[src/software/sfm] Merge SfM engines in a common SfM binary openMVG#1872

 (openMVG#1873)

* [src/software/sfm] Merge SfM engines in a common SfM binary openMVG#1872

* Handle comments on PR openMVG#1873 (Thx you @rjanvier, @rperrot)

dist/snap/snapcraft.yaml

@@ -64,14 +64,8 @@ apps:
   geodesy-registration-to-gps-position:
     command: openMVG_main_geodesy_registration_to_gps_position
     plugs: [home]
-  GlobalSfM:
-    command: openMVG_main_GlobalSfM
-    plugs: [home]
-  IncrementalSfM:
-    command: openMVG_main_IncrementalSfM
-    plugs: [home]
-  IncrementalSfM2:
-    command: openMVG_main_IncrementalSfM2
+  SfM:
+    command: openMVG_main_SfM
     plugs: [home]
   ListMatchingPairs:
     command: openMVG_main_ListMatchingPairs

docs/sphinx/rst/software/SfM/GlobalSfM.rst

@@ -39,7 +39,7 @@ The chain will only consider images with known approximate focal length. Image w
 
   .. code-block:: c++
 
-    $ openMVG_main_GlobalSfM -i Dataset/matches/sfm_data.json -m Dataset/matches/ -o Dataset/out_Global_Reconstruction/
+    $ openMVG_main_SfM --engine GLOBAL -i Dataset/matches/sfm_data.json -m Dataset/matches/ -o Dataset/out_Global_Reconstruction/
 
 Arguments description:
 

docs/sphinx/rst/software/SfM/IncrementalSfM.rst

@@ -38,11 +38,7 @@ The chain is designed to run on a sfm_data.json file and some pre-computed match
 
   .. code-block:: c++
 
-    $ openMVG_main_IncrementalSfM -i Dataset/matches/sfm_data.json -m Dataset/matches/ -o Dataset/out_Incremental_Reconstruction/
-
-openMVG_main_IncrementalSfM displays to you some initial pairs that share an important number of common point.
-  **Please select two image index that are convergent and the 3D reconstruction will start.
-  The initial pair must be chosen with numerous correspondences while keeping a wide enough baseline.**
+    $ openMVG_main_SfM --engine INCREMENTAL -i Dataset/matches/sfm_data.json -m Dataset/matches/ -o Dataset/out_Incremental_Reconstruction/
 
 Arguments description:
 
@@ -52,21 +48,21 @@ Arguments description:
 
     - a SfM_Data file
 
-  - **[-m|--matchdir]**
+  - **[-m|--match_dir]**
 
     - path were geometric matches were stored
 
-  - **[-o|--outdir]**
+  - **[-o|--out_dir]**
 
     - path where the output data will be stored
 
 **Optional parameters:**
 
-  - **[-a|--initialPairA NAME]**
+  - **[-a|--initial_pair_a NAME]**
 
     - the filename image to use (i.e. 100_7001.JPG)
 
-  - **[-b|--initialPairB NAME]**
+  - **[-b|--initial_pair_b NAME]**
 
     - the filename image to use (i.e. 100_7002.JPG)
 
@@ -80,7 +76,7 @@ Arguments description:
       - 4: Pinhole radial 3 + tangential 2
       - 5: Pinhole fisheye
 
-  - **[-f|--refineIntrinsics]**
+  - **[-f|--refine_intrinsic_config]**
       User can control exactly which parameter will be considered as constant/variable and combine them by using the '|' operator.
 
     - ADJUST_ALL -> refine all existing parameters (default)
@@ -101,10 +97,10 @@ Arguments description:
         -> refine the principal point position & the distortion coefficient(s) (if any)
 
 *************************************
-openMVG_main_IncrementalSfM2
+IncrementalSfM2
 *************************************
 
-`openMVG_main_IncrementalSfM2` is a more generic incremental pipeline than `openMVG_main_IncrementalSfM` since it can:
+`INCREMENTALV2` is a more generic incremental pipeline than `INCREMENTAL` since it can:
 
 - extend a scene that was started by using existing poses or an abstract scene initialization (2 view or n-views).
 

src/software/SfM/CMakeLists.txt

@@ -118,50 +118,23 @@ target_link_libraries(openMVG_main_MatchesToTracks
 # Installation rules
 set_property( TARGET openMVG_main_ListMatchingPairs PROPERTY FOLDER OpenMVG/software )
 set_property( TARGET openMVG_main_ComputeFeatures   PROPERTY FOLDER OpenMVG/software )
-set_property( TARGET openMVG_main_PairGenerator    PROPERTY FOLDER OpenMVG/software )
+set_property( TARGET openMVG_main_PairGenerator     PROPERTY FOLDER OpenMVG/software )
 set_property( TARGET openMVG_main_ComputeMatches    PROPERTY FOLDER OpenMVG/software )
 set_property( TARGET openMVG_main_GeometricFilter   PROPERTY FOLDER OpenMVG/software )
 set_property( TARGET openMVG_main_MatchesToTracks   PROPERTY FOLDER OpenMVG/software )
 
 install( TARGETS openMVG_main_ListMatchingPairs DESTINATION bin/ )
 install( TARGETS openMVG_main_ComputeFeatures   DESTINATION bin/ )
-install( TARGETS openMVG_main_PairGenerator    DESTINATION bin/ )
+install( TARGETS openMVG_main_PairGenerator     DESTINATION bin/ )
 install( TARGETS openMVG_main_ComputeMatches    DESTINATION bin/ )
 install( TARGETS openMVG_main_GeometricFilter   DESTINATION bin/ )
 install( TARGETS openMVG_main_MatchesToTracks   DESTINATION bin/ )
 
