Merge pull request #2026 from alicevision/dev/meshSfm

Cleanup mesh usage for sfm

Author: CedricThebault

meshroom/aliceVision/ImportAlembic.py

@@ -1,4 +1,4 @@
-__version__ = "1.0"
+__version__ = "1.1"
 
 from meshroom.core import desc
 from meshroom.core.utils import VERBOSE_LEVEL
@@ -19,18 +19,20 @@ class ImportAlembic(desc.AVCommandLineNode):
             description="The external Alembic file to import.",
             value="",
         ),
-        desc.File(
-            name="imagesDir",
-            label="Images Directory",
-            description="Directory containing the images.",
-            value="",
+        desc.FloatParam(
+            name="framerate",
+            label="Frame rate",
+            description="Alembic frame rate to compute frame id from time",
+            value=24.0,
+            range=(10.0, 50.0, 1.0),
         ),
-        desc.ChoiceParam(
-            name="extension",
-            label="Images Extension",
-            description="File extension for the images in the directory to be taken into account.",
-            value=".exr",
-            values=[".exr", ".jpg", ".png"],
+        desc.IntParam(
+            name="imageWidth",
+            label="Image(s) Width",
+            description="Alembic does not export the camera resolutions. \n"
+                        "Setup the image width for all images, the height will depend on the sensor size ratio.",
+            value=1920,
+            range=(640, 10000, 10),
         ),
         desc.ChoiceParam(
             name="verboseLevel",
@@ -46,6 +48,6 @@ class ImportAlembic(desc.AVCommandLineNode):
             name="output",
             label="SfMData",
             description="SfMData file populated with the camera poses from the external Alembic file.",
-            value="{nodeCacheFolder}/importedAbc.sfm",
+            value="{nodeCacheFolder}/importedAbc.abc",
         ),
     ]

meshroom/aliceVision/SfMPoseInjecting.py

@@ -4,6 +4,7 @@
 from meshroom.core.utils import VERBOSE_LEVEL
 
 import json
+import pathlib
 
 class SfMPoseInjecting(desc.AVCommandLineNode):
 
@@ -23,16 +24,25 @@ class SfMPoseInjecting(desc.AVCommandLineNode):
         desc.File(
             name="posesFilename",
             label="Poses",
-            description="Input JSON file containing the poses.",
+            description="Input file containing the poses (Json or ABC).",
             value="",
         ),
+        desc.FloatParam(
+            name="framerate",
+            label="Frame rate",
+            description="Alembic frame rate to compute frame id from time",
+            value=24.0,
+            range=(10.0, 50.0, 1.0),
+            enabled=lambda node: pathlib.Path(node.posesFilename.value).suffix.lower() == ".abc"
+        ),
         desc.ChoiceParam(
             name="rotationFormat",
             label="Rotation Format",
             description="Defines the rotation format for the input poses:\n"
                         " - EulerZXY: Euler rotation in degrees (Y*X*Z)",
             values=["EulerZXY"],
             value="EulerZXY",
+            enabled=lambda node: pathlib.Path(node.posesFilename.value).suffix.lower() == ".json"
         ),
         desc.ChoiceParam(
             name="verboseLevel",

meshroom/aliceVision/SfmBootstrapping.py

@@ -1,4 +1,4 @@
-__version__ = "4.1"
+__version__ = "4.2"
 
 from meshroom.core import desc
 from meshroom.core.utils import VERBOSE_LEVEL
@@ -21,8 +21,8 @@ class SfMBootStrapping(desc.AVCommandLineNode):
         desc.ChoiceParam(
             name="method",
             label="Method",
-            description="Bootstrapping method: classic (epipolar geometry), mesh (3D mesh constraints), or depth (depth map information).",
-            values=["classic", "mesh", "depth"],
+            description="Bootstrapping method: classic (epipolar geometry), mesh (3D mesh constraints), mesh_single (mesh without visual parallax), or depth (depth map information).",
+            values=["classic", "mesh", "mesh_single", "depth"],
             value="classic",
         ),
         desc.File(
@@ -36,7 +36,7 @@ class SfMBootStrapping(desc.AVCommandLineNode):
             label="Mesh File",
             description="Mesh file (*.obj).",
             value="",
-            enabled=lambda node: node.method.value == "mesh"
+            enabled=lambda node: node.method.value.startswith("mesh")
         ),
         desc.File(
             name="pairs",

src/aliceVision/dataio/json.cpp

@@ -16,6 +16,9 @@ std::vector<boost::json::value> readJsons(std::istream& is, boost::system::error
         while (true)
         {
             totalRead = p.write_some(content, ec);
+            
+            //remove processed string from content
+            content = content.substr(totalRead);
 
