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line3D.cc
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line3D.cc
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#include "line3D.h"
namespace L3DPP
{
//------------------------------------------------------------------------------
Line3D::Line3D(const std::string output_folder, const bool load_segments,
int max_img_width,
const unsigned int max_line_segments,
const bool neighbors_by_worldpoints,
const bool use_GPU)
{
// set params
data_folder_ = output_folder+"/L3D++_data/";
max_image_width_ = max_img_width;
max_line_segments_ = max_line_segments;
load_segments_ = load_segments;
neighbors_by_worldpoints_ = neighbors_by_worldpoints;
num_lines_total_ = 0;
med_scene_depth_ = L3D_EPS;
med_scene_depth_lines_ = 0.0f;
translation_ = Eigen::Vector3d(0,0,0);
// default
collinearity_t_ = L3D_DEF_COLLINEARITY_T;
num_neighbors_ = L3D_DEF_MATCHING_NEIGHBORS;
min_baseline_ = L3D_DEF_MIN_BASELINE;
epipolar_overlap_ = L3D_DEF_EPIPOLAR_OVERLAP;
kNN_ = L3D_DEF_KNN;
sigma_p_ = L3D_DEF_SCORING_POS_REGULARIZER;
sigma_a_ = L3D_DEF_SCORING_ANG_REGULARIZER;
const_regularization_depth_ = -1.0f;
two_sigA_sqr_ = 2.0f*sigma_a_*sigma_a_;
perform_RDD_ = false;
use_CERES_ = false;
max_iter_CERES_ = L3D_DEF_CERES_MAX_ITER;
visibility_t_ = 3;
if(sigma_p_ < L3D_EPS)
{
// fixed sigma_p in world-coords
fixed3Dregularizer_ = true;
sigma_p_ = fabs(sigma_p_);
}
else
{
// regularizer in pixels (scale unknown)
fixed3Dregularizer_ = false;
sigma_p_ = fmax(0.1f,sigma_p_);
}
#ifdef L3DPP_CUDA
useGPU_ = use_GPU;
#else
useGPU_ = false;
#endif //L3DPP_CUDA
prefix_ = "[L3D++] ";
prefix_err_ = prefix_+"ERROR: ";
prefix_wng_ = prefix_+"WARNING: ";
// create output directory
boost::filesystem::path dir(data_folder_);
boost::filesystem::create_directory(dir);
std::cout << std::endl;
std::cout << prefix_ << "//////////////////////////////////////////////////////////////////////" << std::endl;
std::cout << prefix_ << "Line3D++ - http://www.icg.tugraz.at/ - AerialVisionGroup" << std::endl;
std::cout << prefix_ << "(c) 2015, Manuel Hofer" << std::endl;
std::cout << prefix_ << "published under the GNU General Public License" << std::endl;
std::cout << prefix_ << "//////////////////////////////////////////////////////////////////////" << std::endl;
}
//------------------------------------------------------------------------------
Line3D::~Line3D()
{
// delete views
std::map<unsigned int,L3DPP::View*>::iterator it = views_.begin();
for(; it!=views_.end(); ++it)
{
delete it->second;
}
}
//------------------------------------------------------------------------------
void Line3D::undistortImage(const cv::Mat& inImg, cv::Mat& outImg,
const Eigen::Vector3d radial_coeffs,
const Eigen::Vector2d tangential_coeffs,
const Eigen::Matrix3d& K)
{
cv::Mat I = cv::Mat_<double>::eye(3,3);
cv::Mat cvK = cv::Mat_<double>::zeros(3,3);
cvK.at<double>(0,0) = K(0,0);
cvK.at<double>(1,1) = K(1,1);
cvK.at<double>(0,2) = K(0,2);
cvK.at<double>(1,2) = K(1,2);
cvK.at<double>(2,2) = 1.0;
cv::Mat cvDistCoeffs(5,1,CV_64FC1,cv::Scalar(0));
cvDistCoeffs.at<double>(0) = radial_coeffs.x();
cvDistCoeffs.at<double>(1) = radial_coeffs.y();
cvDistCoeffs.at<double>(2) = tangential_coeffs.x();
cvDistCoeffs.at<double>(3) = tangential_coeffs.y();
cvDistCoeffs.at<double>(4) = radial_coeffs.z();
cv::Mat undistort_map_x;
cv::Mat undistort_map_y;
cv::initUndistortRectifyMap(cvK,cvDistCoeffs,I,cvK,cv::Size(inImg.cols, inImg.rows),
undistort_map_x.type(), undistort_map_x, undistort_map_y );
cv::remap(inImg,outImg,undistort_map_x,undistort_map_y,cv::INTER_LINEAR,cv::BORDER_CONSTANT);
}
