dense: implement Semi-Global Matching

MvgMvsPipeline.py

@@ -9,41 +9,43 @@
                           [--0 0 [0 ...]] [--1 1 [1 ...]] [--2 2 [2 ...]]
                           [--3 3 [3 ...]] [--4 4 [4 ...]] [--5 5 [5 ...]]
                           [--6 6 [6 ...]] [--7 7 [7 ...]] [--8 8 [8 ...]]
-                          [--9 9 [9 ...]] [--10 10 [10 ...]]
-                          [--11 11 [11 ...]] [--12 12 [12 ...]]
-                          [--13 13 [13 ...]]
+                          [--9 9 [9 ...]] [--10 10 [10 ...]] [--11 11 [11 ...]]
+                          [--12 12 [12 ...]] [--13 13 [13 ...]]
+                          [--14 14 [14 ...]] [--15 15 [15 ...]]
                           input_dir output_dir
 
 Photogrammetry reconstruction with these steps:
-    0. Intrinsics analysis          openMVG_main_SfMInit_ImageListing
-    1. Compute features             openMVG_main_ComputeFeatures
-    2. Compute matches              openMVG_main_ComputeMatches
-    3. Incremental reconstruction   openMVG_main_IncrementalSfM
-    4. Global reconstruction        openMVG_main_GlobalSfM
-    5. Colorize Structure           openMVG_main_ComputeSfM_DataColor
-    6. Structure from Known Poses   openMVG_main_ComputeStructureFromKnownPoses
-    7. Colorized robust triangulation    openMVG_main_ComputeSfM_DataColor
-    8. Control Points Registration  ui_openMVG_control_points_registration
-    9. Export to openMVS            openMVG_main_openMVG2openMVS
-    10. Densify point cloud         DensifyPointCloud
-    11. Reconstruct the mesh        ReconstructMesh
-    12. Refine the mesh             RefineMesh
-    13. Texture the mesh            TextureMesh
+    0. Intrinsics analysis             openMVG_main_SfMInit_ImageListing
+    1. Compute features                openMVG_main_ComputeFeatures
+    2. Compute matches                 openMVG_main_ComputeMatches
+    3. Incremental reconstruction      openMVG_main_IncrementalSfM
+    4. Global reconstruction           openMVG_main_GlobalSfM
+    5. Colorize Structure              openMVG_main_ComputeSfM_DataColor
+    6. Structure from Known Poses      openMVG_main_ComputeStructureFromKnownPoses
+    7. Colorized robust triangulation  openMVG_main_ComputeSfM_DataColor
+    8. Control Points Registration     ui_openMVG_control_points_registration
+    9. Export to openMVS               openMVG_main_openMVG2openMVS
+    10. Densify point-cloud            DensifyPointCloud
+    11. Reconstruct the mesh           ReconstructMesh
+    12. Refine the mesh                RefineMesh
+    13. Texture the mesh               TextureMesh
+    14. Estimate disparity-maps        DensifyPointCloud
+    15. Fuse disparity-maps            DensifyPointCloud
 
 positional arguments:
-  input_dir             the directory wich contains the pictures set.
-  output_dir            the directory wich will contain the resulting files.
+  input_dir                 the directory wich contains the pictures set.
+  output_dir                the directory wich will contain the resulting files.
 
 optional arguments:
-  -h, --help            show this help message and exit
-  --steps STEPS [STEPS ...]
-                        steps to process
-  --preset PRESET       steps list preset in
-                        SEQUENTIAL = [0, 1, 2, 3, 9, 10, 11, 12, 13]
-                        GLOBAL = [0, 1, 2, 4, 9, 10, 11, 12, 13]
-                        MVG_SEQ = [0, 1, 2, 3, 5, 6, 7]
-                        MVG_GLOBAL = [0, 1, 2, 4, 5, 6, 7]
-                        default : SEQUENTIAL
+  -h, --help                show this help message and exit
+  --steps STEPS [STEPS ...] steps to process
+  --preset PRESET           steps list preset in
+                            SEQUENTIAL = [0, 1, 2, 3, 9, 10, 11, 12, 13]
+                            GLOBAL = [0, 1, 2, 4, 9, 10, 11, 12, 13]
+                            MVG_SEQ = [0, 1, 2, 3, 5, 6, 7]
+                            MVG_GLOBAL = [0, 1, 2, 4, 5, 6, 7]
+                            MVS_SGM = [14, 15]
+                            default : SEQUENTIAL
 
 Passthrough:
   Option to be passed to command lines (remove - in front of option names)
@@ -108,7 +110,8 @@ def find(afile):
 PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 9, 10, 11, 12, 13],
           'GLOBAL': [0, 1, 2, 4, 9, 10, 11, 12, 13],
           'MVG_SEQ': [0, 1, 2, 3, 5, 6, 7],
-          'MVG_GLOBAL': [0, 1, 2, 4, 5, 6, 7]}
+          'MVG_GLOBAL': [0, 1, 2, 4, 5, 6, 7],
+          'MVS_SGM': [14, 15]}
 