             // If the parser did not find a value, then it won't
             // find anything more.
@@ -28,9 +31,6 @@ std::vector<boost::json::value> readJsons(std::istream& is, boost::system::error
             // content
             jvs.push_back(p.release());
             p.reset();
-
-            //remove processed string from content
-            content = content.substr(totalRead);
         }
     }
 

src/aliceVision/sfm/bundle/BundleAdjustmentCeres.cpp

@@ -630,7 +630,7 @@ void BundleAdjustmentCeres::addLandmarksToProblem(const sfmData::SfMData& sfmDat
                 problem.AddResidualBlock(costFunction, nullptr, params);
             }
 
-            if (!refineStructure || landmark.state == EEstimatorParameterState::CONSTANT)
+            if (!refineStructure || landmark.state == EEstimatorParameterState::CONSTANT || landmark.isPrecise())
             {
                 // set the whole landmark parameter block as constant.
                 _statistics.addState(EParameter::LANDMARK, EEstimatorParameterState::CONSTANT);

src/aliceVision/sfm/pipeline/expanding/ExpansionChunk.cpp

@@ -159,11 +159,6 @@ bool ExpansionChunk::process(sfmData::SfMData & sfmData, const track::TracksHand
     {
         return false;
     }
-
-    if (_pointFetcherHandler)
-    {
-        setConstraints(sfmData, tracksHandler, validViewIds);
-    }
 
     _historyHandler->saveState(sfmData);
 
@@ -174,18 +169,17 @@ bool ExpansionChunk::process(sfmData::SfMData & sfmData, const track::TracksHand
 
 bool ExpansionChunk::triangulate(sfmData::SfMData & sfmData, const track::TracksHandler & tracksHandler, const std::set<IndexT> & viewIds)
 {
-    ALICEVISION_LOG_INFO("ExpansionChunk::triangulate start");
-    SfmTriangulation triangulation(_triangulationMinPoints, _maxTriangulationError);
-
-    
+    ALICEVISION_LOG_INFO("ExpansionChunk::triangulate start");   
     const bool enableMultiviewTriangulation = true;
 
+    const size_t minPoints = _triangulationHandler->getMinObservations();
+
     if (enableMultiviewTriangulation)
     {
         std::set<IndexT> evaluatedTracks;
         std::map<IndexT, sfmData::Landmark> outputLandmarks;
         std::mt19937 randomNumberGenerator;
-        if (!triangulation.process(sfmData, tracksHandler.getAllTracks(), tracksHandler.getTracksPerView(), 
+        if (!_triangulationHandler->process(sfmData, tracksHandler.getAllTracks(), tracksHandler.getTracksPerView(), 
                                     randomNumberGenerator, viewIds, 
                                     evaluatedTracks, outputLandmarks, false))
         {
@@ -204,7 +198,7 @@ bool ExpansionChunk::triangulate(sfmData::SfMData & sfmData, const track::Tracks
                 landmarks.erase(pl.first);
             }
 