//------------------------------------------------------------------------------
void Line3D::addImage(const unsigned int camID, cv::Mat& image,
const Eigen::Matrix3d K, const Eigen::Matrix3d R,
const Eigen::Vector3d t, const float median_depth,
std::list<unsigned int>& wps_or_neighbors,
std::vector<cv::Vec4f> line_segments)
{
// check size
if(std::max(image.cols,image.rows) < L3D_DEF_MIN_IMG_WIDTH)
{
display_text_mutex_.lock();
std::cout << prefix_err_ << "image is too small for reliable results: " << std::max(image.cols,image.rows);
std::cout << "px (larger side should be >= " << L3D_DEF_MIN_IMG_WIDTH << "px)" << std::endl;
display_text_mutex_.unlock();
return;
}
// check ID
view_reserve_mutex_.lock();
if(views_reserved_.find(camID) != views_reserved_.end())
{
display_text_mutex_.lock();
std::cout << prefix_err_ << "camera ID [" << camID << "] already in use!" << std::endl;
display_text_mutex_.unlock();
view_reserve_mutex_.unlock();
return;
}
else
{
// reserve
views_reserved_[camID] = true;
}
if(views_reserved_.size() == 1)
{
display_text_mutex_.lock();
std::cout << std::endl << prefix_ << "[1] ADDING IMAGES ================================" << std::endl;
display_text_mutex_.unlock();
}
view_reserve_mutex_.unlock();
// check worldpoints
if(wps_or_neighbors.size() == 0)
{
display_text_mutex_.lock();
if(neighbors_by_worldpoints_)
std::cout << prefix_err_ << "view [" << camID << "] has no worldpoints!" << std::endl;
else
std::cout << prefix_err_ << "view [" << camID << "] has no visual neighbors!" << std::endl;
display_text_mutex_.unlock();
return;
}
// detect segments
L3DPP::DataArray<float4>* lines = NULL;
if(line_segments.size() == 0)
{
// detect segments using LSD algorithm
lines = detectLineSegments(camID,image);
}
else
{
// use given segments
lines = new L3DPP::DataArray<float4>(line_segments.size(),1);
for(size_t i=0; i<line_segments.size(); ++i)
{
cv::Vec4f coords = line_segments[i];
float4 coordsf4;
coordsf4.x = coords(0); coordsf4.y = coords(1);
coordsf4.z = coords(2); coordsf4.w = coords(3);
lines->dataCPU(i,0)[0] = coordsf4;
}
}
if(lines == NULL)
{
display_text_mutex_.lock();
std::cout << prefix_wng_ << "no line segments found in image [" << camID << "]!" << std::endl;
display_text_mutex_.unlock();
return;
}
display_text_mutex_.lock();
std::cout << prefix_ << "adding view [" << std::setfill('0') << std::setw(L3D_DISP_CAMS) << camID;
std::cout << "]: #lines = " << std::setfill(' ') << std::setw(L3D_DISP_LINES) << lines->width();
std::cout << " [" << std::setfill('0') << std::setw(L3D_DISP_CAMS) << views_.size() << "]" << std::endl;
display_text_mutex_.unlock();
// create view
L3DPP::View* v = new L3DPP::View(camID,lines,K,R,t,image.cols,image.rows,median_depth);
view_mutex_.lock();
views_[camID] = v;
view_order_.push_back(camID);
matches_[camID] = std::vector<std::list<L3DPP::Match> >(lines->width());
num_matches_[camID] = 0;
processed_[camID] = false;
visual_neighbors_[camID] = std::map<unsigned int,bool>();
num_lines_total_ += lines->width();
views_avg_depths_.push_back(fmax(median_depth,L3D_EPS));
if(neighbors_by_worldpoints_)
{
// process worldpoint list
processWPlist(camID,wps_or_neighbors);
}
else
{
// neighbors explicitely given
setVisualNeighbors(camID,wps_or_neighbors);
}
view_mutex_.unlock();
}
//------------------------------------------------------------------------------
void Line3D::processWPlist(const unsigned int camID, std::list<unsigned int>& wps)
{
std::list<unsigned int>::iterator it = wps.begin();
for(; it!=wps.end(); ++it)
{
unsigned int wpID = *it;
worldpoints2views_[wpID].push_back(camID);
}
num_worldpoints_[camID] = wps.size();
views2worldpoints_[camID] = wps;
}
