began writing my own matching alg.

lib/libdart_openmvg_generated.dart

@@ -42,6 +42,28 @@ class LibDartOpenMVG {
   late final _make_buffer = _make_bufferPtr
       .asFunction<ffi.Pointer<FILE> Function(ffi.Pointer<ffi.Uint8>, int)>();
 
+  int read_buffer(
+    ffi.Pointer<FILE> arg0,
+    ffi.Pointer<ffi.Pointer<ffi.Uint8>> arg1,
+    ffi.Pointer<ffi.Size> arg2,
+  ) {
+    return _read_buffer(
+      arg0,
+      arg1,
+      arg2,
+    );
+  }
+
+  late final _read_bufferPtr = _lookup<
+      ffi.NativeFunction<
+          ffi.Int Function(
+              ffi.Pointer<FILE>,
+              ffi.Pointer<ffi.Pointer<ffi.Uint8>>,
+              ffi.Pointer<ffi.Size>)>>('read_buffer');
+  late final _read_buffer = _read_bufferPtr.asFunction<
+      int Function(ffi.Pointer<FILE>, ffi.Pointer<ffi.Pointer<ffi.Uint8>>,
+          ffi.Pointer<ffi.Size>)>();
+
   ffi.Pointer<Frame> new_frame_from_handle(
     ffi.Pointer<FILE> arg0,
     int arg1,

scripts/compilelib.sh

@@ -24,6 +24,4 @@ cmake \
     -DCMAKE_BUILD_TYPE=Debug
 make
 
-printf "\033c"
-
 set +e

src/extlib/openMVG

@@ -1 +1 @@
-Subproject commit aff37dd005f85b3589aa50caca13b74ca7bd57e4
+Subproject commit 7fd19fc22419a35481d39d2946f77e1dc00df37c

src/frame.cxx

@@ -1,5 +1,5 @@
 #include "frame.h"
-
+#include <iostream>
 
 FILE *make_buffer(const uint8_t *data, const size_t data_len)
 {
@@ -20,43 +20,46 @@ FILE *make_buffer(const uint8_t *data, const size_t data_len)
   return file;
 }
 
-int read_buffer(FILE *file, uint8_t **buffer, size_t *length) {
+int read_buffer(FILE *file, uint8_t **buffer, size_t *length)
-  if (file != NULL) {
+{
-      // Get the file size
+  if (file != NULL)
-      fseek(file, 0, SEEK_END);
+  {
-      (*length) = ftell(file);
+    // Get the file size
-      fseek(file, 0, SEEK_SET);
+    fseek(file, 0, SEEK_END);
+    (*length) = ftell(file);
+    fseek(file, 0, SEEK_SET);
 
-      // Allocate memory
+    // Allocate memory
-      *buffer = (uint8_t *) malloc((*length) * sizeof(char));
+    *buffer = (uint8_t *)malloc((*length) * sizeof(char));
-      if (buffer == NULL) {
+    if (buffer == NULL)
-          printf("Error: Unable to allocate memory.\n");
+    {
-          return 1;
+      printf("Error: Unable to allocate memory.\n");
-      }
+      return 1;
+    }
 
-      // Read file
+    // Read file
-      size_t newLen = fread(*buffer, sizeof(char), *length, file);
+    size_t newLen = fread(*buffer, sizeof(char), *length, file);
-      if (newLen == 0) {
+    if (newLen == 0)
-          if (feof(file)) {
+    {
-              printf("Error: End of file reached.\n");
+      if (feof(file))
-              return 2;
+      {
-          }
+        printf("Error: End of file reached.\n");
-          printf("Error: Reading file.\n");
+        return 2;
-          return 3;
       }
-      return 4;
+      printf("Error: Reading file.\n");
+      return 3;
+    }
+    return 4;
   }
   return 5;
 }
 
-
 Frame *new_frame_from_data(const uint8_t *data, const size_t data_len, int w, int h, int depth)
 {
   FILE *buf = make_buffer(data, data_len);
   return new_frame_from_handle(buf, w, h, depth);
 }
 
