add io submodule for import scenes

modules/sfm/include/opencv2/sfm.hpp

@@ -38,6 +38,7 @@
 
 #include <opencv2/sfm/conditioning.hpp>
 #include <opencv2/sfm/fundamental.hpp>
+#include <opencv2/sfm/io.hpp>
 #include <opencv2/sfm/numeric.hpp>
 #include <opencv2/sfm/projection.hpp>
 #include <opencv2/sfm/triangulation.hpp>
@@ -77,6 +78,7 @@ This module has been originally developed as a project for Google Summer of Code
   @{
     @defgroup conditioning Conditioning
     @defgroup fundamental Fundamental
+    @defgroup io Input/Output
     @defgroup numeric Numeric
     @defgroup projection Projection
     @defgroup robust Robust Estimation

modules/sfm/include/opencv2/sfm/io.hpp

@@ -0,0 +1,88 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2015, OpenCV Foundation, all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and/or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#ifndef __OPENCV_SFM_IO_HPP__
+#define __OPENCV_SFM_IO_HPP__
+
+#include <opencv2/core.hpp>
+
+namespace cv
+{
+namespace sfm
+{
+
+//! @addtogroup io
+//! @{
+
+/** @brief Different supported file formats.
+ */
+enum {
+  SFM_IO_BUNDLER = 0,
+  SFM_IO_VISUALSFM = 1,
+  SFM_IO_OPENSFM = 2,
+  SFM_IO_OPENMVG = 3,
+  SFM_IO_THEIASFM = 4
+};
+
+/** @brief Import a reconstruction file.
+  @param file The path to the file.
+  @param Rs Output vector of 3x3 rotations of the camera
+  @param Ts Output vector of 3x1 translations of the camera.
+  @param Ks Output vector of 3x3 instrinsics of the camera.
+  @param points3d Output array with 3d points. Is 3 x N.
+  @param file_format The format of the file to import.
+
+  The function supports reconstructions from Bundler.
+*/
+CV_EXPORTS_W
+void
+importReconstruction(const cv::String &file, OutputArrayOfArrays Rs,
+                     OutputArrayOfArrays Ts, OutputArrayOfArrays Ks,
+                     OutputArray points3d, int file_format = SFM_IO_BUNDLER);
+
+//! @} sfm
+
+} /* namespace sfm */
+} /* namespace cv */
+
+#endif
+
+/* End of file. */

modules/sfm/samples/import_reconstruction.cpp

@@ -0,0 +1,80 @@
+#include <opencv2/sfm.hpp>
+#include <opencv2/viz.hpp>
+
+#include <iostream>
+
+using namespace std;
+using namespace cv;
+using namespace cv::sfm;
+
+static void help() {
+  cout
+      << "\n---------------------------------------------------------------------------\n"
+      << " This program shows how to import a reconstructed scene in the \n"
+      << " OpenCV Structure From Motion (SFM) module.\n"
+      << " Usage:\n"
+      << "        example_sfm_import_reconstruction <path_to_file>\n"
+      << " where: file_path is the absolute path file into your system which contains\n"
+      << "        the reconstructed scene. \n"
+      << "---------------------------------------------------------------------------\n\n"
+      << endl;
+}
+
+
+int main(int argc, char* argv[])
+{
+  /// Read input parameters
+
+  if ( argc != 2 ) {
+    help();
+    exit(0);
+  }
+
+  /// Immport a reconstructed scene
+
+  vector<Mat> Rs, Ts, Ks, points3d;
+  importReconstruction(argv[1], Rs, Ts, Ks, points3d, SFM_IO_BUNDLER);
+
+
+  /// Create 3D windows
+
+  viz::Viz3d window("Coordinate Frame");
+             window.setWindowSize(Size(500,500));
+             window.setWindowPosition(Point(150,150));
+             window.setBackgroundColor(); // black by default
+
+
+  /// Create the pointcloud
+
+  vector<Vec3d> point_cloud;
+  for (int i = 0; i < points3d.size(); ++i){
+    point_cloud.push_back(Vec3f(points3d[i]));
+  }
+
+
+  /// Recovering cameras
+
+  vector<Affine3d> path;
+  for (size_t i = 0; i < Rs.size(); ++i)
+    path.push_back(Affine3d(Rs[i], Ts[i]));
+
+
+  /// Create and show widgets
+
+  viz::WCloud cloud_widget(point_cloud, viz::Color::green());
+  viz::WTrajectory trajectory(path, viz::WTrajectory::FRAMES, 0.5);
+  viz::WTrajectoryFrustums frustums(path, Vec2f(0.889484, 0.523599), 0.5,
+                                    viz::Color::yellow());
+
+  window.showWidget("point_cloud", cloud_widget);
+  window.showWidget("cameras", trajectory);
+  window.showWidget("frustums", frustums);
+
+
+  /// Wait for key 'q' to close the window
+  cout << endl << "Press 'q' to close each windows ... " << endl;
+
+  window.spin();
+
+  return 0;
+}