//------------------------------------------------------------------------------
void Line3D::setVisualNeighbors(const unsigned int camID, std::list<unsigned int>& neighbors)
{
fixed_visual_neighbors_[camID] = neighbors;
}
//------------------------------------------------------------------------------
L3DPP::DataArray<float4>* Line3D::detectLineSegments(const unsigned int camID, cv::Mat& image)
{
// check image format
cv::Mat imgGray;
if(image.type() == CV_8UC3)
{
// convert to grayscale
cv::cvtColor(image,imgGray,CV_RGB2GRAY);
}
else if(image.type() == CV_8U)
{
imgGray = image.clone();
}
else
{
display_text_mutex_.lock();
std::cout << prefix_err_ << "image type not supported! must be CV_8U (gray) or CV_8UC3 (RGB)!" << std::endl;
display_text_mutex_.unlock();
return NULL;
}
// check image size
int max_dim = std::max(imgGray.rows,imgGray.cols);
float upscale_x = 1.0f;
float upscale_y = 1.0f;
unsigned int new_width = imgGray.cols;
unsigned int new_height = imgGray.rows;
cv::Mat imgResized;
if(max_image_width_ > 0 && max_dim > max_image_width_)
{
// rescale
float s = float(max_image_width_)/float(max_dim);
cv::resize(imgGray,imgResized,cv::Size(),s,s);
upscale_x = float(imgGray.cols)/float(imgResized.cols);
upscale_y = float(imgGray.rows)/float(imgResized.rows);
new_width = imgResized.cols;
new_height = imgResized.rows;
}
else
{
imgResized = imgGray.clone();
}
// see if lines already exist
L3DPP::DataArray<float4>* segments = NULL;
std::stringstream str;
if(load_segments_)
{
str << data_folder_ << "segments_L3D++_" << camID << "_" << new_width << "x" << new_height << ".bin";
boost::filesystem::path file(str.str());
if(boost::filesystem::exists(file))
{
segments = new L3DPP::DataArray<float4>();
L3DPP::serializeFromFile(str.str(),*segments);
return segments;
}
}
// detect line segments
#ifndef L3DPP_OPENCV3
cv::Ptr<cv::LineSegmentDetector> lsd = cv::createLineSegmentDetectorPtr(cv::LSD_REFINE_ADV);
#else
cv::Ptr<cv::LineSegmentDetector> lsd = cv::createLineSegmentDetector(cv::LSD_REFINE_ADV);
#endif //L3DPP_LSD_EXT
std::vector<cv::Vec4f> detections;
lsd->detect(imgResized,detections);
float diag = sqrtf(float(image.rows*image.rows)+float(image.cols*image.cols));
float min_len = diag*L3D_DEF_MIN_LINE_LENGTH_FACTOR;
L3DPP::lines2D_sorted_by_length sorted;
for(size_t i=0; i<detections.size(); ++i)
{
cv::Vec4f data = detections[i];
L3DPP::SegmentData2D seg2D;
seg2D.p1x_ = data(0)*upscale_x;
seg2D.p1y_ = data(1)*upscale_y;
seg2D.p2x_ = data(2)*upscale_x;
seg2D.p2y_ = data(3)*upscale_y;
float dx = seg2D.p1x_-seg2D.p2x_;
float dy = seg2D.p1y_-seg2D.p2y_;
seg2D.length_ = sqrtf(dx*dx + dy*dy);
if(seg2D.length_ > min_len)
sorted.push(seg2D);
}
if(sorted.size() > 0)
{
// convert to dataArray
if(sorted.size() < max_line_segments_)
segments = new L3DPP::DataArray<float4>(sorted.size(),1);
else
segments = new L3DPP::DataArray<float4>(max_line_segments_,1);
unsigned int pos = 0;
while(!sorted.empty() && pos < segments->width())
{
L3DPP::SegmentData2D segData = sorted.top();
float4 coordsf4;
coordsf4.x = segData.p1x_; coordsf4.y = segData.p1y_;
coordsf4.z = segData.p2x_; coordsf4.w = segData.p2y_;
segments->dataCPU(pos,0)[0] = coordsf4;
sorted.pop();
++pos;
}
// save
if(load_segments_)
{
L3DPP::serializeToFile(str.str(),*segments);
}
return segments;
}
return NULL;
}
//------------------------------------------------------------------------------
void Line3D::matchImages(const float sigma_position, const float sigma_angle,
const unsigned int num_neighbors, const float epipolar_overlap,
const float min_baseline, const int kNN,
const float const_regularization_depth)
{
// no new views can be added in the meantime!
