def mergeOneModel(self, model1, model2, reconParam, reconBOWParam):
sfmOutPath = os.path.join(self.mSfMPath,
"global" + str(self.nMergedModel))
# modified by T. IShihara 2016.06.14
# fix file name too long issue
#
# create a temporary folder for reconstructed image of model2
#inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmp"+model2.name)
inputImgTmpFolder = os.path.join(self.mSfMPath, "inputImgTmp",
"inputImgTmpModel2")
if os.path.isdir(inputImgTmpFolder):
FileUtils.removedir(inputImgTmpFolder)
# copy reconstructed image fom model2 to tmp folder
sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
if not os.path.isdir(inputImgTmpFolder):
listReconFrameName = [
sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
["filename"] for x in range(0, len(sfm_data2["views"]))
if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
["id_view"] in model2.reconFrame
]
FileUtils.makedir(inputImgTmpFolder)
for reconFrameName in listReconFrameName:
os.system("cp -s " +
os.path.join(model2.imgFolLoc, reconFrameName) +
" " + inputImgTmpFolder)
# remove all old localization result
FileUtils.removedir(model2.locFolLoc)
FileUtils.makedir(model2.locFolLoc)
# localize the images from model2 on model1
guideMatchOption = ""
if reconParam.bGuidedMatchingLocalize:
guideMatchOption = " -gm"
os.system(reconParam.LOCALIZE_PROJECT_PATH + \
" " + inputImgTmpFolder + \
" " + os.path.dirname(model1.sfm_dataLoc) + \
" " + self.mMatchesPath + \
" " + model2.locFolLoc + \
" -f=" + str(reconParam.locFeatDistRatio) + \
" -r=" + str(reconParam.locRansacRound) + \
" -i=" + str(reconParam.locSkipFrame) + \
" -k=" + str(reconBOWParam.locKNNnum) + \
" -a=" + os.path.join(self.mMatchesPath, "BOWfile.yml") + \
" -p=" + os.path.join(self.mMatchesPath, "PCAfile.yml") + \
guideMatchOption)
# remove temporary image folder
# removedir(inputImgTmpFolder)
# extract centers from all json file and write to a file
fileLoc = open(os.path.join(model2.locFolLoc, "center.txt"), "w")
countLocFrame = 0
for filename in sorted(os.listdir(model2.locFolLoc)):
if filename[-4:] != "json":
continue
countLocFrame = countLocFrame + 1
with open(os.path.join(model2.locFolLoc, filename)) as locJson:
#print os.path.join(sfm_locOut,filename)
locJsonDict = json.load(locJson)
loc = locJsonDict["t"]
fileLoc.write(
str(loc[0]) + " " + str(loc[1]) + " " + str(loc[2]) +
" 255 0 0\n")
fileLoc.close()
# get inlier matches
FileUtils.makedir(sfmOutPath)
resultSfMDataFile = os.path.join(sfmOutPath, "sfm_data.json")
# below also checks if the ratio between first and last svd of M[0:3,0:3]
# is good or not. If not then reject
# TODO : revisit ransacRound parameter, use number of reconstruction frame to determine structure points transform seems small
nMatchPointsTmp, nInlierTmp, M = mergeSfM.mergeModel(
model1.sfm_dataLoc,
model2.sfm_dataLoc,
model2.locFolLoc,
resultSfMDataFile,
ransacThres=model1.ransacStructureThres,
mergePointThres=model1.mergeStructureThres,
ransacRoundMul=reconParam.ransacRoundMul,
inputImgDir=self.mInputImgPath,
minLimit=reconParam.min3DnInliers)
ratioInlierMatchPoints = 0.0
if nMatchPointsTmp > 0:
ratioInlierMatchPoints = float(nInlierTmp) / nMatchPointsTmp
# 3. perform test whether merge is good
sfm_merge_generated = True
countFileAgree = 0
countFileLoc = 1
if os.path.isfile(resultSfMDataFile):
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " +
resultSfMDataFile + " " + resultSfMDataFile)
countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(
resultSfMDataFile, model2.locFolLoc,
model1.validMergeRansacThres)
else:
sfm_merge_generated = False
ratioAgreeFrameReconFrame = 0.0
if (len(model2.reconFrame) > 0):
ratioAgreeFrameReconFrame = float(countFileAgree) / len(
model2.reconFrame)
ratioAgreeFrameLocFrame = 0.0
if (countFileLoc > 0):
ratioAgreeFrameLocFrame = float(countFileAgree) / countFileLoc
# write log file
with open(
os.path.join(self.mSfMPath, "global" + str(self.nMergedModel),
"log.txt"), "a") as filelog:
filelog.write(("M1: " + model1.name + "\n" + \