-            if (landmark.getObservations().size() < _triangulationMinPoints)
+            if (landmark.getObservations().size() < minPoints)
             {
                 continue;
             }
@@ -232,7 +226,51 @@ bool ExpansionChunk::triangulate(sfmData::SfMData & sfmData, const track::Tracks
         std::set<IndexT> evaluatedTracks;
         std::map<IndexT, sfmData::Landmark> outputLandmarks;
         std::mt19937 randomNumberGenerator;
-        if (!triangulation.process(sfmData, tracksHandler.getAllTracks(), tracksHandler.getTracksPerView(), 
+        if (!_triangulationHandler->process(sfmData, tracksHandler.getAllTracks(), tracksHandler.getTracksPerView(), 
+                                    randomNumberGenerator, viewIds, 
+                                    evaluatedTracks, outputLandmarks, true))
+        {
+            return false;
+        }
+
+        auto & landmarks = sfmData.getLandmarks();
+        ALICEVISION_LOG_INFO("Existing landmarks : " << landmarks.size());
+
+        for (const auto & pl : outputLandmarks)
+        {
+            const auto & landmark = pl.second;
+
+            if (landmarks.find(pl.first) != landmarks.end())
+            {
+                if (!_ignoreMultiviewOnPrior)
+                {
+                    continue;
+                }
+            }
+
+            if (landmark.getObservations().size() < minPoints)
+            {
+                continue;
+            }
+
+            if (!SfmTriangulation::checkChierality(sfmData, landmark))
+            {
+                continue;
+            }
+
+            landmarks.insert(pl);
+        }
+
+        ALICEVISION_LOG_INFO("New landmarks count : " << landmarks.size());
+        ALICEVISION_LOG_INFO("ExpansionChunk::triangulate end");
+    }
+
+    if (_enableMeshPrior)
+    {
+        std::set<IndexT> evaluatedTracks;
+        std::map<IndexT, sfmData::Landmark> outputLandmarks;
+        std::mt19937 randomNumberGenerator;
+        if (!_triangulationHandler->process(sfmData, tracksHandler.getAllTracks(), tracksHandler.getTracksPerView(), 
                                     randomNumberGenerator, viewIds, 
                                     evaluatedTracks, outputLandmarks, true))
         {
@@ -254,7 +292,7 @@ bool ExpansionChunk::triangulate(sfmData::SfMData & sfmData, const track::Tracks
                 }
             }
 
-            if (landmark.getObservations().size() < _triangulationMinPoints)
+            if (landmark.getObservations().size() < minPoints)
             {
                 continue;
             }
@@ -285,7 +323,7 @@ void ExpansionChunk::addPose(sfmData::SfMData & sfmData, IndexT viewId, const Ei
 
 void ExpansionChunk::setConstraints(sfmData::SfMData & sfmData, const track::TracksHandler & tracksHandler, const std::set<IndexT> & viewIds)
 {
-    ALICEVISION_LOG_INFO("ExpansionChunk::setConstraints start");
+    /*ALICEVISION_LOG_INFO("ExpansionChunk::setConstraints start");
     const track::TracksMap & tracks = tracksHandler.getAllTracks();
     const track::TracksPerView & tracksPerView = tracksHandler.getTracksPerView();
 
@@ -399,7 +437,7 @@ void ExpansionChunk::setConstraints(sfmData::SfMData & sfmData, const track::Tra
     }
 
     ALICEVISION_LOG_INFO("ExpansionChunk::setConstraints added " << constraints.size() << " constraints");
-    ALICEVISION_LOG_INFO("ExpansionChunk::setConstraints end");
+    ALICEVISION_LOG_INFO("ExpansionChunk::setConstraints end");*/
 }
 
 } // namespace sfm

src/aliceVision/sfm/pipeline/expanding/ExpansionChunk.hpp

@@ -11,8 +11,8 @@
 #include <aliceVision/sfmData/SfMData.hpp>
 #include <aliceVision/sfm/pipeline/expanding/ExpansionHistory.hpp>
 #include <aliceVision/sfm/pipeline/expanding/SfmBundle.hpp>
-#include <aliceVision/sfm/pipeline/expanding/PointFetcher.hpp>
 #include <aliceVision/sfm/pipeline/expanding/SfmResection.hpp>
+#include <aliceVision/sfm/pipeline/expanding/SfmTriangulation.hpp>
 
 namespace aliceVision {
 namespace sfm {
@@ -45,7 +45,7 @@ class ExpansionChunk
     }
 
     /**
-     * brief setup the expansion history handler
+     * @brief setup the expansion history handler
      * @param expansionHistory a shared ptr
      */
     void setExpansionHistoryHandler(ExpansionHistory::sptr & expansionHistory)
@@ -54,16 +54,7 @@ class ExpansionChunk
     }
 
