Merge branch 'develop' into develop_2.0

Conflicts:
	src/software/SfM/export/main_ExportCameraFrustums.cpp

README.md

@@ -62,7 +62,7 @@ SfM [1], GlobalSfM [4] or Tracks [2]`:
 
 ```
 @inproceedings{moulon2016openmvg,
-  title={Openmvg: Open multiple view geometry},
+  title={Open{MVG}: Open multiple view geometry},
   author={Moulon, Pierre and Monasse, Pascal and Perrot, Romuald and Marlet, Renaud},
   booktitle={International Workshop on Reproducible Research in Pattern Recognition},
   pages={60--74},

src/openMVG/multiview/translation_averaging_solver_softl1.cpp

@@ -118,7 +118,7 @@ bool solve_translations_problem_softl1
   // - relative translation scales (one per group)
   // - relative rotations
 
-  std::vector<double> vec_translations(relative_info_count*3, 1.0);
+  std::vector<double> vec_translations(nb_poses*3, 1.0);
   const unsigned nb_scales = vec_relative_group_estimates.size();
   std::vector<double> vec_scales(nb_scales, 1.0);
 
@@ -232,7 +232,7 @@ bool solve_translations_problem_softl1
   cpt = 0;
   for (unsigned int i = 0; i < nb_poses; ++i, cpt+=3)
   {
-    translations[i] << vec_translations[cpt], vec_translations[cpt+1], vec_translations[cpt+2];
+    translations[i] = Eigen::Map<Eigen::Vector3d>(&vec_translations[cpt]);
   }
   return true;
 }

src/software/SfM/export/main_ExportCameraFrustums.cpp

@@ -32,9 +32,13 @@ int main(int argc, char **argv)
 
   std::string sSfM_Data_Filename;
   std::string sOutFile = "";
+  double z_near = -1.;
+  double z_far = -1.;
 
   cmd.add( make_option('i', sSfM_Data_Filename, "input_file") );
   cmd.add( make_option('o', sOutFile, "output_file") );
+  cmd.add( make_option('n', z_near, "z_near") );
+  cmd.add( make_option('f', z_far, "z_far") );
   cmd.add( make_switch('c', "colorize") );
 
   try {
@@ -44,7 +48,10 @@ int main(int argc, char **argv)
     std::cerr << "Usage: " << argv[0] << '\n'
     << "[-i|--input_file] path to a SfM_Data scene\n"
     << "[-o|--output_file] PLY file to store the camera frustums as triangle meshes.\n"
-    << "[-c|--colorize] Colorize the camera frustums.";
+    << "[-n|--z_near] 'optional' distance of the near camera plane\n"
+    << "[-f|--z_far] 'optional' distance of the far camera plane\n"
+    << "[-c|--colorize] 'optional' colorize the camera frustums.\n"
+    << std::endl;
 
     OPENMVG_LOG_ERROR << s;
     return EXIT_FAILURE;
@@ -66,7 +73,7 @@ int main(int argc, char **argv)
   const bool colorize = cmd.used('c');
 
   // If sfm_data have not structure, cameras are displayed as tiny normalized cones
-  const Frustum_Filter frustum_filter(sfm_data);
+  const Frustum_Filter frustum_filter(sfm_data, z_near, z_far);
   if (!sOutFile.empty())
   {
     if (frustum_filter.export_Ply(sOutFile, colorize))

src/software/SfM/export/main_openMVGSpherical2Cubic.cpp

@@ -37,10 +37,12 @@ int main(int argc, char *argv[]) {
   std::string s_sfm_data_filename;
   std::string s_out_dir = "";
   int force_recompute_images = 1;
+  int size_cubic_images = 1024;
 
   cmd.add( make_option('i', s_sfm_data_filename, "sfmdata") );
   cmd.add( make_option('o', s_out_dir, "outdir") );
   cmd.add( make_option('f', force_recompute_images, "force_compute_cubic_images") );
+  cmd.add( make_option('s', size_cubic_images, "size-cubic-images") );
 
   try {
       if (argc == 1) throw std::string("Invalid command line parameter.");
@@ -50,6 +52,8 @@ int main(int argc, char *argv[]) {
       << "[-i|--sfmdata] filename, the SfM_Data file to convert\n"
       << "[-o|--outdir path]\n"
       << "[-f|--force_recompute_images] (default 1)\n"
+      << "[-s|--size-cubic-images] (default 1024) pixel size of the resulting cubic images, "
+      << "non-positive values will automatically scale the output based on the input"
       << std::endl;
 
       std::cerr << s << std::endl;
@@ -58,6 +62,10 @@ int main(int argc, char *argv[]) {
 
   OPENMVG_LOG_INFO << "force_recompute_images = " << force_recompute_images;
 
+  std::cout << "size_cubic_images = ";
+  if(size_cubic_images > 0) std::cout << size_cubic_images << std::endl;
+  else std::cout << "auto" << std::endl;
+
   // Create output dir
   if (!stlplus::folder_exists(s_out_dir))
       stlplus::folder_create(s_out_dir);
@@ -72,10 +80,6 @@ int main(int argc, char *argv[]) {
   SfM_Data sfm_data_out; // the sfm_data that stores the cubical image list
   sfm_data_out.s_root_path = s_out_dir;
 
-  const int cubic_image_size = 1024;
-  const openMVG::cameras::Pinhole_Intrinsic pinhole_camera =
-    spherical::ComputeCubicCameraIntrinsics(cubic_image_size);
-
   // Convert every spherical view to cubic views
   {
     system::LoggerProgress my_progress_bar(
@@ -85,6 +89,10 @@ int main(int argc, char *argv[]) {
     const Poses & poses = sfm_data.GetPoses();
     const Landmarks & structure = sfm_data.GetLandmarks();
 
+    openMVG::cameras::Pinhole_Intrinsic pinhole_camera;
+    if(size_cubic_images > 0)
+        pinhole_camera = spherical::ComputeCubicCameraIntrinsics(size_cubic_images);
+
     // generate views and camera poses for each new views
     int error_status = 0;
     #pragma omp parallel for shared(error_status) if(error_status < 1)
@@ -113,6 +121,11 @@ int main(int argc, char *argv[]) {
           continue;
         }
 
+        if(size_cubic_images <= 0) {
+            const int auto_cubic_size = spherical_image.Height()/2;
+            pinhole_camera = spherical::ComputeCubicCameraIntrinsics(auto_cubic_size);
+        }
+
         const std::array<Mat3,6> rot_matrix = spherical::GetCubicRotations();
 
         // when cubical image computation is needed