【三维重建】openMVG中的sfmInit_ImageListing.cpp梳理
这个函数主要的作用是读入图像，产生数据
sfmInit_ImageListing.cpp
#include "openMVG/cameras/cameras.hpp"
#include "openMVG/exif/exif_IO_EasyExif.hpp"
#include "openMVG/exif/sensor_width_database/ParseDatabase.hpp"
#include "openMVG/geodesy/geodesy.hpp"
#include "openMVG/image/image_io.hpp"
#include "openMVG/numeric/eigen_alias_definition.hpp"
#include "openMVG/sfm/sfm_data.hpp"
#include "openMVG/sfm/sfm_data_io.hpp"
#include "openMVG/sfm/sfm_data_utils.hpp"
#include "openMVG/sfm/sfm_view.hpp"
#include "openMVG/sfm/sfm_view_priors.hpp"
#include "openMVG/system/loggerprogress.hpp"
#include "openMVG/types.hpp"
#include "third_party/cmdLine/cmdLine.h"
#include "third_party/stlplus3/filesystemSimplified/file_system.hpp"
#include <fstream>
#include <memory>
#include <string>
#include <utility>
using namespace openMVG;
using namespace openMVG::cameras;
using namespace openMVG::exif;
using namespace openMVG::geodesy;
using namespace openMVG::image;
using namespace openMVG::sfm;
/// Check that Kmatrix is a string like "f;0;ppx;0;f;ppy;0;0;1"
/// With f,ppx,ppy as valid numerical value
bool checkIntrinsicStringValidity(const std::string &Kmatrix, double &focal, double &ppx, double &ppy)
{
std::vector<std::string> vec_str;
stl::split(Kmatrix, ';', vec_str); // 分割 用；隔开的变量
if (vec_str.size() != 9)
{
OPENMVG_LOG_ERROR << "\n Missing ';' character";
return false;
}
// Check that all K matrix value are valid numbers
// 判断是否所有的K内参矩阵的元素是否都是有效数字
for (size_t i = 0; i < vec_str.size(); ++i)
{
double readvalue = 0.0;
std::stringstream ss;
ss.str(vec_str[i]);
if (!(ss >> readvalue))
{
OPENMVG_LOG_ERROR << "\n Used an invalid not a number character";
return false;
}
if (i == 0)
focal = readvalue;
if (i == 2)
ppx = readvalue;
if (i == 5)
ppy = readvalue;
}
return true;
}
bool getGPS(
const std::string &filename,
const int &GPS_to_XYZ_method,
Vec3 &pose_center)
{
std::unique_ptr<Exif_IO> exifReader(new Exif_IO_EasyExif);
if (exifReader)
{
// Try to parse EXIF metada & check existence of EXIF data
if (exifReader->open(filename) && exifReader->doesHaveExifInfo())
{
// Check existence of GPS coordinates
double latitude, longitude, altitude;
if (exifReader->GPSLatitude(&latitude) &&
exifReader->GPSLongitude(&longitude) &&
exifReader->GPSAltitude(&altitude))
{
// Add ECEF or UTM XYZ position to the GPS position array
switch (GPS_to_XYZ_method)
{
case 1:
pose_center = lla_to_utm(latitude, longitude, altitude);
break;
case 0:
default:
pose_center = lla_to_ecef(latitude, longitude, altitude);
break;
}
return true;
}
}
}
return false;
}
/// Check string of prior weights
std::pair<bool, Vec3> checkPriorWeightsString(
const std::string &sWeights)
{
std::pair<bool, Vec3> val(true, Vec3::Zero());
std::vector<std::string> vec_str;
stl::split(sWeights, ';', vec_str);
if (vec_str.size() != 3)
{
OPENMVG_LOG_ERROR << "Missing ';' character in prior weights";
val.first = false;
}
// Check that all weight values are valid numbers
for (size_t i = 0; i < vec_str.size(); ++i)
{
double readvalue = 0.0;
std::stringstream ss;
ss.str(vec_str[i]);
if (!(ss >> readvalue))
{
OPENMVG_LOG_ERROR << "Used an invalid not a number character in local frame origin";
val.first = false;
}
val.second[i] = readvalue;
}
return val;
}
// Create the description of an input image dataset for OpenMVG toolsuite
// 为OpenMVG工具套件创建输入图像数据集的描述
// - Export a SfM_Data file with View & Intrinsic data