view_reserve_mutex_.lock();
view_mutex_.lock();
std::cout << std::endl << prefix_ << "[2] LINE MATCHING ================================" << std::endl;
if(views_.size() == 0)
{
std::cout << prefix_wng_ << "no images to match! forgot to add them?" << std::endl;
view_mutex_.unlock();
view_reserve_mutex_.unlock();
return;
}
// check params
num_neighbors_ = std::max(int(num_neighbors),2);
sigma_p_ = sigma_position;
sigma_a_ = fmin(fabs(sigma_angle),90.0f);
two_sigA_sqr_ = 2.0f*sigma_a_*sigma_a_;
min_baseline_ = fmax(min_baseline,0.0f);
epipolar_overlap_ = fmin(fabs(epipolar_overlap),0.99f);
kNN_ = kNN;
const_regularization_depth_ = const_regularization_depth;
if(sigma_p_ < 0.0f)
{
// fixed sigma_p in world-coords
fixed3Dregularizer_ = true;
sigma_p_ = fabs(sigma_p_);
}
else
{
// regularizer in pixels (scale unknown)
fixed3Dregularizer_ = false;
sigma_p_ = fmax(0.1f,sigma_p_);
}
// reset
matched_.clear();
estimated_position3D_.clear();
entry_map_.clear();
// compute spatial regularizer
if(!fixed3Dregularizer_)
std::cout << prefix_ << "computing spatial regularizers... [" << sigma_p_ << " px]" << std::endl;
else
std::cout << prefix_ << "computing spatial regularizers... [" << sigma_p_ << " m]" << std::endl;
med_scene_depth_ = const_regularization_depth_;
if(const_regularization_depth_ < 0.0f && fixed3Dregularizer_ && views_avg_depths_.size() > 0)
{
// compute median scene depth
std::sort(views_avg_depths_.begin(),views_avg_depths_.end());
med_scene_depth_ = views_avg_depths_[views_avg_depths_.size()/2];
std::cout << prefix_ << "median_scene_depth = " << med_scene_depth_ << std::endl;
}
// translate reconstruction (for better numerical stability)
translate();
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(size_t i=0; i<view_order_.size(); ++i)
{
unsigned int camID = view_order_[i];
if(!fixed3Dregularizer_)
views_[camID]->computeSpatialRegularizer(sigma_p_);
else
views_[camID]->update_k(sigma_p_,med_scene_depth_);
// reset matches
matches_[camID] = std::vector<std::list<L3DPP::Match> >(views_[camID]->num_lines());
num_matches_[camID] = 0;
processed_[camID] = false;
}
// find visual neighbors
std::cout << prefix_ << "computing visual neighbors... [" << num_neighbors_ << " imgs.]" << std::endl;
std::cout << prefix_ << "starting to match " << views_.size() << " images..." << std::endl;
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(size_t i=0; i<view_order_.size(); ++i)
{
unsigned int camID = view_order_[i];
if(fixed_visual_neighbors_.find(camID) != fixed_visual_neighbors_.end())
{
if(visual_neighbors_[camID].size() == 0)
{
// fixed neighbors
std::list<unsigned int>::iterator n_it = fixed_visual_neighbors_[camID].begin();
for(; n_it!=fixed_visual_neighbors_[camID].end(); ++n_it)
{
if(views_.find(*n_it) != views_.end())
visual_neighbors_[camID][*n_it] = true;
}
}
}
else
{
// compute neighbors from WP overlap
findVisualNeighborsFromWPs(camID);
}
}
// match images
std::cout << prefix_ << "computing matches..." << std::endl;
computeMatches();
// translate back
untranslate();
view_mutex_.unlock();
view_reserve_mutex_.unlock();
}