 PRESET_DEFAULT = 'SEQUENTIAL'
 
@@ -199,16 +202,22 @@ def __init__(self):
              ["-i", "%reconstruction_dir%/sfm_data.bin", "-o", "%mvs_dir%/scene.mvs", "-d", "%mvs_dir%/images"]],
             ["Densify point cloud",          # 10
              os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
-             ["--input-file", "%mvs_dir%/scene.mvs", "--resolution-level", "1", "-w", "%mvs_dir%"]],
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "-w", "%mvs_dir%"]],
             ["Reconstruct the mesh",         # 11
              os.path.join(OPENMVS_BIN, "ReconstructMesh"),
-             ["%mvs_dir%/scene_dense.mvs", "-w", "%mvs_dir%"]],
+             ["scene_dense.mvs", "-w", "%mvs_dir%"]],
             ["Refine the mesh",              # 12
              os.path.join(OPENMVS_BIN, "RefineMesh"),
-             ["%mvs_dir%/scene_dense_mesh.mvs", "--scales", "2", "-w", "%mvs_dir%"]],
+             ["scene_dense_mesh.mvs", "--scales", "2", "-w", "%mvs_dir%"]],
             ["Texture the mesh",             # 13
              os.path.join(OPENMVS_BIN, "TextureMesh"),
-             ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "%mvs_dir%"]]
+             ["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "%mvs_dir%"]],
+            ["Estimate disparity-maps",      # 14
+             os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "%mvs_dir%"]],
+            ["Fuse disparity-maps",          # 15
+             os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
+             ["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "%mvs_dir%"]]
             ]
 
     def __getitem__(self, indice):

apps/DensifyPointCloud/DensifyPointCloud.cpp

@@ -50,6 +50,7 @@ String strMeshFileName;
 String strDenseConfigFileName;
 float fSampleMesh;
 int thFilterPointCloud;
+int nFusionMode;
 int nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -107,6 +108,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(0), "estimate the normals for the dense point-cloud")
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
+		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth map fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
 		;
 
 	// hidden options, allowed both on command line and
@@ -256,8 +258,13 @@ int main(int argc, LPCTSTR* argv)
 	}
 	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
 		TD_TIMER_START();
-		if (!scene.DenseReconstruction())
-			return EXIT_FAILURE;
+		if (!scene.DenseReconstruction(OPT::nFusionMode)) {
+			if (ABS(OPT::nFusionMode) != 1)
+				return EXIT_FAILURE;
+			VERBOSE("Depth-maps estimated (%s)", TD_TIMER_GET_FMT().c_str());
+			Finalize();
+			return EXIT_SUCCESS;
+		}
 		VERBOSE("Densifying point-cloud completed: %u points (%s)", scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
 

libs/Common/EventQueue.cpp

@@ -86,3 +86,16 @@ uint_t EventQueue::GetSize() const
 	return m_events.GetSize();
 }
 /*----------------------------------------------------------------*/
+
+
+
+/*-----------------------------------------------------------*
+* EventThreadPool class implementation                      *
+*-----------------------------------------------------------*/
+
+void EventThreadPool::stop()
+{
+	ThreadPool::stop();
+	EventQueue::Clear();
+}
+/*----------------------------------------------------------------*/

libs/Common/EventQueue.h

@@ -71,6 +71,20 @@ class GENERAL_API EventQueue
 };
 /*----------------------------------------------------------------*/
 
+
+// basic event and thread pool
+class GENERAL_API EventThreadPool : public ThreadPool, public EventQueue
+{
+public:
+	inline EventThreadPool() {}
+	inline EventThreadPool(size_type nThreads) : ThreadPool(nThreads) {}
+	inline EventThreadPool(size_type nThreads, Thread::FncStart pfnStarter, void* pData=NULL) : ThreadPool(nThreads, pfnStarter, pData) {}
+	inline ~EventThreadPool() {}
+
+	void stop(); //stop threads, reset locks state and empty event queue
+};
+/*----------------------------------------------------------------*/
+
 } // namespace SEACAVE
 
 #endif // __SEACAVE_EVENTQUEUE_H__

libs/Common/File.h

@@ -13,10 +13,66 @@
 
 #include "Streams.h"
 
