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[filterSfM] update code to follow latest merges
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@almarouk
almarouk committed Mar 26, 2024
1 parent d76e166 commit 27a1b64
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Showing 2 changed files with 31 additions and 30 deletions.
43 changes: 21 additions & 22 deletions src/software/pipeline/main_filterSfM.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,7 @@ struct ObservationsAdaptator
inline size_t kdtree_get_point_count() const { return _data.size(); }

// Returns the dim'th component of the idx'th point in the class:
inline T kdtree_get_pt(const size_t idx, int dim) const { return _data[idx].x(dim); }
inline T kdtree_get_pt(const size_t idx, int dim) const { return _data[idx].getCoordinates()(dim); }

// Optional bounding-box computation: return false to default to a standard bbox computation loop.
// Return true if the BBOX was already computed by the class and returned in "bb" so it can be avoided to redo it
Expand Down Expand Up @@ -353,7 +353,7 @@ ObservationsPerView getObservationsPerViews(SfMData& sfmData)
ObservationsPerView observationsPerView;
for(auto& landIt : sfmData.getLandmarks())
{
for(const auto& obsIt : landIt.second.observations)
for(const auto& obsIt : landIt.second.getObservations())
{
IndexT viewId = obsIt.first;
auto& landmarksSet = observationsPerView[viewId];
Expand All @@ -376,7 +376,7 @@ void filterLandmarks_step1(SfMData& sfmData,
ALICEVISION_LOG_INFO("Removing landmarks having an insufficient number of observations: started.");
for(auto& it : sfmData.getLandmarks())
{
if(it.second.observations.size() < params.minNbObservationsPerLandmark)
if (it.second.getObservations().size() < params.minNbObservationsPerLandmark)
continue;
landmarksData[i++] = it.second;
}
Expand Down Expand Up @@ -415,10 +415,10 @@ void filterLandmarks_step2(SfMData& sfmData,
for(auto i = 0; i < landmarksData.size(); i++)
{
const sfmData::Landmark& landmark = landmarksData[i];
const auto& nbObservations = landmark.observations.size();
const auto& nbObservations = landmark.getObservations().size();
auto& [viewIds, neighbors] = viewData[i];
viewIds.reserve(nbObservations);
for(const auto& observationPair : landmark.observations)
for (const auto& observationPair : landmark.getObservations())
{
const IndexT viewId = observationPair.first;
viewIds.push_back(viewId);
Expand Down Expand Up @@ -504,12 +504,12 @@ void filterLandmarks_step3(SfMData& sfmData,
// compute landmark pixSize
double pixSize = 0.;
int n = 0;
for(const auto& observationPair : landmark.observations)
for (const auto& observationPair : landmark.getObservations())
{
const IndexT viewId = observationPair.first;
pixSize += mp.getCamPixelSize(Point3d(landmark.X.x(), landmark.X.y(), landmark.X.z()),
mp.getIndexFromViewId(viewId),
params.useFeatureScale ? observationPair.second.scale : 1);
params.useFeatureScale ? observationPair.second.getScale() : 1);
n++;
}
pixSize /= n;
Expand Down Expand Up @@ -594,13 +594,13 @@ void computeInitialObservationScores(SfMData& sfmData, std::vector<Landmark*>& l
const sfmData::Landmark& landmark = *landmarksData[i];

// compute observation scores
const auto& nbObservations = landmark.observations.size();
const auto& nbObservations = landmark.getObservations().size();
auto& [viewIds, viewScores] = viewScoresData[i];
viewIds.reserve(nbObservations);
viewScores.reserve(nbObservations);
// accumulator for normalizing the scores
double total = 0.;
for(const auto& observationPair : landmark.observations)
for (const auto& observationPair : landmark.getObservations())
{
const IndexT viewId = observationPair.first;
const sfmData::View& view = *(sfmData.getViews().at(viewId));
Expand Down Expand Up @@ -869,7 +869,7 @@ void removeNonObservedLandmarks(SfMData& sfmData)
const auto& initialNbLandmarks = sfmData.getLandmarks().size();
for(auto it = sfmData.getLandmarks().begin(); it != sfmData.getLandmarks().end();)
{
if(it->second.observations.size() == 0)
if (it->second.getObservations().size() == 0)
it = sfmData.getLandmarks().erase(it);
else
++it;
Expand Down Expand Up @@ -920,14 +920,13 @@ bool filterObservations3D(SfMData& sfmData, const FilterParams::FilterObservatio