 ###
-# SfM Pipelines
-# - Incremental/Sequential
-# - Global
+# SfM Pipelines & SfM Data format tools, ...
 ###
-# - Convert SfM_Data format (from one to another)
-# - Pair filtering (from frustum)
-# - Compute structure from known camera poses
-# - Compute structure color
-###
-add_executable(openMVG_main_IncrementalSfM main_IncrementalSfM.cpp)
-target_link_libraries(openMVG_main_IncrementalSfM
-  PRIVATE
-    openMVG_system
-    openMVG_image
-    openMVG_features
-    openMVG_sfm
-    ${STLPLUS_LIBRARY}
-)
-
-add_executable(openMVG_main_IncrementalSfM2 main_IncrementalSfM2.cpp)
-target_link_libraries(openMVG_main_IncrementalSfM2
-  PRIVATE
-    openMVG_system
-    openMVG_image
-    openMVG_features
-    openMVG_sfm
-    ${STLPLUS_LIBRARY}
-)
-
-add_executable(openMVG_main_GlobalSfM main_GlobalSfM.cpp)
-target_link_libraries(openMVG_main_GlobalSfM
+add_executable(openMVG_main_SfM main_SfM.cpp)
+target_link_libraries(openMVG_main_SfM
   PRIVATE
     openMVG_system
     openMVG_image
@@ -231,12 +204,8 @@ target_link_libraries(openMVG_main_ChangeLocalOrigin
 )
 
 # Installation rules
-set_property(TARGET openMVG_main_IncrementalSfM PROPERTY FOLDER OpenMVG/software)
-install(TARGETS openMVG_main_IncrementalSfM DESTINATION bin/)
-set_property(TARGET openMVG_main_IncrementalSfM2 PROPERTY FOLDER OpenMVG/software)
-install(TARGETS openMVG_main_IncrementalSfM2 DESTINATION bin/)
-set_property(TARGET openMVG_main_GlobalSfM PROPERTY FOLDER OpenMVG/software)
-install(TARGETS openMVG_main_GlobalSfM DESTINATION bin/)
+set_property(TARGET openMVG_main_SfM PROPERTY FOLDER OpenMVG/software)
+install(TARGETS openMVG_main_SfM DESTINATION bin/)
 set_property(TARGET openMVG_main_ConvertSfM_DataFormat PROPERTY FOLDER OpenMVG/software)
 install(TARGETS openMVG_main_ConvertSfM_DataFormat DESTINATION bin/)
 set_property(TARGET openMVG_main_FrustumFiltering PROPERTY FOLDER OpenMVG/software)

src/software/SfM/SfM_GlobalPipeline.py.in

@@ -71,19 +71,9 @@ if not os.path.exists(reconstruction_dir):
     os.mkdir(reconstruction_dir)
 
 print ("6. Do Global reconstruction")
-pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_GlobalSfM"),  "-i", matches_dir+"/sfm_data.json", "-m", matches_dir, "-o", reconstruction_dir] )
+pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_SfM"), "--engine", "GLOBAL", "--input_file", matches_dir+"/sfm_data.json", "--match_file", matches_dir+"/matches.e.bin", "--output_dir", reconstruction_dir] )
 pRecons.wait()
 
 print ("7. Colorize Structure")
 pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_ComputeSfM_DataColor"),  "-i", reconstruction_dir+"/sfm_data.bin", "-o", os.path.join(reconstruction_dir,"colorized.ply")] )
-pRecons.wait()
-
-# optional, compute final valid structure from the known camera poses
-print ("8. Structure from Known Poses (robust triangulation)")
-pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_ComputeStructureFromKnownPoses"),  "-i", reconstruction_dir+"/sfm_data.bin", "-m", matches_dir, "-f", os.path.join(matches_dir, "matches.e.bin"), "-o", os.path.join(reconstruction_dir,"robust.bin")] )
-pRecons.wait()
-
-pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_ComputeSfM_DataColor"),  "-i", reconstruction_dir+"/robust.bin", "-o", os.path.join(reconstruction_dir,"robust_colorized.ply")] )
-pRecons.wait()
-
-
+pRecons.wait()

src/software/SfM/SfM_SequentialPipeline.py.in

@@ -71,19 +71,9 @@ if not os.path.exists(reconstruction_dir):
     os.mkdir(reconstruction_dir)
 
 print ("6. Do Sequential/Incremental reconstruction")
-pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_IncrementalSfM"),  "-i", matches_dir+"/sfm_data.json", "-m", matches_dir, "-o", reconstruction_dir] )
+pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_SfM"), "--engine", "INCREMENTAL", "--input_file", matches_dir+"/sfm_data.json", "--match_dir", matches_dir, "--output_dir", reconstruction_dir] )
 pRecons.wait()
 
 print ("7. Colorize Structure")
 pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_ComputeSfM_DataColor"),  "-i", reconstruction_dir+"/sfm_data.bin", "-o", os.path.join(reconstruction_dir,"colorized.ply")] )
-pRecons.wait()
-
-# optional, compute final valid structure from the known camera poses
-print ("8. Structure from Known Poses (robust triangulation)")
-pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_ComputeStructureFromKnownPoses"),  "-i", reconstruction_dir+"/sfm_data.bin", "-m", matches_dir, "-f", os.path.join(matches_dir, "matches.f.bin"), "-o", os.path.join(reconstruction_dir,"robust.bin")] )
-pRecons.wait()
-
-pRecons = subprocess.Popen( [os.path.join(OPENMVG_SFM_BIN, "openMVG_main_ComputeSfM_DataColor"),  "-i", reconstruction_dir+"/robust.bin", "-o", os.path.join(reconstruction_dir,"robust_colorized.ply")] )
-pRecons.wait()
-
-
+pRecons.wait()