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Export masks to openMVS #2168

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merged 1 commit into from
Feb 21, 2023
Merged

Export masks to openMVS #2168

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16 changes: 14 additions & 2 deletions src/software/SfM/export/InterfaceMVS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
// D E F I N E S ///////////////////////////////////////////////////

#define MVSI_PROJECT_ID "MVSI" // identifies the project stream
#define MVSI_PROJECT_VER ((uint32_t)2) // identifies the version of a project stream
#define MVSI_PROJECT_VER ((uint32_t)5) // identifies the version of a project stream

// set a default namespace name is none given
#ifndef _INTERFACE_NAMESPACE
Expand Down Expand Up @@ -308,6 +308,7 @@ struct Interface
// structure describing a camera mounted on a platform
struct Camera {
std::string name; // camera's name
std::string bandName; // camera's band name, ex: RGB, BLUE, GREEN, RED, NIR, THERMAL, etc (optional)
uint32_t width, height; // image resolution in pixels for all images sharing this camera (optional)
Mat33d K; // camera's intrinsics matrix (normalized if image resolution not specified)
Mat33d R; // camera's rotation matrix relative to the platform
Expand All @@ -320,6 +321,9 @@ struct Interface
template <class Archive>
void serialize(Archive& ar, const unsigned int version) {
ar & name;
if (version > 3) {
ar& bandName;
}
if (version > 0) {
ar & width;
ar & height;
Expand Down Expand Up @@ -361,16 +365,24 @@ struct Interface
// structure describing an image
struct Image {
std::string name; // image file name
std::string maskName; // segmentation file name (optional)
uint32_t platformID; // ID of the associated platform
uint32_t cameraID; // ID of the associated camera on the associated platform
uint32_t poseID; // ID of the pose of the associated platform
uint32_t ID; // ID of this image in the global space (optional)

template <class Archive>
void serialize(Archive& ar, const unsigned int /*version*/) {
void serialize(Archive& ar, const unsigned int version) {
ar & name;
if (version > 4) {
ar& maskName;
}
ar & platformID;
ar & cameraID;
ar & poseID;
if (version > 2) {
ar& ID;
}
}
};
typedef std::vector<Image> ImageArr;
Expand Down
75 changes: 71 additions & 4 deletions src/software/SfM/export/main_openMVG2openMVS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,11 +88,17 @@ bool exportToOpenMVS(

// define images & poses
scene.images.reserve(nViews);

const std::string mask_filename_global = stlplus::create_filespec(sfm_data.s_root_path, "mask", "png");

for (const auto& view : sfm_data.GetViews())
{
++my_progress_bar;

IntrinsicBase *intrinsic = sfm_data.GetIntrinsics().at(view.second.get()->id_intrinsic).get();
const std::string srcImage = stlplus::create_filespec(sfm_data.s_root_path, view.second->s_Img_path);
const std::string mask_filename_local = stlplus::create_filespec(sfm_data.s_root_path, stlplus::basename_part(srcImage) + "_mask", "png");
const std::string maskName = stlplus::create_filespec(sOutDir, stlplus::basename_part(srcImage) + ".mask.png");
const std::string globalMaskName = stlplus::create_filespec(sOutDir, "global_mask_" + std::to_string(view.second.get()->id_intrinsic), ".png");
if (!stlplus::is_file(srcImage))
{
OPENMVG_LOG_INFO << "Cannot read the corresponding image: " << srcImage;
Expand All @@ -108,9 +114,14 @@ bool exportToOpenMVS(
image.platformID = map_intrinsic.at(view.second->id_intrinsic);
_INTERFACE_NAMESPACE::Interface::Platform& platform = scene.platforms[image.platformID];
image.cameraID = 0;
if (stlplus::file_exists(mask_filename_local))
image.maskName = maskName;
else if (stlplus::file_exists(mask_filename_global))
image.maskName = globalMaskName;