+// Under both Windows and Unix, the stat function is used for classification
+
+// Under Gnu/Linux, the following classifications are defined
+// source: Gnu/Linux man page for stat(2) http://linux.die.net/man/2/stat
+//   S_IFMT 	0170000	bitmask for the file type bitfields
+//   S_IFSOCK 	0140000	socket (Note this overlaps with S_IFDIR)
+//   S_IFLNK 	0120000	symbolic link
+//   S_IFREG 	0100000	regular file
+//   S_IFBLK 	0060000	block device
+//   S_IFDIR 	0040000	directory
+//   S_IFCHR 	0020000	character device
+//   S_IFIFO 	0010000	FIFO
+// There are also some Posix-standard macros:
+//   S_ISREG(m)        is it a regular file? 
+//   S_ISDIR(m)        directory? 
+//   S_ISCHR(m)        character device? 
+//   S_ISBLK(m)        block device? 
+//   S_ISFIFO(m)       FIFO (named pipe)? 
+//   S_ISLNK(m)        symbolic link? (Not in POSIX.1-1996.) 
+//   S_ISSOCK(m)       socket? (Not in POSIX.1-1996.)
+// Under Windows, the following are defined:
+// source: Header file sys/stat.h distributed with Visual Studio 10
+//   _S_IFMT  (S_IFMT)   0xF000 file type mask
+//   _S_IFREG (S_IFREG)  0x8000 regular
+//   _S_IFDIR (S_IFDIR)  0x4000 directory
+//   _S_IFCHR (S_IFCHR)  0x2000 character special
+//   _S_IFIFO            0x1000 pipe
+
 #ifdef _MSC_VER
 #include <io.h>
+// file type tests are not defined for some reason on Windows despite them providing the stat() function!
+#define F_OK 0
+#define X_OK 1
+#define W_OK 2
+#define R_OK 4
+// Posix-style macros for Windows
+#ifndef S_ISREG
+#define S_ISREG(mode)  ((mode & _S_IFMT) == _S_IFREG)
+#endif
+#ifndef S_ISDIR
+#define S_ISDIR(mode)  ((mode & _S_IFMT) == _S_IFDIR)
+#endif
+#ifndef S_ISCHR
+#define S_ISCHR(mode)  ((mode & _S_IFMT) == _S_IFCHR)
+#endif
+#ifndef S_ISBLK
+#define S_ISBLK(mode)  (false)
+#endif
+#ifndef S_ISFIFO
+#define S_ISFIFO(mode) ((mode & _S_IFMT) == _S_IFIFO)
+#endif
+#ifndef S_ISLNK
+#define S_ISLNK(mode)  (false)
+#endif
+#ifndef S_ISSOCK
+#define S_ISSOCK(mode) (false)
+#endif
 #else
 #include <unistd.h>
+#include <dirent.h>
 #define _taccess access
 #endif
 
@@ -282,7 +338,7 @@ class GENERAL_API File : public IOStream {
 		size_f_t totalSize = 0;
 		String strPath(_strPath);
 		Util::ensureFolderSlash(strPath);
-		//Find all the files in this folder.
+		// Find all the files in this folder.
 		hFind = FindFirstFile((strPath + strMask).c_str(), &fd);
 		if (hFind != INVALID_HANDLE_VALUE)
 		{
@@ -304,7 +360,7 @@ class GENERAL_API File : public IOStream {
 			while (FindNextFile(hFind, &fd));
 			FindClose(hFind);
 		}
-		//Process the subfolders also...
+		// Process the subfolders also...
 		if (!bProcessSubdir)
 			return totalSize;
 		hFind = FindFirstFile((strPath + '*').c_str(), &fd);
@@ -318,7 +374,7 @@ class GENERAL_API File : public IOStream {
 					continue;
 				if (!_tcscmp(fd.cFileName, _T("..")))
 					continue;
-				// Processe all subfolders recursively
+				// Process all subfolders recursively
 				totalSize += findFiles(strPath + fd.cFileName + PATH_SEPARATOR, strMask, true, arrFiles);
 			}
 			while (FindNextFile(hFind, &fd));
@@ -490,7 +546,35 @@ class GENERAL_API File : public IOStream {
 
 #endif // _MSC_VER
 
-	static bool access(LPCTSTR aFileName, int mode=CA_EXIST) { return ::_taccess(aFileName, mode) == 0; }
+	// test for whether there's something (i.e. folder or file) with this name
+	// and what access mode is supported
+	static bool isPresent(LPCTSTR path) {
+		struct stat buf;
+		return stat(path, &buf) == 0;
+	}
+	static bool access(LPCTSTR path, int mode=CA_EXIST) {
+		return ::_taccess(path, mode) == 0;
+	}
+	// test for whether there's something present and its a folder
+	static bool isFolder(LPCTSTR path) {
+		struct stat buf;
+		if (!(stat(path, &buf) == 0))
+			return false;
+		// If the object is present, see if it is a directory
+		// this is the Posix-approved way of testing
+		return S_ISDIR(buf.st_mode);
+	}
+	// test for whether there's something present and its a file
+	// a file can be a regular file, a symbolic link, a FIFO or a socket, but not a device
+	static bool isFile(LPCTSTR path) {
+		struct stat buf;
+		if (!(stat(path, &buf) == 0))
+			return false;
+		// If the object is present, see if it is a file or file-like object
+		// Note that devices are neither folders nor files
+		// this is the Posix-approved way of testing
+		return S_ISREG(buf.st_mode) || S_ISLNK(buf.st_mode) || S_ISSOCK(buf.st_mode) || S_ISFIFO(buf.st_mode);
+	}
 
 	template <class VECTOR>
 	inline size_t write(const VECTOR& arr) {