"M2: " + model2.name + "\n" + \
"nMatchedPoints: " + str(nMatchPointsTmp) + "\n" + \
"nInliers: " + str(nInlierTmp) + "\n" + \
"ratioInlierWithMatchedPoints: " + str(ratioInlierMatchPoints) + "\n" + \
"countLocFrame: " + str(countLocFrame) + "\n" + \
"nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
"countFileAgree: " + str(countFileAgree) + "\n" + \
"countFileLoc: " + str(countFileLoc) + "\n" + \
"not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
# obsolete condition by T. Ishihara 2015.11.10
#"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
"countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
"ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
"ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
"ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
"ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
str(M) + "\n\n"))
# rename the localization folder to save localization result
'''
if os.path.isdir(model2.locFolLoc+model1.name):
FileUtils.removedir(model2.locFolLoc+model1.name)
os.rename(model2.locFolLoc,model2.locFolLoc+model1.name)
'''
# obsolete merge condition
'''
if not sfm_merge_generated or \
not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
(float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
'''
# update merge condition by T. Ishihara 2015.11.10
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
'''
# update merge condition by T. Ishihara 2016.04.02
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
'''
# update merge condition by T. Ishihara 2016.06.09
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
nInlierTmp > reconParam.min3DnInliers and \
ratioInlierMatchPoints > reconParam.vldMergeRatioInliersMatchPoints):
'''
# update merge condition by T. Ishihara 2016.06.20
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
nInlierTmp > reconParam.min3DnInliers):
print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."
'''
if os.path.isfile(os.path.join(sfmOutPath,"sfm_data.json")):
os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))
'''
if os.path.isfile(os.path.join(sfmOutPath, "sfm_data.json")):
os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
os.path.join(sfmOutPath,"sfm_data_fail_merge.json"))
# move to next video
return False, sfmModelBOW("",
"",
"",
"",
"",
"",
validMergeRansacThres=0,
validMergeRansacThresK=0,
ransacStructureThres=0,
ransacStructureThresK=0,
mergeStructureThres=0,
mergeStructureThresK=0)
# generate colorized before bundle adjustment for comparison
os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
os.path.join(sfmOutPath, "colorized_pre.ply"))
# TODO : try computing structure from know pose here
# https://github.com/openMVG/openMVG/issues/246
# http://openmvg.readthedocs.io/en/latest/software/SfM/ComputeStructureFromKnownPoses/
# TODO : revisit the order of bundle adjustment
# perform bundle adjustment
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "rs,rst,rsti" + " -r=" + "1")
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "rst,rsti" + " -r=" + "1")
os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
os.path.join(sfmOutPath, "colorized.ply"))
return True, sfmModelBOW(
"A" + model1.name + "," + model2.name + "Z",
self.mInputImgPath,
self.mCsvPath,
self.mMatchesPath,
os.path.join(sfmOutPath, "loc"),
resultSfMDataFile,
validMergeRansacThres=model1.validMergeRansacThres,
ransacStructureThres=model1.ransacStructureThres,
mergeStructureThres=model1.mergeStructureThres)
def mergeOneModel(self, model1, model2, reconParam):
sfmOutPath = os.path.join(self.mSfMPath,"global"+str(self.nMergedModel))
# create a temporary folder for reconstructed image of model2
inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmp"+model2.name)
# copy reconstructed image fom model2 to tmp folder
sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
if not os.path.isdir(inputImgTmpFolder):
listReconFrameName = [sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["filename"] for x in range(0,len(sfm_data2["views"])) if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["id_view"] in model2.reconFrame]