//------------------------------------------------------------------------------
void Line3D::translate()
{
if(views_.size() == 0)
return;
// find median x,y,z coordinates
std::vector<std::vector<double> > coords(3);
translation_ = Eigen::Vector3d(0,0,0);
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(size_t i=0; i<3; ++i)
{
std::map<unsigned int,L3DPP::View*>::iterator it = views_.begin();
for(; it!=views_.end(); ++it)
{
double val = (it->second->C())(i);
if(fabs(val) > L3D_EPS)
coords[i].push_back(val);
}
if(coords[i].size() > 0)
{
std::sort(coords[i].begin(),coords[i].end());
translation_(i) = coords[i][coords[i].size()/2];
}
}
std::cout << prefix_ << "translation: ";
std::cout << -translation_(0) << " ";
std::cout << -translation_(1) << " ";
std::cout << -translation_(2) << std::endl;
// apply translation to views and 3D lines
performTranslation(-translation_);
}
//------------------------------------------------------------------------------
void Line3D::untranslate()
{
std::cout << prefix_ << "translating back..." << std::endl;
// untranslate back to the original coordinates
performTranslation(translation_);
}
//------------------------------------------------------------------------------
void Line3D::performTranslation(const Eigen::Vector3d t)
{
// translate views
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(size_t i=0; i<view_order_.size(); ++i)
{
views_[view_order_[i]]->translate(t);
}
// translate available 3D lines
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(size_t i=0; i<lines3D_.size(); ++i)
{
L3DPP::FinalLine3D L = lines3D_[i];
std::list<L3DPP::Segment3D>::iterator it = L.collinear3Dsegments_.begin();
for(; it!=L.collinear3Dsegments_.end(); ++it)
{
(*it).translate(t);
}
L.underlyingCluster_.translate(t);
lines3D_[i] = L;
}
}
//------------------------------------------------------------------------------
void Line3D::findVisualNeighborsFromWPs(const unsigned int camID)
{
if(visual_neighbors_.find(camID) != visual_neighbors_.end())
{
// reset
visual_neighbors_[camID].clear();
std::map<unsigned int,unsigned int> commonWPs;
std::list<unsigned int>::iterator wp_it = views2worldpoints_[camID].begin();
for(; wp_it!=views2worldpoints_[camID].end(); ++wp_it)
{
// iterate over worldpoints
unsigned int wpID = *wp_it;
std::list<unsigned int>::iterator view_it = worldpoints2views_[wpID].begin();
for(; view_it!=worldpoints2views_[wpID].end(); ++view_it)
{
// all views are potential neighbors
unsigned int vID = *view_it;
if(vID != camID)
{
if(commonWPs.find(vID) == commonWPs.end())
{
commonWPs[vID] = 1;
}
else
{
++commonWPs[vID];
}
}
}
}
if(commonWPs.size() == 0)
return;
// find visual neighbors
std::map<unsigned int,bool> used_neighbors;
std::list<L3DPP::VisualNeighbor> neighbors;
L3DPP::View* v = views_[camID];
std::map<unsigned int,unsigned int>::iterator c_it = commonWPs.begin();
for(; c_it!=commonWPs.end(); ++c_it)
{
unsigned int vID = c_it->first;
unsigned int num_common_wps = c_it->second;
VisualNeighbor vn;
vn.camID_ = vID;
vn.score_ = 2.0f*float(num_common_wps)/float(num_worldpoints_[camID]+num_worldpoints_[vID]);
