.0e-8);
double angle = acos(c_twist);
if (R[3] < 0.0)
return -angle;
else
return angle;
}
void BundlerApp::OutputRelativePoses3D(const char *outfile)
{
FILE *f = fopen(outfile, "w");
if (f == NULL) {
printf("[OutputRelativePose3D] Error opening file %s for writing\n",
outfile);
return;
}
int num_images = GetNumImages();
SetMatchesFromPoints(16);
int num_pairs = 0;
for (int i = 0; i < num_images; i++) {
// std::list<unsigned int> &nbrs = m_matches.GetNeighbors(i);
// int num_nbrs = (int) nbrs.size();
int num_nbrs = (int) m_matches.GetNumNeighbors(i);
num_pairs += num_nbrs;
}
// num_pairs = num_pairs / 2;
fprintf(f, "%d %d\n", num_images, num_pairs);
FILE *f_gt = fopen("groundtruth.txt", "w");
fprintf(f_gt, "%d\n", num_images);
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) {
fprintf(f_gt, "0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0\n");
fprintf(f_gt, "0.0 0.0 0.0\n");
continue;
}
/* Get the position and view direction */
double pos[3], pose[9];
m_image_data[i].m_camera.GetPosition(pos);
m_image_data[i].m_camera.GetPose(pose);
WriteVector(f_gt, 9, pose);
WriteVector(f_gt, 3, pos);
/* Get the neighbors */
MatchAdjList &nbrs = m_matches.GetNeighbors(i);
int num_nbrs = (int) nbrs.size();
MatchAdjList::iterator iter;
for (iter = nbrs.begin(); iter != nbrs.end(); iter++) {
int nbr = iter->m_index; // *iter;
if (nbr <= i)
continue; /* only print neighbors once */
double pos2[3], pose2[9];
m_image_data[nbr].m_camera.GetPosition(pos2);
m_image_data[nbr].m_camera.GetPose(pose2);
double diff[3];
matrix_diff(3, 1, 3, 1, pos2, pos, diff);
/* Put everything in the right coordinate system */
double R[9], t[3];
matrix_transpose_product(3, 3, 3, 3, pose, pose2, R);
// matrix_transpose_product2(3, 3, 3, 3, pose2, pose, R);
matrix_transpose_product(3, 3, 3, 1, pose, diff, t);
double norm = matrix_norm(3, 1, t);
matrix_scale(3, 1, t, 1.0 / norm, t);
double viewdir[3] = { -R[2], -R[5], -R[8] };
double twist_angle = GetTwist(R);
fprintf(f, "%d %d\n", i, nbr);
WriteVector(f, 9, R);
// WriteVector(f, 3, viewdir);
// fprintf(f, "%0.8f\n", twist_angle);
WriteVector(f, 3, t);
}
}
fclose(f_gt);
}