FileUtils.makedir(inputImgTmpFolder)
for reconFrameName in listReconFrameName:
os.system("cp -s " + os.path.join(model2.imgFolLoc,reconFrameName) + " " + inputImgTmpFolder)
# remove all old localization result
FileUtils.removedir(model2.locFolLoc)
FileUtils.makedir(model2.locFolLoc)
# localize the images from model2 on model1
os.system(reconParam.LOCALIZE_PROJECT_PATH + \
" " + inputImgTmpFolder + \
" " + os.path.dirname(model1.sfm_dataLoc) + \
" " + self.mMatchesPath + \
" " + model2.locFolLoc + \
" -f=" + str(reconParam.locFeatDistRatio) + \
" -r=" + str(reconParam.locRansacRound) + \
" -e=" + model2.csvFolLoc + \
" -i=" + str(reconParam.locSkipFrame))
# remove temporary image folder
# removedir(inputImgTmpFolder)
# extract centers from all json file and write to a file
fileLoc = open(os.path.join(model2.locFolLoc,"center.txt"),"w")
countLocFrame = 0
for filename in sorted(os.listdir(model2.locFolLoc)):
if filename[-4:]!="json":
continue
countLocFrame = countLocFrame + 1
with open(os.path.join(model2.locFolLoc,filename)) as locJson:
#print os.path.join(sfm_locOut,filename)
locJsonDict = json.load(locJson)
loc = locJsonDict["t"]
fileLoc.write(str(loc[0]) + " " + str(loc[1]) + " " +str(loc[2]) + " 255 0 0\n" )
fileLoc.close()
# get inlier matches
FileUtils.makedir(sfmOutPath)
resultSfMDataFile = os.path.join(sfmOutPath,"sfm_data.json")
# below also checks if the ratio between first and last svd of M[0:3,0:3]
# is good or not. If not then reject
nInlierTmp, M = mergeSfM.mergeModel(model1.sfm_dataLoc,
model2.sfm_dataLoc,
model2.locFolLoc,
resultSfMDataFile,
ransacK=reconParam.ransacStructureThresMul,
ransacRound=reconParam.ransacRoundMul*len(model1.reconFrame),
inputImgDir=self.mInputImgPath,
minLimit=reconParam.min3DnInliers)
# 3. perform test whether merge is good
sfm_merge_generated = True
countFileAgree = 0
countFileLoc = 1
if os.path.isfile(resultSfMDataFile):
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + resultSfMDataFile + " " + resultSfMDataFile)
countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(resultSfMDataFile, model2.locFolLoc, reconParam.vldMergeAgrFrameThresK)
else:
sfm_merge_generated = False
ratioAgreeFrameReconFrame = 0.0
if (len(model2.reconFrame)>0):
ratioAgreeFrameReconFrame = float(countFileAgree)/len(model2.reconFrame)
ratioAgreeFrameLocFrame = 0.0
if (countFileLoc>0):
ratioAgreeFrameLocFrame = float(countFileAgree)/countFileLoc
# write log file
with open(os.path.join(self.mSfMPath,"global"+str(self.nMergedModel),"log.txt"),"a") as filelog:
filelog.write(("M1: " + model1.name + "\n" + \
"M2: " + model2.name + "\n" + \
"nInliers: " + str(nInlierTmp) + "\n" + \
"countLocFrame: " + str(countLocFrame) + "\n" + \
"nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
"countFileAgree: " + str(countFileAgree) + "\n" + \
"countFileLoc: " + str(countFileLoc) + "\n" + \
"not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
# obsolete condition by T. Ishihara 2015.11.10
#"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
"countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
"ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
"ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
"ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
"ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
str(M) + "\n\n"))
# rename the localization folder to save localization result
if os.path.isdir(model2.locFolLoc+model1.name):
FileUtils.removedir(model2.locFolLoc+model1.name)
os.rename(model2.locFolLoc,model2.locFolLoc+model1.name)
# obsolete merge condition
'''
if not sfm_merge_generated or \
not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
(float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
'''
# update merge condition by T. Ishihara 2015.11.10
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
'''
# update merge condition by T. Ishihara 2016.04.02
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."