vn.axisAngle_ = v->opticalAxesAngle(views_[vID]);
vn.distance_score_ = v->distanceVisualNeighborScore(views_[vID]);
// check baseline
if(vn.axisAngle_ < 1.571f && num_common_wps > 4) // ~ PI/2
{
neighbors.push_back(vn);
}
}
// sort by score
neighbors.sort(L3DPP::sortVisualNeighborsByScore);
// reduce to best neighbors
if(neighbors.size() > num_neighbors_)
{
// copy neighbors
std::list<L3DPP::VisualNeighbor> neighbors_tmp = neighbors;
// get max score
float score_t = 0.80f*neighbors.front().score_;
unsigned int num_bigger_t = 0;
// count the number of highly similar views
std::list<L3DPP::VisualNeighbor>::iterator nit = neighbors.begin();
while(nit!=neighbors.end() && (*nit).score_ > score_t)
{
++num_bigger_t;
++nit;
}
neighbors.resize(num_bigger_t);
// resort based on projective_score and world_point_score
neighbors.sort(L3DPP::sortVisualNeighborsByDistScore);
if(neighbors.size() > num_neighbors_/2)
neighbors.resize(num_neighbors_/2);
// combine
neighbors.splice(neighbors.end(),neighbors_tmp);
}
// highscore neighbors -> store in visual neighbor map
std::list<L3DPP::VisualNeighbor>::iterator nit = neighbors.begin();
while(nit!=neighbors.end() && used_neighbors.size() < num_neighbors_)
{
L3DPP::VisualNeighbor vn = *nit;
L3DPP::View* v2 = views_[vn.camID_];
// check baseline
if(used_neighbors.find(vn.camID_) == used_neighbors.end() && v->baseLine(v2) > min_baseline_)
{
std::map<unsigned int,bool>::iterator u_it = used_neighbors.begin();
bool valid = true;
for(; u_it!=used_neighbors.end() && valid; ++u_it)
{
if(!(v->baseLine(views_[u_it->first]) > min_baseline_))
valid = false;
}
if(valid)
used_neighbors[vn.camID_] = true;
}
++nit;
}
visual_neighbors_[camID] = used_neighbors;
}
}
//------------------------------------------------------------------------------
void Line3D::computeMatches()
{
std::map<unsigned int,std::map<unsigned int,bool> >::iterator it = visual_neighbors_.begin();
for(; it!=visual_neighbors_.end(); ++it)
{
std::cout << prefix_;
if(useGPU_)
std::cout << "@GPU: ";
else
std::cout << "@CPU: ";
std::cout << "[" << std::setfill('0') << std::setw(L3D_DISP_CAMS) << it->first << "] --> ";
// init GPU data
if(useGPU_)
initSrcDataGPU(it->first);
std::map<unsigned int,bool>::iterator n_it = it->second.begin();
for(; n_it!=it->second.end(); ++n_it)
{
if(matched_[it->first].find(n_it->first) == matched_[it->first].end())
{
// not yet matched
std::cout << "[" << std::setfill('0') << std::setw(L3D_DISP_CAMS) << n_it->first << "] ";
// compute fundamental matrix
Eigen::Matrix3d F = getFundamentalMatrix(views_[it->first],
views_[n_it->first]);
// matching
if(useGPU_)
matchingGPU(it->first,n_it->first,F);
else
matchingCPU(it->first,n_it->first,F);
// set matched
matched_[it->first][n_it->first] = true;
matched_[n_it->first][it->first] = true;
}
}
std::cout << "done!" << std::endl;
// check matches for orientation
if(L3D_DEF_CHECK_MATCH_ORIENTATION)
{
checkMatchOrientation(it->first);
}
// scoring
float valid_f;
if(useGPU_)
scoringGPU(it->first,valid_f);
else
scoringCPU(it->first,valid_f);
std::cout << prefix_ << "scoring: " << "clusterable_segments = " << int(valid_f*100) << "%";