// 输出包含view和内参数的SfM_Data文件
int main(int argc, char *argv[])
{
// Step 数据准备
std::string sImageDir = "/home/bck20/桌面/myopenMVGtest/image"; // 输入文件夹的路径
std::string sOutputDir = "/home/bck20/桌面/myopenMVGtest/output"; // 输出文件夹的路径
/** sKmatrix 相机内参矩阵
* fx 0 ppx
* 0 fy ppy
* 0 0 1
* 相机内参矩阵，字符串读入，由checkIntrinsicStringValidity获取f,ppx,ppy数据
*/
std::string sKmatrix; //= "fx;0;ppx;0;fy;ppy;0;0;1";
std::string sfileDatabase = ""; // 从文件读取数据库文件，读入到vector<Datasheet>当中
std::string sPriorWeights = "1.0;1.0;1.0"; // 优先权重
std::pair<bool, Vec3> prior_w_info(false, Vec3()); //优先定义旋转的优先级
int i_User_camera_model = PINHOLE_CAMERA_RADIAL3; // 径向畸变K1,K2,K3 radial distortion K1,K2,K3
bool b_Group_camera_model = true; // 如果有需要，可将具有相同特性的相机组合在一起（从而获得更快、更稳定的BA）
int i_GPS_XYZ_method = 0;
double focal_pixels = -1.0; // 焦点像素
// Step 数据读取
/** 数据读取
* 1、影像文件
* 2、输出文件夹
* 3、相机内参矩阵
* 4、传感器型号与尺寸
* 5、坐标基准
* 6、畸变模型
*/
// 每个图像的预期属性
double width = -1, height = -1, focal = -1, ppx = -1, ppy = -1;
const EINTRINSIC e_User_camera_model = EINTRINSIC(i_User_camera_model); // 得到相机模型的枚举
// part 一系列文件是否存在的判断
// 图片输入文件夹判断是否存在
if (!stlplus::folder_exists(sImageDir))
{
OPENMVG_LOG_ERROR << "The input directory doesn't exist";
return EXIT_FAILURE;
}
// sfm_data.json 参数输出文件夹 判断这个变量是否为空
if (sOutputDir.empty())
{
OPENMVG_LOG_ERROR << "Invalid output directory";
return EXIT_FAILURE;
}
// 判断文件夹是否已经存在，如果不存在就是创建一个文件夹
if (!stlplus::folder_exists(sOutputDir))
{
if (!stlplus::folder_create(sOutputDir))
{
OPENMVG_LOG_ERROR << "Cannot create output directory";
return EXIT_FAILURE;
}
}
//
if (sKmatrix.size() > 0 &&
!checkIntrinsicStringValidity(sKmatrix, focal, ppx, ppy))
{
OPENMVG_LOG_ERROR << "Invalid K matrix input";
return EXIT_FAILURE;
}
if (sKmatrix.size() > 0 && focal_pixels != -1.0)
{
OPENMVG_LOG_ERROR << "Cannot combine -f and -k options";
return EXIT_FAILURE;
}
// 从文件读取数据文件，读入到vector<Datasheet>
// 其中datasheet存储相机型号和传感器尺寸的数据库结构
// 有两个成员std::string model和double sensorSize
std::vector<Datasheet> vec_database;
if (!sfileDatabase.empty())
{
if (!parseDatabase(sfileDatabase, vec_database))
{
OPENMVG_LOG_ERROR
<< "Invalid input database: " << sfileDatabase
<< ", please specify a valid file.";
return EXIT_FAILURE;
}
}
// 存储图片的名字
// 被定义为各张图片路径的vector,并且用名称排序
std::vector<std::string> vec_image = stlplus::folder_files(sImageDir);
std::sort(vec_image.begin(), vec_image.end());
// Step 读入并生成sfm_data.json
// 使用视图及其对应摄像机配置空场景
SfM_Data sfm_data;
sfm_data.s_root_path = sImageDir; // setup main image root_path
Views &views = sfm_data.views;
Intrinsics &intrinsics = sfm_data.intrinsics;
system::LoggerProgress my_progress_bar(vec_image.size(), "- Listing images -");
std::ostringstream error_report_stream;
for (std::vector<std::string>::const_iterator iter_image = vec_image.begin();
iter_image != vec_image.end();
++iter_image, ++my_progress_bar)
{
// 读取元数据以填充相机参数（w、h、focal、ppx、ppy）字段
// 初始化内参
width = height = ppx = ppy = focal = -1.0;
// 将文件夹名与文件名合并
// e.g sImageFilename = /home/bck20/桌面/myopenMVGtest/image/100_7102.JPG
const std::string sImageFilename = stlplus::create_filespec(sImageDir, *iter_image);
// 获取文件名（即不带文件夹部分但带有扩展名的文件名）
// e.g sImFilenamePart = 100_7102.JPG
const std::string sImFilenamePart = stlplus::filename_part(sImageFilename);
// part 检测是否是图像
// 测试是否是所支持图像格式
if (openMVG::image::GetFormat(sImageFilename.c_str()) == openMVG::image::Unknown)
{
error_report_stream
<< sImFilenamePart << " : Unknown image file format."