     /**
-     * brief setup the point fetcher handler
-     * @param pointFetcher a unique ptr. the Ownership will be taken
-    */
-    void setPointFetcherHandler(PointFetcher::uptr & pointFetcherHandler)
-    {
-        _pointFetcherHandler = std::move(pointFetcherHandler);
-    }
-
-    /**
-     * brief setup the point fetcher handler
+     * @brief setup the Resection handler
      * @param resectionHandler a unique ptr. the Ownership will be taken
     */
     void setResectionHandler(SfmResection::uptr & resectionHandler)
@@ -72,21 +63,12 @@ class ExpansionChunk
     }
 
     /**
-     * @brief set the minimal number of points to enable triangulation of a track
-     * @param count the number of points
-    */
-    void setTriangulationMinPoints(size_t count)
-    {
-        _triangulationMinPoints = count;
-    }
-
-    /**
-     * @brief set the maximal reprojection error in the triangulation process.
-     * @param count the number of points
+     * @brief setup the Triangulation handler
+     * @param triangulationHandler a unique ptr. the Ownership will be taken
     */
-    void setTriangulationMaxError(double error)
+    void setTriangulationHandler(SfmTriangulation::uptr & triangulationHandler)
     {
-        _maxTriangulationError = error;
+        _triangulationHandler = std::move(triangulationHandler);
     }
 
     /**
@@ -159,16 +141,15 @@ class ExpansionChunk
 private:
     SfmBundle::uptr _bundleHandler;
     ExpansionHistory::sptr _historyHandler;
-    PointFetcher::uptr _pointFetcherHandler;
     std::set<IndexT> _ignoredViews;
     SfmResection::uptr _resectionHandler;
+    SfmTriangulation::uptr _triangulationHandler;
 
 private:    
-    size_t _triangulationMinPoints = 2;
     double _minTriangulationAngleDegrees = 3.0;
-    double _maxTriangulationError = 8.0;
     size_t _weakResectionSize = 100;
     bool _enableDepthPrior = true;
+    bool _enableMeshPrior = true;
     bool _ignoreMultiviewOnPrior = false;
 };
 

src/aliceVision/sfm/pipeline/expanding/ExpansionIteration.hpp

@@ -42,7 +42,7 @@ class ExpansionIteration
     }
 
     /**
-     * brief setup the expansion history handler
+     * @brief setup the expansion history handler
      * @param expansionHistory a shared ptr
      */
     void setExpansionHistoryHandler(ExpansionHistory::sptr & expansionHistory)
@@ -51,7 +51,7 @@ class ExpansionIteration
     }
 
     /**
-     * brief setup the expansion history handler
+     * @brief setup the expansion history handler
      * @param expansionPolicy a unique ptr. Ownership will be taken
      */
     void setExpansionPolicyHandler(ExpansionPolicy::uptr & expansionPolicy)
@@ -60,7 +60,7 @@ class ExpansionIteration
     }
 
     /**
-     * brief setup the expansion chunk handler
+     * @brief setup the expansion chunk handler
      * @param expansionChunk a unique ptr. Ownership will be taken
      */
     void setExpansionChunkHandler(ExpansionChunk::uptr & expansionChunk)

src/aliceVision/sfm/pipeline/expanding/ExpansionProcess.hpp

@@ -40,7 +40,7 @@ class ExpansionProcess{
     }
 
     /**
-     * brief setup the expansion history handler
+     * @brief setup the expansion history handler
      * @param expansionHistory a shared ptr
      */
     void setExpansionHistoryHandler(ExpansionHistory::sptr & expansionHistory)
@@ -49,7 +49,7 @@ class ExpansionProcess{
     }
 
     /**
-     * brief setup the expansion iteration handler
+     * @brief setup the expansion iteration handler
      * @param expansionIteration a unique ptr. Ownership will be taken
      */
     void setExpansionIterationHandler(ExpansionIteration::uptr & expansionIteration)
@@ -58,7 +58,7 @@ class ExpansionProcess{
     }
 
     /**
-     * brief setup the expansion iteration post process handler
+     * @brief setup the expansion iteration post process handler
      * @param expansionPostProcess a unique ptr. Ownership will be taken
      */
     void setExpansionIterationPostProcessHandler(ExpansionPostProcess::uptr & expansionPostProcess)