std::cout << std::endl;
// cleanup GPU data
if(useGPU_)
removeSrcDataGPU(it->first);
// store inverse matches
storeInverseMatches(it->first);
// filter invalid matches
filterMatches(it->first);
// set processed
processed_[it->first] = true;
std::cout << prefix_ << "#matches: ";
std::cout << std::setfill(' ') << std::setw(L3D_DISP_MATCHES) << num_matches_[it->first] << std::endl;
std::cout << prefix_ << "median_depth: " << views_[it->first]->median_depth() << std::endl;
}
/*
// DEBUG: save all remaining matches
std::vector<L3DPP::Segment3D> all_matches;
std::map<unsigned int,std::vector<std::list<L3DPP::Match> > >::iterator dbg_it = matches_.begin();
for(; dbg_it!=matches_.end(); ++dbg_it)
{
L3DPP::View* v = views_[dbg_it->first];
for(size_t i=0; i<dbg_it->second.size(); ++i)
{
std::list<L3DPP::Match>::iterator dbg_it2 = dbg_it->second.at(i).begin();
for(; dbg_it2!=dbg_it->second.at(i).end(); ++dbg_it2)
{
L3DPP::Match m = *dbg_it2;
L3DPP::Segment3D seg3D = v->unprojectSegment(m.src_segID_,m.depth_p1_,m.depth_p2_);
all_matches.push_back(seg3D);
}
}
}
saveTempResultAsSTL(data_folder_,"all",all_matches);
// DEBUG: save best hypotheses
std::vector<L3DPP::Segment3D> best_matches;
for(size_t i=0; i<estimated_position3D_.size(); ++i)
{
best_matches.push_back(estimated_position3D_[i].first);
}
saveTempResultAsSTL(data_folder_,"best",best_matches);
*/
}
//------------------------------------------------------------------------------
void Line3D::checkMatchOrientation(const unsigned int src)
{
if(matches_.find(src) == matches_.end())
return;
unsigned int num_matches_before = num_matches_[src];
unsigned int num_matches = 0;
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(size_t i=0; i<matches_[src].size(); ++i)
{
std::list<L3DPP::Match> remaining;
std::list<L3DPP::Match>::iterator it = matches_[src][i].begin();
for(; it!=matches_[src][i].end(); ++it)
{
L3DPP::Match m = *it;
// unproject
L3DPP::Segment3D seg3D = unprojectMatch(m);
// check angle
double ang = views_[m.src_camID_]->segmentQualityAngle(seg3D,m.src_segID_);
if(ang > L3D_PI_1_32 && ang < L3D_PI_31_32)
{
remaining.push_back(m);
}
}
matches_[src][i] = remaining;
match_mutex_.lock();
num_matches += remaining.size();
match_mutex_.unlock();
}
num_matches_[src] = num_matches;
float perc = float(num_matches)/float(num_matches_before)*100.0f;
std::cout << prefix_ << "filter matches by orientation... ";
std::cout << num_matches_before << " --> " << num_matches;
std::cout << " (~" << int(perc) << "%)" << std::endl;
}
//------------------------------------------------------------------------------
Eigen::Matrix3d Line3D::getFundamentalMatrix(L3DPP::View* src, L3DPP::View* tgt)
{
// check if it already exists
if(fundamentals_[src->id()].find(tgt->id()) != fundamentals_[src->id()].end())
{
return fundamentals_[src->id()][tgt->id()];
}
else if(fundamentals_[tgt->id()].find(src->id()) != fundamentals_[tgt->id()].end())
{
Eigen::Matrix3d Ft = fundamentals_[tgt->id()][src->id()].transpose();
return Ft;
}
// compute new fundamental matrix
Eigen::Matrix3d K1 = src->K();