if os.path.isfile(os.path.join(sfmOutPath,"sfm_data.json")):
os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))
# move to next video
return False, sfmModel("","","","","","")
# generate colorized before bundle adjustment for comparison
os.system("openMVG_main_ComputeSfM_DataColor " +
" -i " + os.path.join(sfmOutPath,"sfm_data.json") +
" -o " + os.path.join(sfmOutPath,"colorized_pre.ply"))
# perform bundle adjustment
# modified by T.Ishihara 2016.04.08
# fix only translation at first
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "rs,rst,rsti" + " -r=" + "1")
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "st,rst,rsti" + " -r=" + "1")
os.system("openMVG_main_ComputeSfM_DataColor " +
" -i " + os.path.join(sfmOutPath,"sfm_data.json") +
" -o " + os.path.join(sfmOutPath,"colorized.ply"))
return True, sfmModel("A" + model1.name + "," + model2.name +"Z", self.mInputImgPath, self.mCsvPath, self.mMatchesPath, os.path.join(sfmOutPath,"loc"), resultSfMDataFile)
def mergeOneModel(self, model1, model2, reconParam, reconIBeaconParam, reconBOWParam):
sfmOutPath = os.path.join(self.mSfMPath,"global"+str(self.nMergedModel))
# modified by T. IShihara 2016.06.14
# fix file name too long issue
#
# create a temporary folder for reconstructed image of model2
#inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmp"+model2.name)
inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmpModel2")
if os.path.isdir(inputImgTmpFolder):
FileUtils.removedir(inputImgTmpFolder)
# copy reconstructed image fom model2 to tmp folder
sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
if not os.path.isdir(inputImgTmpFolder):
listReconFrameName = [sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["filename"] for x in range(0,len(sfm_data2["views"])) if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["id_view"] in model2.reconFrame]
FileUtils.makedir(inputImgTmpFolder)
for reconFrameName in listReconFrameName:
os.system("cp -s " + os.path.join(model2.imgFolLoc,reconFrameName) + " " + inputImgTmpFolder)
# remove all old localization result
FileUtils.removedir(model2.locFolLoc)
FileUtils.makedir(model2.locFolLoc)
# localize the images from model2 on model1
if self.useBow:
os.system(reconIBeaconParam.LOCALIZE_PROJECT_PATH + \
" " + inputImgTmpFolder + \
" " + os.path.dirname(model1.sfm_dataLoc) + \
" " + self.mMatchesPath + \
" " + model2.locFolLoc + \
" -f=" + str(reconParam.locFeatDistRatio) + \
" -r=" + str(reconParam.locRansacRound) + \
" -b=" + model1.beaconFileLoc + \
" -e=" + model2.csvFolLoc + \
" -k=" + str(reconIBeaconParam.locKNNnum) + \
" -c=" + str(reconIBeaconParam.coocThres) + \
" -i=" + str(reconParam.locSkipFrame) + \
" -v=" + str(reconIBeaconParam.locSkipSelKNN) + \
" -n=" + str(reconIBeaconParam.normApproach) + \
" -kb=" + str(reconBOWParam.locKNNnum) + \
" -a=" + os.path.join(self.mMatchesPath, "BOWfile.yml") + \
" -p=" + os.path.join(self.mMatchesPath, "PCAfile.yml"))
else:
os.system(reconIBeaconParam.LOCALIZE_PROJECT_PATH + \
" " + inputImgTmpFolder + \
" " + os.path.dirname(model1.sfm_dataLoc) + \
" " + self.mMatchesPath + \
" " + model2.locFolLoc + \
" -f=" + str(reconParam.locFeatDistRatio) + \
" -r=" + str(reconParam.locRansacRound) + \
" -b=" + model1.beaconFileLoc + \
" -e=" + model2.csvFolLoc + \
" -k=" + str(reconIBeaconParam.locKNNnum) + \
" -c=" + str(reconIBeaconParam.coocThres) + \
" -i=" + str(reconParam.locSkipFrame) + \
" -v=" + str(reconIBeaconParam.locSkipSelKNN) + \
" -n=" + str(reconIBeaconParam.normApproach))
# remove temporary image folder
# removedir(inputImgTmpFolder)
# extract centers from all json file and write to a file
fileLoc = open(os.path.join(model2.locFolLoc,"center.txt"),"w")
countLocFrame = 0
for filename in sorted(os.listdir(model2.locFolLoc)):
if filename[-4:]!="json":
continue