// keep only observations with best scores
Observations filteredObservations;
size_t maxNbObservationsPerLandmark =
std::min(static_cast<size_t>(params.maxNbObservationsPerLandmark), landmark.observations.size());
size_t maxNbObservationsPerLandmark = std::min(static_cast<size_t>(params.maxNbObservationsPerLandmark), landmark.getObservations().size());
for(auto j = 0; j < maxNbObservationsPerLandmark; j++)
{
// add observation only if it's an original observation and not augmented
const auto& viewId = viewIds[idx[j]];
const auto& obsIt = landmark.observations.find(viewId);
if(obsIt != landmark.observations.end())
const auto& obsIt = landmark.getObservations().find(viewId);
if (obsIt != landmark.getObservations().end())
filteredObservations[viewId] = obsIt->second;
else if (params.observationsPropagationKeep)
{
Expand All @@ -939,7 +938,7 @@ bool filterObservations3D(SfMData& sfmData, const FilterParams::FilterObservatio
filteredObservations[viewId] = Observation(x, UndefinedIndexT, 0.0);
}
}
landmark.observations = std::move(filteredObservations);
landmark.getObservations() = std::move(filteredObservations);
}
ALICEVISION_LOG_INFO("Selecting observations with best scores: done");

Expand Down Expand Up @@ -970,7 +969,7 @@ double filter2DView(SfMData& sfmData, const FilterParams::FilterObservations2DPa
std::vector<double> distances_(nbNeighbors_);
KnnNonZeroSearch resultSet(nbNeighbors_);
resultSet.init(&indices_[0], &distances_[0]);
tree.findNeighbors(resultSet, obs.x.data());
tree.findNeighbors(resultSet, obs.getCoordinates().data());
const auto& nbFound = resultSet.size();
if(nbFound == 0)
continue;
Expand Down Expand Up @@ -1023,7 +1022,7 @@ double filter2DView(SfMData& sfmData, const FilterParams::FilterObservations2DPa
}

bool filterObservations2D(SfMData& sfmData, const FilterParams::FilterObservations2DParams& params,
HashMap<IndexT, double>& estimatedRadii)
std::map<IndexT, double>& estimatedRadii)
{
std::set<IndexT> viewIds = sfmData.getValidViews();
std::vector<double> estimatedRadii_(viewIds.size(), -1.);
Expand All @@ -1046,7 +1045,7 @@ bool filterObservations2D(SfMData& sfmData, const FilterParams::FilterObservatio
// clear and update landmark observations
for(auto& landmark : sfmData.getLandmarks())
{
landmark.second.observations.clear();
landmark.second.getObservations().clear();
}
for(int i = 0; i < viewIds.size(); ++i)
{
Expand All @@ -1064,7 +1063,7 @@ bool filterObservations2D(SfMData& sfmData, const FilterParams::FilterObservatio
auto& landmarks = observationsIt->second.second;
for(int j = 0; j < observations.size(); j++)
{
landmarks[j]->observations[viewId] = observations[j];
landmarks[j]->getObservations()[viewId] = observations[j];
}
}
}
Expand Down Expand Up @@ -1163,7 +1162,7 @@ int aliceVision_main(int argc, char *argv[])