_INTERFACE_NAMESPACE::Interface::Platform::Pose pose;
image.poseID = platform.poses.size();
image.ID = image.poseID;
const openMVG::geometry::Pose3 poseMVG(sfm_data.GetPoseOrDie(view.second.get()));
pose.R = poseMVG.rotation();
pose.C = poseMVG.center();
Expand Down Expand Up @@ -147,6 +158,9 @@ bool exportToOpenMVS(
// Get image paths
const std::string srcImage = stlplus::create_filespec(sfm_data.s_root_path, view->s_Img_path);
const std::string imageName = stlplus::create_filespec(sOutDir, view->s_Img_path);
const std::string mask_filename_local = stlplus::create_filespec(sfm_data.s_root_path, stlplus::basename_part(srcImage) + "_mask", "png");
const std::string maskName = stlplus::create_filespec(sOutDir, stlplus::basename_part(srcImage) + ".mask.png");


if (sfm_data.IsPoseAndIntrinsicDefined(view))
{
Expand All @@ -162,7 +176,7 @@ bool exportToOpenMVS(
if (ReadImage(srcImage.c_str(), &imageRGB))
{
UndistortImage(imageRGB, cam, imageRGB_ud, BLACK);
bOk = WriteImage(imageName.c_str(), imageRGB_ud);
bOk = bOk & WriteImage(imageName.c_str(), imageRGB_ud);
}
else // If RGBColor reading fails, try to read as gray image
if (ReadImage(srcImage.c_str(), &image_gray))
Expand All @@ -173,24 +187,77 @@ bool exportToOpenMVS(
}
else
{
bOk = false;
bOk = bOk & false;
}

Image<unsigned char> imageMask;
// Try to read the local mask
if (stlplus::file_exists(mask_filename_local))
{
if (!ReadImage(mask_filename_local.c_str(), &imageMask)||
!(imageMask.Width() == cam->w() && imageMask.Height() == cam->h()))
{
OPENMVG_LOG_ERROR
<< "Invalid mask: " << mask_filename_local << ';';
bOk = bOk & false;
continue;
}
UndistortImage(imageMask, cam, image_gray_ud, BLACK);
const bool bRes = WriteImage(maskName.c_str(), image_gray_ud);
bOk = bOk & bRes;
}
}
catch (const std::bad_alloc& e)
{
bOk = false;
bOk = bOk & false;
}
}
else
{
// just copy image
stlplus::file_copy(srcImage, imageName);
if (stlplus::file_exists(mask_filename_local))
{
stlplus::file_copy(mask_filename_local, maskName);
}
}
}
else
{
// just copy the image
stlplus::file_copy(srcImage, imageName);
if (stlplus::file_exists(mask_filename_local))
{
stlplus::file_copy(mask_filename_local, maskName);
}
}
}
if (stlplus::file_exists(mask_filename_global))
{
for (int i = 0; i < static_cast<int>(sfm_data.GetIntrinsics().size()); i++)
{
const openMVG::cameras::IntrinsicBase* cam = sfm_data.GetIntrinsics().at(i).get();
const std::string maskName = stlplus::create_filespec(sOutDir, "global_mask_" + std::to_string(i), ".png");
Image<uint8_t> imageMask;
Image<uint8_t> image_gray, image_gray_ud;
if (cam->have_disto())
{
// Try to read the global mask
if (!ReadImage(mask_filename_global.c_str(), &imageMask)||
!(imageMask.Width() == cam->w() && imageMask.Height() == cam->h()))
{
OPENMVG_LOG_ERROR
<< "Invalid global mask: " << mask_filename_global << ';';
bOk = bOk & false;
}
UndistortImage(imageMask, cam, image_gray_ud, BLACK);
const bool bRes = WriteImage(maskName.c_str(), image_gray_ud);
bOk = bOk & bRes;
}
else
{
stlplus::file_copy(mask_filename_global, maskName);
}
}
}

Expand Down