modules/sfm/src/io.cpp

@@ -0,0 +1,92 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+ //
+ //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+ //
+ //  By downloading, copying, installing or using the software you agree to this license.
+ //  If you do not agree to this license, do not download, install,
+ //  copy or use the software.
+ //
+ //
+ //                           License Agreement
+ //                For Open Source Computer Vision Library
+ //
+ // Copyright (C) 2015, OpenCV Foundation, all rights reserved.
+ // Third party copyrights are property of their respective owners.
+ //
+ // Redistribution and use in source and binary forms, with or without modification,
+ // are permitted provided that the following conditions are met:
+ //
+ //   * Redistribution's of source code must retain the above copyright notice,
+ //     this list of conditions and the following disclaimer.
+ //
+ //   * Redistribution's in binary form must reproduce the above copyright notice,
+ //     this list of conditions and the following disclaimer in the documentation
+ //     and/or other materials provided with the distribution.
+ //
+ //   * The name of the copyright holders may not be used to endorse or promote products
+ //     derived from this software without specific prior written permission.
+ //
+ // This software is provided by the copyright holders and contributors "as is" and
+ // any express or implied warranties, including, but not limited to, the implied
+ // warranties of merchantability and fitness for a particular purpose are disclaimed.
+ // In no event shall the Intel Corporation or contributors be liable for any direct,
+ // indirect, incidental, special, exemplary, or consequential damages
+ // (including, but not limited to, procurement of substitute goods or services;
+ // loss of use, data, or profits; or business interruption) however caused
+ // and on any theory of liability, whether in contract, strict liability,
+ // or tort (including negligence or otherwise) arising in any way out of
+ // the use of this software, even if advised of the possibility of such damage.
+ //
+ //M*/
+
+#include <opencv2/sfm/io.hpp>
+#include "io/io_bundler.h"
+
+namespace cv
+{
+namespace sfm
+{
+
+void
+importReconstruction(const cv::String &file, OutputArrayOfArrays _Rs,
+                     OutputArrayOfArrays _Ts, OutputArrayOfArrays _Ks,
+                     OutputArray _points3d, int file_format) {
+
+    std::vector<Matx33d> Rs, Ks;
+    std::vector<Vec3d> Ts, points3d;
+
+    if (file_format == SFM_IO_BUNDLER) {
+        readBundlerFile(file, Rs, Ts, Ks, points3d);
+    } else if (file_format == SFM_IO_VISUALSFM) {
+        CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented");
+    } else if (file_format == SFM_IO_OPENSFM) {
+        CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented");
+    } else if (file_format == SFM_IO_OPENMVG) {
+        CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented");
+    } else if (file_format == SFM_IO_THEIASFM) {
+        CV_Error(Error::StsNotImplemented, "The requested function/feature is not implemented");
+    } else {
+        CV_Error(Error::StsBadArg, "The file format one of SFM_IO_BUNDLER, SFM_IO_VISUALSFM, SFM_IO_OPENSFM, SFM_IO_OPENMVG or SFM_IO_THEIASFM");
+    }
+
+    const size_t num_cameras = Rs.size();
+    const size_t num_points = points3d.size();
+
+    _Rs.create(num_cameras, 1, CV_64F);
+    _Ts.create(num_cameras, 1, CV_64F);
+    _Ks.create(num_cameras, 1, CV_64F);
+    _points3d.create(num_points, 1, CV_64F);
+
+    for (size_t i = 0; i < num_cameras; ++i) {
+        Mat(Rs[i]).copyTo(_Rs.getMatRef(i));
+        Mat(Ts[i]).copyTo(_Ts.getMatRef(i));
+        Mat(Ks[i]).copyTo(_Ks.getMatRef(i));
+    }
+
+    for (size_t i = 0; i < num_points; ++i)
+        Mat(points3d[i]).copyTo(_points3d.getMatRef(i));
+}
+
+
+} /* namespace sfm */
+} /* namespace cv */