countLocFrame = countLocFrame + 1
with open(os.path.join(model2.locFolLoc,filename)) as locJson:
#print os.path.join(sfm_locOut,filename)
locJsonDict = json.load(locJson)
loc = locJsonDict["t"]
fileLoc.write(str(loc[0]) + " " + str(loc[1]) + " " +str(loc[2]) + " 255 0 0\n" )
fileLoc.close()
# get inlier matches
FileUtils.makedir(sfmOutPath)
resultSfMDataFile = os.path.join(sfmOutPath,"sfm_data.json")
# below also checks if the ratio between first and last svd of M[0:3,0:3]
# is good or not. If not then reject
# TODO : revisit ransacRound parameter, use number of reconstruction frame to determine structure points transform seems small
nMatchPointsTmp, nInlierTmp, M = mergeSfM.mergeModel(model1.sfm_dataLoc,
model2.sfm_dataLoc,
model2.locFolLoc,
resultSfMDataFile,
ransacThres=model1.ransacStructureThres,
mergePointThres=model1.mergeStructureThres,
ransacRoundMul=reconParam.ransacRoundMul,
inputImgDir=self.mInputImgPath,
minLimit=reconParam.min3DnInliers)
ratioInlierMatchPoints = 0.0
if nMatchPointsTmp>0:
ratioInlierMatchPoints = float(nInlierTmp)/nMatchPointsTmp
# 3. perform test whether merge is good
sfm_merge_generated = True
countFileAgree = 0
countFileLoc = 1
if os.path.isfile(resultSfMDataFile):
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + resultSfMDataFile + " " + resultSfMDataFile)
countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(resultSfMDataFile, model2.locFolLoc, model1.validMergeRansacThres)
else:
sfm_merge_generated = False
ratioAgreeFrameReconFrame = 0.0
if (len(model2.reconFrame)>0):
ratioAgreeFrameReconFrame = float(countFileAgree)/len(model2.reconFrame)
ratioAgreeFrameLocFrame = 0.0
if (countFileLoc>0):
ratioAgreeFrameLocFrame = float(countFileAgree)/countFileLoc
# write log file
with open(os.path.join(self.mSfMPath,"global"+str(self.nMergedModel),"log.txt"),"a") as filelog:
filelog.write(("M1: " + model1.name + "\n" + \
"M2: " + model2.name + "\n" + \
"nMatchedPoints: " + str(nMatchPointsTmp) + "\n" + \
"nInliers: " + str(nInlierTmp) + "\n" + \
"ratioInlierWithMatchedPoints: " + str(ratioInlierMatchPoints) + "\n" + \
"countLocFrame: " + str(countLocFrame) + "\n" + \
"nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
"countFileAgree: " + str(countFileAgree) + "\n" + \
"countFileLoc: " + str(countFileLoc) + "\n" + \
"not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
# obsolete condition by T. Ishihara 2015.11.10
#"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
"countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
"ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
"ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
"ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
"ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
str(M) + "\n\n"))
# rename the localization folder to save localization result
'''
if os.path.isdir(model2.locFolLoc+model1.name):
FileUtils.removedir(model2.locFolLoc+model1.name)
os.rename(model2.locFolLoc,model2.locFolLoc+model1.name)
'''
# obsolete merge condition
'''
if not sfm_merge_generated or \
not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
(float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
'''
# update merge condition by T. Ishihara 2015.11.10
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
'''
# update merge condition by T. Ishihara 2016.04.02
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
'''
# update merge condition by T. Ishihara 2016.06.09
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
nInlierTmp > reconParam.min3DnInliers and \
ratioInlierMatchPoints > reconParam.vldMergeRatioInliersMatchPoints):
'''
# update merge condition by T. Ishihara 2016.06.20
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
nInlierTmp > reconParam.min3DnInliers):
print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."