<< "\n";
continue; // image cannot be opened
}
// 判断是否为遮罩图像
if (sImFilenamePart.find("mask.png") != std::string::npos ||
sImFilenamePart.find("_mask.png") != std::string::npos)
{
error_report_stream
<< sImFilenamePart << " is a mask image"
<< "\n";
continue;
}
ImageHeader imgHeader;
if (!openMVG::image::ReadImageHeader(sImageFilename.c_str(), &imgHeader))
continue; // image cannot be read
width = imgHeader.width;
height = imgHeader.height;
ppx = width / 2.0;
ppy = height / 2.0;
// part 考虑手动提供焦点的情况
if (sKmatrix.size() > 0) // 已知用户校准K矩阵
{
if (!checkIntrinsicStringValidity(sKmatrix, focal, ppx, ppy))
focal = -1.0;
}
else
{
// 用户提供的焦距值
if (focal_pixels != -1)
{
focal = focal_pixels;
}
}
// 如果不是手动提供或者错误提供
if (focal == -1)
{
std::unique_ptr<Exif_IO> exifReader(new Exif_IO_EasyExif);
// 打开文件进行检查和分析 返回bool
exifReader->open(sImageFilename);
// 验证文件是否有元数据并且获取相机的型号不为空
const bool bHaveValidExifMetadata =
exifReader->doesHaveExifInfo() && !exifReader->getModel().empty() &&
!exifReader->getBrand().empty();
// 错误则报错，对则引用
if (bHaveValidExifMetadata) // if image contains meta data
{
// 处理焦距等于0的情况
if (exifReader->getFocal() == 0.0f)
{
error_report_stream
<< stlplus::basename_part(sImageFilename) << ": Focal length is missig."
<< "\n";
focal = -1.0;
}
}
else
// 在列表文件中创建图像条目
{
const std::string sCamModel = exifReader->getBrand() + " " + exifReader->getModel();
Datasheet datasheet;
// 下面函数的意思是从数据库中找有没有这个相机的型号
if (getInfo(sCamModel, vec_database, datasheet))
{
const double ccdw = datasheet.sensorSize_; // 传感器的尺寸
focal = std::max(width, height) * exifReader->getFocal() / ccdw;
}
else
{
error_report_stream
<< stlplus::basename_part(sImageFilename)
<< "\" model \"" << sCamModel << "\"doesn't exit in the database"
<< "\n"
<< "Please consider add your camera model and sensor width in the database."
<< "\n";
}
}
}
// part 获取相机模型，构建与视图相关的内在参数
std::shared_ptr<IntrinsicBase> intrinsic;
if (focal > 0 && ppx > 0 && ppy > 0 && width > 0 && height > 0)
{
// 创建所需的相机类型
switch (e_User_camera_model)
{
case PINHOLE_CAMERA:
intrinsic = std::make_shared<Pinhole_Intrinsic>(width, height, focal, ppx, ppy);
break;
case PINHOLE_CAMERA_RADIAL1:
intrinsic = std::make_shared<Pinhole_Intrinsic_Radial_K1>(width, height, focal, ppx, ppy, 0.0); // setup no distortion as initial guess
break;
case PINHOLE_CAMERA_RADIAL3:
intrinsic = std::make_shared<Pinhole_Intrinsic_Radial_K3>(width, height, focal, ppx, ppy, 0.0, 0.0, 0.0); // setup no distortion as initial guess
break;
case PINHOLE_CAMERA_BROWN:
intrinsic = std::make_shared<Pinhole_Intrinsic_Brown_T2>(width, height, focal, ppx, ppy, 0.0, 0.0, 0.0, 0.0, 0.0); // setup no distortion as initial guess
break;
case PINHOLE_CAMERA_FISHEYE:
intrinsic = std::make_shared<Pinhole_Intrinsic_Fisheye>(width, height, focal, ppx, ppy, 0.0, 0.0, 0.0, 0.0); // setup no distortion as initial guess
break;
case CAMERA_SPHERICAL:
intrinsic = std::make_shared<Intrinsic_Spherical>(width, height);
break;
default:
OPENMVG_LOG_ERROR << "Error: unknown camera model: " << (int)e_User_camera_model;
return EXIT_FAILURE;
}
}
// part 构建图片对应的视图，若有gps权重，就需要定位为优先旋转
Vec3 pose_center;
if (getGPS(sImageFilename, i_GPS_XYZ_method, pose_center) /*&& b_Use_pose_prior*/)
{ // views的子类，可以选择是否优先旋转，或者优先调整位置
ViewPriors v(*iter_image, views.size(), views.size(), views.size(), width, height);
// 添加与图像相关的内部文件（如果有）
// （使用无效的内在字段值导出视图）
if (!intrinsic)
{
v.id_intrinsic = UndefinedIndexT;
}
else
{
// 添加已经定义的内参值给sfm_container
intrinsics[v.id_intrinsic] = intrinsic;
}
v.b_use_pose_center_ = true;
v.pose_center_ = pose_center;
// 先前的权重
if (prior_w_info.first == true)
{
v.center_weight_ = prior_w_info.second;
}
// 将视图添加到sfm容器
views[v.id_view] = std::make_shared<ViewPriors>(v);
}
// part 没有gps信息时
else
{
View v(*iter_image, views.size(), views.size(), views.size(), width, height);
// 添加与图像相关的内参数（如果有的话）
if (!intrinsic)
{
// 使用无效的内在字段值导出视图
v.id_intrinsic = UndefinedIndexT;
}
else
{
intrinsics[v.id_intrinsic] = intrinsic;
}
// 将视图添加到sfm容器
views[v.id_view] = std::make_shared<View>(v);
}
}
// part 报错与保存
// 显示保存的警告和错误消息（如果有）
if (!error_report_stream.str().empty())
{
OPENMVG_LOG_WARNING
<< "Warning & Error messages:\n"
<< error_report_stream.str();
}
// 如果需要，可以共享共同属性的组相机（导致更快更稳定的BA）
if (b_Group_camera_model)
{
GroupSharedIntrinsics(sfm_data);
}
// 保存SFM数据和内参
if (!Save(sfm_data,
stlplus::create_filespec(sOutputDir, "sfm_data.json").c_str(),
ESfM_Data(VIEWS | INTRINSICS)))
{
return EXIT_FAILURE;
}
// 显示报错信息
OPENMVG_LOG_INFO
<< "SfMInit_ImageListing report:\n"
<< "listed #File(s): " << vec_image.size() << "\n"
<< "usable #File(s) listed in sfm_data: " << sfm_data.GetViews().size() << "\n"
<< "usable #Intrinsic(s) listed in sfm_data: " << sfm_data.GetIntrinsics().size();
return EXIT_SUCCESS;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.0.0)
project(mvgtest1)
set(CMAKE_BUILD_TYPE "debug")
set(CMAKE_CXX_STANDARD 17)
add_executable(sfMInit_ImageListing sfMInit_ImageListing.cpp)
#OpenMVG,OpenCV,Ceres
find_package(OpenCV REQUIRED)
find_package(OpenMVG REQUIRED)
find_package(Ceres REQUIRED PATHS "${CERES_PATH}/Thirdparty/ceres-solver")
include_directories(${CERES_INCLUDE_DIRS})
set(LIBS ${Ceres_LIBS_DIR}/libceres.a umfpack cxsparse glog gflags gomp
ccolamd btf klu cholmod lapack blas camd amd pthread)
include_directories(${OPENMVG_INCLUDE_DIRS})
target_link_libraries(sfMInit_ImageListing
PRIVATE
OpenMVG::openMVG_sfm
OpenMVG::openMVG_matching
OpenMVG::openMVG_camera
OpenMVG::openMVG_exif
OpenMVG::openMVG_features
OpenMVG::openMVG_geodesy
OpenMVG::openMVG_geometry
OpenMVG::openMVG_graph
OpenMVG::openMVG_image
OpenMVG::openMVG_linearProgramming
OpenMVG::openMVG_matching
OpenMVG::openMVG_matching_image_collection
OpenMVG::openMVG_multiview
OpenMVG::openMVG_numeric
OpenMVG::openMVG_robust_estimation
OpenMVG::openMVG_sfm
OpenMVG::openMVG_system
${OpenCV_LIBS}
)
FIND_PACKAGE( OpenMP REQUIRED)
if(OPENMP_FOUND)
message("OPENMP FOUND")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()