// Read the input SfM scene
SfMData sfmData;
if(!sfmDataIO::Load(sfmData, inputSfmFilename, sfmDataIO::ESfMData::ALL))
if(!sfmDataIO::load(sfmData, inputSfmFilename, sfmDataIO::ESfMData::ALL))
{
ALICEVISION_LOG_ERROR("The input SfMData file '" << inputSfmFilename << "' cannot be read.");
return EXIT_FAILURE;
Expand All @@ -1188,7 +1187,7 @@ int aliceVision_main(int argc, char *argv[])

if(params.filterObservations2D.enabled)
{
HashMap<IndexT, double> estimatedRadii;
std::map<IndexT, double> estimatedRadii;
ALICEVISION_LOG_INFO("Filtering observations in 2D: started.");
filterObservations2D(sfmData, params.filterObservations2D, estimatedRadii);
ALICEVISION_LOG_INFO("Filtering observations in 2D: done.");
Expand All @@ -1206,7 +1205,7 @@ int aliceVision_main(int argc, char *argv[])
}
}

sfmDataIO::Save(sfmData, outputSfmFilename, sfmDataIO::ESfMData::ALL);
sfmDataIO::save(sfmData, outputSfmFilename, sfmDataIO::ESfMData::ALL);
return EXIT_SUCCESS;

}
18 changes: 10 additions & 8 deletions src/software/pipeline/main_prepareDenseScene.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ ObservationsPerView getObservationsPerViews(const SfMData& sfmData)
ObservationsPerView observationsPerView;
for(auto& landIt : sfmData.getLandmarks())
{
for(const auto& obsIt : landIt.second.observations)
for (const auto& obsIt : landIt.second.getObservations())
{
IndexT viewId = obsIt.first;
auto& observationsSet = observationsPerView[viewId];
Expand Down Expand Up @@ -155,7 +155,7 @@ bool prepareDenseScene(const SfMData& sfmData,

bool doMaskLandmarks = landmarksMaskScale > 0.f;
ObservationsPerView observationsPerView;
HashMap<IndexT, double> estimatedRadii;
std::map<IndexT, double> estimatedRadii;
if (doMaskLandmarks)
{
observationsPerView = std::move(getObservationsPerViews(sfmData));
Expand Down Expand Up @@ -334,11 +334,13 @@ bool prepareDenseScene(const SfMData& sfmData,
for(const auto& observation : observations)
{
const auto& obs = *observation;
for(int y = std::max(obs.x.y() - r, 0.);
y <= std::min(obs.x.y() + r, (double)maskLandmarks.Height() - 1); y++)
for (int y = std::max(obs.getCoordinates().y() - r, 0.);
y <= std::min(obs.getCoordinates().y() + r, (double)maskLandmarks.height() - 1);
y++)
{
for(int x = std::max(obs.x.x() - r, 0.);
x <= std::min(obs.x.x() + r, (double)maskLandmarks.Width() - 1); x++)
for (int x = std::max(obs.getCoordinates().x() - r, 0.);
x <= std::min(obs.getCoordinates().x() + r, (double)maskLandmarks.width() - 1);
x++)
{
maskLandmarks(y, x) = std::numeric_limits<unsigned char>::max();
}
Expand All @@ -356,13 +358,13 @@ bool prepareDenseScene(const SfMData& sfmData,
dstColorImage, cam, metadata, srcImage, evCorrection, exposureCompensation,
[&maskLoaded, &mask, &maskLandmarks, &doMaskLandmarks](Image<RGBAfColor>& image)
{
if(maskLoaded && (image.Width() * image.Height() != mask.Width() * mask.Height()))
if(maskLoaded && (image.width() * image.height() != mask.width() * mask.height()))
{
ALICEVISION_LOG_WARNING("Invalid image mask size: mask is ignored.");
return;
}

for(int pix = 0; pix < image.Width() * image.Height(); ++pix)
for(int pix = 0; pix < image.width() * image.height(); ++pix)
{
image(pix).a() = (maskLoaded && mask(pix) == 0) ? 0.f : (doMaskLandmarks && maskLandmarks(pix) == 127) ? .5f : 1.f;
}
Expand Down

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