'''
if os.path.isfile(os.path.join(sfmOutPath,"sfm_data.json")):
os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))
'''
# move to next video
return False, sfmModelIBeacon("","","","","","","",validMergeRansacThres=0,validMergeRansacThresK=0,
ransacStructureThres=0, ransacStructureThresK=0,
mergeStructureThres=0, mergeStructureThresK=0)
# generate colorized before bundle adjustment for comparison
os.system("openMVG_main_ComputeSfM_DataColor " +
" -i " + os.path.join(sfmOutPath,"sfm_data.json") +
" -o " + os.path.join(sfmOutPath,"colorized_pre.ply"))
# TODO : try computing structure from know pose here
# https://github.com/openMVG/openMVG/issues/246
# http://openmvg.readthedocs.io/en/latest/software/SfM/ComputeStructureFromKnownPoses/
# TODO : revisit the order of bundle adjustment
# perform bundle adjustment
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "rs,rst,rsti" + " -r=" + "1")
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "rst,rsti" + " -r=" + "1")
os.system("openMVG_main_ComputeSfM_DataColor " +
" -i " + os.path.join(sfmOutPath,"sfm_data.json") +
" -o " + os.path.join(sfmOutPath,"colorized.ply"))
# write new beacon file
IBeaconUtils.exportBeaconDataForSfmImageFrames(self.mCsvPath, resultSfMDataFile, os.path.join(self.mInputPath,"listbeacon.txt"),
os.path.join(sfmOutPath,"beacon.txt"), reconIBeaconParam.normApproach)
return True, sfmModelIBeacon("A" + model1.name + "," + model2.name +"Z", self.mInputImgPath, self.mCsvPath,
os.path.join(sfmOutPath,"beacon.txt"), self.mMatchesPath, os.path.join(sfmOutPath,"loc"),
resultSfMDataFile, validMergeRansacThres=model1.validMergeRansacThres,
ransacStructureThres=model1.ransacStructureThres,
mergeStructureThres=model1.mergeStructureThres)
def mergeOneModel(self, model1, model2, reconParam):
sfmOutPath = os.path.join(self.mSfMPath,
"global" + str(self.nMergedModel))
# create a temporary folder for reconstructed image of model2
inputImgTmpFolder = os.path.join(self.mSfMPath, "inputImgTmp",
"inputImgTmp" + model2.name)
# copy reconstructed image fom model2 to tmp folder
sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
if not os.path.isdir(inputImgTmpFolder):
listReconFrameName = [
sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
["filename"] for x in range(0, len(sfm_data2["views"]))
if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
["id_view"] in model2.reconFrame
]
FileUtils.makedir(inputImgTmpFolder)
for reconFrameName in listReconFrameName:
os.system("cp -s " +
os.path.join(model2.imgFolLoc, reconFrameName) +
" " + inputImgTmpFolder)
# remove all old localization result
FileUtils.removedir(model2.locFolLoc)
FileUtils.makedir(model2.locFolLoc)
# localize the images from model2 on model1
os.system(reconParam.LOCALIZE_PROJECT_PATH + \
" " + inputImgTmpFolder + \
" " + os.path.dirname(model1.sfm_dataLoc) + \
" " + self.mMatchesPath + \
" " + model2.locFolLoc + \
" -f=" + str(reconParam.locFeatDistRatio) + \
" -r=" + str(reconParam.locRansacRound) + \
" -e=" + model2.csvFolLoc + \
" -i=" + str(reconParam.locSkipFrame))
# remove temporary image folder
# removedir(inputImgTmpFolder)
# extract centers from all json file and write to a file
fileLoc = open(os.path.join(model2.locFolLoc, "center.txt"), "w")
countLocFrame = 0
for filename in sorted(os.listdir(model2.locFolLoc)):
if filename[-4:] != "json":
continue
countLocFrame = countLocFrame + 1
with open(os.path.join(model2.locFolLoc, filename)) as locJson:
#print os.path.join(sfm_locOut,filename)
locJsonDict = json.load(locJson)
loc = locJsonDict["t"]
fileLoc.write(
str(loc[0]) + " " + str(loc[1]) + " " + str(loc[2]) +
" 255 0 0\n")
fileLoc.close()
# get inlier matches
FileUtils.makedir(sfmOutPath)
