srcrr/libdart_openmvg
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began writing my own matching alg.

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This commit is contained in:
Jordan Hewitt 2024-03-20 09:42:18 -07:00
parent fe5ecdeec1
commit d85c25b21e
8 changed files with 190 additions and 86 deletions
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22
lib/libdart_openmvg_generated.dart
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@ -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,

2
scripts/compilelib.sh
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@ -24,6 +24,4 @@ cmake \
-DCMAKE_BUILD_TYPE=Debug
make
printf "\033c"
set +e

2
src/extlib/openMVG

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

110
src/frame.cxx
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@ -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) {
if (file != NULL) {
// Get the file size
fseek(file, 0, SEEK_END);
(*length) = ftell(file);
fseek(file, 0, SEEK_SET);
int read_buffer(FILE *file, uint8_t **buffer, size_t *length)
{
if (file != NULL)
{
// Get the file size
fseek(file, 0, SEEK_END);
(*length) = ftell(file);
fseek(file, 0, SEEK_SET);
// Allocate memory
*buffer = (uint8_t *) malloc((*length) * sizeof(char));
if (buffer == NULL) {
printf("Error: Unable to allocate memory.\n");
return 1;
}
// Allocate memory
*buffer = (uint8_t *)malloc((*length) * sizeof(char));
if (buffer == NULL)
{
printf("Error: Unable to allocate memory.\n");
return 1;
}
// Read file
size_t newLen = fread(*buffer, sizeof(char), *length, file);
if (newLen == 0) {
if (feof(file)) {
printf("Error: End of file reached.\n");
return 2;
}
printf("Error: Reading file.\n");
return 3;
// Read file
size_t newLen = fread(*buffer, sizeof(char), *length, file);
if (newLen == 0)
{
if (feof(file))
{
printf("Error: End of file reached.\n");
return 2;
}
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

73
src/frame.h
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@ -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);

58
src/image.cxx
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@ -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
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,
// );
// TODO
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);
}

2
src/image.h
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@ -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 *);

3
src/streamingview.cxx
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@ -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);