-
 Frame *new_frame_from_handle(FILE *stream, int w, int h, int depth)
 {
   Frame *f = (Frame *)malloc(sizeof(Frame));
@@ -66,3 +69,60 @@ Frame *new_frame_from_handle(FILE *stream, int w, int h, int depth)
   f->depth = depth;
   return f;
 }
+
+#ifdef __cplusplus
+
+openMVG::image::Image<u_char> DartOpenMvg::imageFromFrame(const CFrame *frame)
+{
+  rewind(frame->stream);
+  std::vector<unsigned char> imageData;
+  if (!openMVG::image::ReadPngStream(frame->stream, &imageData, (int *)&(frame->w), (int *)&(frame->h), (int *)&(frame->depth)))
+  {
+    throw std::runtime_error("Could not read stream");
+  };
+  int w = frame->w, h = frame->h;
+  Eigen::Matrix<u_char, Eigen::Dynamic, Eigen::Dynamic, 1> eigenMatrix(frame->w, frame->h);
+  for (int i = 0; i < w * h; ++i)
+  {
+    eigenMatrix(i / h, i % h) = imageData[i];
+  }
+
+  return openMVG::image::Image<uint8_t>(eigenMatrix);
+}
+
+void DartOpenMvg::Frame::calculateFeatures()
+{
+  using namespace openMVG::image;
+  using namespace openMVG::features;
+  auto desc = SIFT_Anatomy_Image_describer(SIFT_Anatomy_Image_describer::Params());
+  auto image = imageFromFrame(cFrame);
+  mRegions = desc.Describe(image);
+}
+
+openMVG::image::Image<u_char> DartOpenMvg::Frame::getMvgImage() {
+  return imageFromFrame(this->cFrame);
+}
+
+void DartOpenMvg::Frames::computeMatches()
+{
+  using namespace openMVG::matching;
+  using namespace openMVG::matching_image_collection;
+  using namespace openMVG::sfm;
+  using namespace openMVG::image;
+  Matcher *matcher = nullptr;
+
+  Regions_Provider provider = Regions_Provider();
+
+  matcher = new Matcher_Regions(0.8f, CASCADE_HASHING_L2);
+
+  openMVG::Pair_Set pairs = openMVG::Pair_Set();
+  Image im1 = this->at(0).getMvgImage();
+  Image im2 = this->at(1).getMvgImage();
+  auto pair = openMVG::Pair(0, 1);
+  pairs.insert(pair);
+
+  PairWiseMatches map_punitive_matches;
+
+  // matcher->Match(provider, pairs, map_punitive_matches, NULL);
+
+#endif // __cplusplus

src/frame.h

@@ -1,12 +1,30 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <stdint.h>
+#include <string>
+#include <openMVG/matching/cascade_hasher.hpp>
+#include <openMVG/matching/regions_matcher.hpp>
+#include <openMVG/matching_image_collection/Matcher.hpp>
+#include <openMVG/matching_image_collection/Matcher_Regions.hpp>
+#include <openMVG/matching_image_collection/Pair_Builder.hpp>
+#include <openMVG/sfm/pipelines/sfm_regions_provider.hpp>
+#include <openMVG/features/feature.hpp>
+#include <openMVG/features/sift/octaver.hpp>
+#include <openMVG/features/sift/SIFT_Anatomy_Image_Describer.hpp>
+#include <openMVG/features/sift/sift_DescriptorExtractor.hpp>
+#include <openMVG/features/sift/sift_KeypointExtractor.hpp>
+#include <openMVG/features/akaze/AKAZE.hpp>
+#include <openMVG/image/image_container.hpp>
+#include <openMVG/image/image_io.hpp>
+#include <openMVG/numeric/numeric.h>
+#include <iostream>
+#include <map>
+#include <utility>
 #include "./base.hpp"
 
 #ifndef __FRAME_H
 #define __FRAME_H
 
-
 typedef struct _Frame
 {
     FILE *stream;
@@ -16,9 +34,60 @@ typedef struct _Frame
 } Frame;
 
 FILE *make_buffer(const uint8_t *, const size_t);
-
 int read_buffer(FILE *, uint8_t **, size_t *);
 
+#ifdef __cplusplus
+
+typedef Frame CFrame;
+
+namespace DartOpenMvg
+{
+    openMVG::image::Image<uint8_t> imageFromFrame(const Frame *);
+
+    class InMemoryMatcherRegions : public openMVG::matching_image_collection::Matcher {
+        void Match(
+            const Pair_Set &,
+            PariWiseMatchesContainer &,
+        ) const override;
+    };
+
+    class Frame
+    {
+    protected:
+        const CFrame *cFrame;
+        std::stringstream mStream;
+        int mW;
+        int mH;
+        int mDepth;
+        std::unique_ptr<openMVG::features::Regions> mRegions;
+
+    public:
+        Frame(const _Frame *f) : mW(f->w), mH(f->h), mDepth(f->depth)
+        {
+            cFrame = f;
+            uint8_t *buffer_data = NULL;
+            size_t len = 0;
+            read_buffer(f->stream, &buffer_data, &len);
+            mStream = std::stringstream(std::string((char *)buffer_data));
+        }
+        openMVG::image::Image<u_char> DartOpenMvg::Frame::getMvgImage();
+        void calculateFeatures();
+    };
+
+    typedef std::pair<Frame, Frame> FrameMatchKey;
+    typedef std::map<FrameMatchKey, openMVG::matching::IndMatches> FrameFeatureMatch;
+
+    class Frames : std::vector<Frame>
+    {
+
+    protected:
+        FrameFeatureMatch mFeatureMap;
+    public:
+        void computeMatches();
+    };
+}
+#endif
+
 _FFI_PLUGIN
 Frame *new_frame_from_handle(FILE *, int, int, int);
 

src/image.cxx

@@ -38,7 +38,7 @@ void free_image_result(ImageResult *image_result)
 }
 
 
-std::vector<u_char> Archimedes::get_image_data_as_vector(const Frame *frame)
+std::vector<u_char> DartOpenmvg::get_image_data_as_vector(const Frame *frame)
 {
   rewind(frame->stream);
   std::vector<unsigned char> imageData;
@@ -51,7 +51,7 @@ std::vector<u_char> Archimedes::get_image_data_as_vector(const Frame *frame)
 