resultSfMDataFile = os.path.join(sfmOutPath, "sfm_data.json")
# below also checks if the ratio between first and last svd of M[0:3,0:3]
# is good or not. If not then reject
nInlierTmp, M = mergeSfM.mergeModel(
model1.sfm_dataLoc,
model2.sfm_dataLoc,
model2.locFolLoc,
resultSfMDataFile,
ransacK=reconParam.ransacStructureThresMul,
ransacRound=reconParam.ransacRoundMul * len(model1.reconFrame),
inputImgDir=self.mInputImgPath,
minLimit=reconParam.min3DnInliers)
# 3. perform test whether merge is good
sfm_merge_generated = True
countFileAgree = 0
countFileLoc = 1
if os.path.isfile(resultSfMDataFile):
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " +
resultSfMDataFile + " " + resultSfMDataFile)
countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(
resultSfMDataFile, model2.locFolLoc,
reconParam.vldMergeAgrFrameThresK)
else:
sfm_merge_generated = False
ratioAgreeFrameReconFrame = 0.0
if (len(model2.reconFrame) > 0):
ratioAgreeFrameReconFrame = float(countFileAgree) / len(
model2.reconFrame)
ratioAgreeFrameLocFrame = 0.0
if (countFileLoc > 0):
ratioAgreeFrameLocFrame = float(countFileAgree) / countFileLoc
# write log file
with open(
os.path.join(self.mSfMPath, "global" + str(self.nMergedModel),
"log.txt"), "a") as filelog:
filelog.write(("M1: " + model1.name + "\n" + \
"M2: " + model2.name + "\n" + \
"nInliers: " + str(nInlierTmp) + "\n" + \
"countLocFrame: " + str(countLocFrame) + "\n" + \
"nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
"countFileAgree: " + str(countFileAgree) + "\n" + \
"countFileLoc: " + str(countFileLoc) + "\n" + \
"not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
# obsolete condition by T. Ishihara 2015.11.10
#"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
"countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
# obsolete condition by T. Ishihara 2016.04.02
#"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
"ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
"ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
"ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
"ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
str(M) + "\n\n"))
# rename the localization folder to save localization result
if os.path.isdir(model2.locFolLoc + model1.name):
FileUtils.removedir(model2.locFolLoc + model1.name)
os.rename(model2.locFolLoc, model2.locFolLoc + model1.name)
# obsolete merge condition
'''
if not sfm_merge_generated or \
not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
(float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
'''
# update merge condition by T. Ishihara 2015.11.10
'''
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
'''
# update merge condition by T. Ishihara 2016.04.02
if not sfm_merge_generated or \
not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."
if os.path.isfile(os.path.join(sfmOutPath, "sfm_data.json")):
os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))
# move to next video
return False, sfmModel("", "", "", "", "", "")
# generate colorized before bundle adjustment for comparison
os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
os.path.join(sfmOutPath, "colorized_pre.ply"))
# perform bundle adjustment
# modified by T.Ishihara 2016.04.08
# fix only translation at first
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "rs,rst,rsti" + " -r=" + "1")
'''
os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
" -c=" + "st,rst,rsti" + " -r=" + "1")
os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
os.path.join(sfmOutPath, "colorized.ply"))
return True, sfmModel("A" + model1.name + "," + model2.name + "Z",
self.mInputImgPath,
self.mCsvPath, self.mMatchesPath,
os.path.join(sfmOutPath,
"loc"), resultSfMDataFile)