Eigen::Matrix3d R1 = src->R();
Eigen::Vector3d t1 = src->t();
Eigen::Matrix3d K2 = tgt->K();
Eigen::Matrix3d R2 = tgt->R();
Eigen::Vector3d t2 = tgt->t();
Eigen::Matrix3d R = R2 * R1.transpose();
Eigen::Vector3d t = t2 - R * t1;
Eigen::Matrix3d T(3,3);
T(0,0) = 0.0; T(0,1) = -t.z(); T(0,2) = t.y();
T(1,0) = t.z(); T(1,1) = 0.0; T(1,2) = -t.x();
T(2,0) = -t.y(); T(2,1) = t.x(); T(2,2) = 0.0;
Eigen::Matrix3d E = T * R;
Eigen::Matrix3d F = K2.transpose().inverse() * E * K1.inverse();
fundamentals_[src->id()][tgt->id()] = F;
return F;
}
//------------------------------------------------------------------------------
void Line3D::matchingCPU(const unsigned int src, const unsigned int tgt,
Eigen::Matrix3d& F)
{
L3DPP::View* v_src = views_[src];
L3DPP::View* v_tgt = views_[tgt];
L3DPP::DataArray<float4>* lines_src = v_src->lines();
L3DPP::DataArray<float4>* lines_tgt = v_tgt->lines();
unsigned int num_matches = 0;
#ifdef L3DPP_OPENMP
#pragma omp parallel for
#endif //L3DPP_OPENMP
for(size_t r=0; r<lines_src->width(); ++r)
{
int new_matches = 0;
// source line
Eigen::Vector3d p1(lines_src->dataCPU(r,0)[0].x,
lines_src->dataCPU(r,0)[0].y,1.0);
Eigen::Vector3d p2(lines_src->dataCPU(r,0)[0].z,
lines_src->dataCPU(r,0)[0].w,1.0);
// epipolar lines
Eigen::Vector3d epi_p1 = F*p1;
Eigen::Vector3d epi_p2 = F*p2;
/* DEBUG only...
if(src > 2)
{
cv::namedWindow("src",CV_WINDOW_NORMAL);
cv::namedWindow("tgt",CV_WINDOW_NORMAL);
cv::Mat Isrc,Itgt;
v_src->drawLineImage(Isrc);
v_tgt->drawLineImage(Itgt);
v_src->drawSingleLine(r,Isrc,cv::Scalar(0,0,255));
v_tgt->drawEpipolarLine(epi_p1,Itgt);
v_tgt->drawEpipolarLine(epi_p2,Itgt);
cv::imshow("src",Isrc);
cv::imshow("tgt",Itgt);
cv::waitKey();
}
*/
// use priority queue when kNN > 0
L3DPP::pairwise_matches scored_matches;
for(size_t c=0; c<lines_tgt->width(); ++c)
{
// target line
Eigen::Vector3d q1(lines_tgt->dataCPU(c,0)[0].x,
lines_tgt->dataCPU(c,0)[0].y,1.0);
Eigen::Vector3d q2(lines_tgt->dataCPU(c,0)[0].z,
lines_tgt->dataCPU(c,0)[0].w,1.0);
Eigen::Vector3d l2 = q1.cross(q2);
// intersect
Eigen::Vector3d p1_proj = l2.cross(epi_p1);
Eigen::Vector3d p2_proj = l2.cross(epi_p2);
if(fabs(p1_proj.z()) > L3D_EPS && fabs(p2_proj.z()) > L3D_EPS)
{
// normalize
p1_proj /= p1_proj.z();
p2_proj /= p2_proj.z();
// check overlap
std::vector<Eigen::Vector3d> collinear_points(4);
collinear_points[0] = p1_proj;
collinear_points[1] = p2_proj;
collinear_points[2] = q1;
collinear_points[3] = q2;
float score = mutualOverlap(collinear_points);
if(score > epipolar_overlap_)
{
// triangulate
Eigen::Vector2d depths_src = triangulationDepths(src,p1,p2,
tgt,q1,q2);
Eigen::Vector2d depths_tgt = triangulationDepths(tgt,q1,q2,
src,p1,p2);
if(depths_src.x() > L3D_EPS && depths_src.y() > L3D_EPS &&
depths_tgt.x() > L3D_EPS && depths_tgt.y() > L3D_EPS)
{
// potential match
L3DPP::Match M;
M.src_camID_ = src;
M.src_segID_ = r;
M.tgt_camID_ = tgt;
M.tgt_segID_ = c;
M.overlap_score_ = score;
M.score3D_ = 0.0f;
M.depth_p1_ = depths_src.x();
M.depth_p2_ = depths_src.y();
M.depth_q1_ = depths_tgt.x();
M.depth_q2_ = depths_tgt.y();
if(kNN_ > 0)