 #ifdef __cplusplus
 
-ImageResult *Archimedes::get_image_data(const Frame *frame)
+ImageResult *DartOpenmvg::get_image_data(const Frame *frame)
 {
   try {
     const std::vector<u_char> imageData = get_image_data_as_vector(frame);
@@ -69,58 +69,12 @@ ImageResult *Archimedes::get_image_data(const Frame *frame)
 _FFI_PLUGIN
 ImageResult *archimedes_get_image_data(const Frame *frame)
 {
-  return Archimedes::get_image_data(frame);
+  return DartOpenmvg::get_image_data(frame);
 }
 
-int Archimedes::images_to_sfm(const Frame **frames, size_t n_frames)
+int DartOpenmvg::images_to_sfm(const Frame **frames, size_t n_frames)
 {
-  // https://openmvg.readthedocs.io/en/latest/openMVG/sfm/sfm/#structure-computation-from-known-camera-poses
+  // TODO
-  using namespace openMVG::sfm;
-
-  const Frame *frame = frames[0];
-  const std::vector<u_char> imageData = get_image_data_as_vector(frame);
-
-  const size_t w = frame->w;
-  const size_t h = frame->h;
-
-  // Create the Eigen matrix and the image
-
-  Eigen::Matrix<u_char, Eigen::Dynamic, Eigen::Dynamic, 1> eigenMatrix(w, h);
-  for (int i = 0; i < w * h; ++i) {
-      eigenMatrix(i / h, i % h) = imageData[i];
-  }
-
-  openMVG::image::Image bvgImage(eigenMatrix);
-
-  // Extract the features from the image
-  openMVG::features::SIFT_Anatomy_Image_describer desc;
-  std::unique_ptr<openMVG::features::SIFT_Anatomy_Image_describer::Regions_type> siftanatomy = desc.Describe_SIFT_Anatomy(bvgImage);
-  openMVG::features::SIOPointFeatures features = siftanatomy.get()->Features();
-
-  openMVG::features::SIOPointFeature feature = features.at(0);
-
-  Eigen::MatrixBase<Eigen::Vector2f> mat1 = feature.coords().matrix();
-  
-  openMVG::TriangulateNView(mat1);
-
-  // SfM_Data sfmData {};
-  // sfmData.views = Views();
-
-  openMVG::sfm::GlobalSfM_Rotation_AveragingSolver rotSolver;
-  openMVG::sfm::GlobalSfM_Translation_AveragingSolver tranSolver;
-
-  openMVG::sfm::SfM_Data_Structure_Computation_Blind computation;
-
-
-  openMVG::rotation_averaging::RelativeRotation relRot;
-  openMVG::rotation_averaging::RelativeRotations relativeRot_in;
-
-  // rotSolver.Run(
-  //   openMVG::sfm::ERotationAveragingMethod::ROTATION_AVERAGING_L1,
-  //   openMVG::sfm::ERelativeRotationInferenceMethod::TRIPLET_ROTATION_INFERENCE_COMPOSITION_ERROR,
-  //   relativeRot_in,
-  //   map_globalR,
-  // );
   
 
   return 0;
@@ -129,5 +83,5 @@ int Archimedes::images_to_sfm(const Frame **frames, size_t n_frames)
 _FFI_PLUGIN
 int archimedes_images_to_sfm(const Frame **frames, size_t n_frames)
 {
-  return Archimedes::images_to_sfm(frames, n_frames);
+  return DartOpenmvg::images_to_sfm(frames, n_frames);
 }

src/image.h

@@ -83,7 +83,7 @@ int image_result_free(ImageResult *);
 
 #ifdef __cplusplus
 
-namespace Archimedes
+namespace DartOpenmvg
 {
     std::vector<u_char> get_image_data_as_vector(const Frame *frame);
     ImageResult *get_image_data(const Frame *);

src/streamingview.cxx

@@ -4,7 +4,8 @@
 void libdart_openmvg::StreamingView::load(cereal::BinaryInputArchive &ar) const {
     uint8_t *data = NULL;
     const size_t dLen1 = (mFrame->w * mFrame->h * mFrame->depth * sizeof(uint8_t));
-    ar.loadBinary(data, sizeof(uint8_t) * dLen1);
+    size_t sz1 = sizeof(uint8_t) * dLen1;
+    ar.loadBinary(data, sz1);
     const size_t dlen2 = sizeof(data) * sizeof(uint8_t);
     mFrame->stream = make_buffer(data, dlen2);
     rewind(mFrame->stream);