Merge branch 'aluaces-patch-1' into develop

src/CMakeLists.txt

@@ -10,7 +10,8 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
 project(openMVG C CXX)
 
 # Run automoc on .hh files in new versions of cmake
-if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17")
+if (${CMAKE_VERSION} VERSION_GREATER "3.17" OR
+    ${CMAKE_VERSION} VERSION_EQUAL "3.17")
   cmake_policy(SET CMP0100 NEW)
 endif()
 

src/openMVG/multiview/solver_fundamental_kernel.cpp

@@ -45,33 +45,18 @@ void SevenPointSolver::Solve
   assert(x1.cols() == x2.cols());
 
   Vec9 f1, f2;
-  if (x1.cols() == 7) {
-    // Set up the homogeneous system Af = 0 from the equations x'T*F*x = 0.
-    using Mat9 = Eigen::Matrix<double, 9, 9>;
-    // In the minimal solution use fixed sized matrix to let Eigen and the
-    //  compiler doing the maximum of optimization.
-    Mat9 epipolar_constraint = Mat::Zero(9,9);
-    EncodeEpipolarEquation(x1.colwise().homogeneous(),
-                           x2.colwise().homogeneous(),
-                           &epipolar_constraint);
-    // Find the two F matrices in the nullspace of epipolar_constraint.
-    Eigen::SelfAdjointEigenSolver<Eigen::Matrix<double, 9, 9>> solver
-      (epipolar_constraint.transpose() * epipolar_constraint);
-    f1 = solver.eigenvectors().leftCols<2>().col(0);
-    f2 = solver.eigenvectors().leftCols<2>().col(1);
-  }
-  else  {
-    // Set up the homogeneous system Af = 0 from the equations x'T*F*x = 0.
-    Mat epipolar_constraint(x1.cols(), 9);
-    EncodeEpipolarEquation(x1.colwise().homogeneous(),
-                           x2.colwise().homogeneous(),
-                           &epipolar_constraint);
-    // Find the two F matrices in the nullspace of epipolar_constraint.
-    Eigen::SelfAdjointEigenSolver<Mat> solver
-      (epipolar_constraint.transpose() * epipolar_constraint);
-    f1 = solver.eigenvectors().leftCols<2>().col(0);
-    f2 = solver.eigenvectors().leftCols<2>().col(1);
-  }
+  // Set up the homogeneous system Af = 0 from the equations x'T*F*x = 0.
+  MatX9 epipolar_constraint = MatX9::Zero((x1.cols() == 7) ? 9 : x1.cols(), 9);
+  EncodeEpipolarEquation(x1.colwise().homogeneous(),
+                         x2.colwise().homogeneous(),
+                         &epipolar_constraint);
+
+  using Mat9 = Eigen::Matrix<double, 9, 9>;
+  // Find the two F matrices in the nullspace of epipolar_constraint.
+  Eigen::SelfAdjointEigenSolver<Mat9> solver
+    (epipolar_constraint.transpose() * epipolar_constraint);
+  f1 = solver.eigenvectors().leftCols<2>().col(0);
+  f2 = solver.eigenvectors().leftCols<2>().col(1);
 
   const Mat3 F1 = Map<RMat3>(f1.data());
   const Mat3 F2 = Map<RMat3>(f2.data());
@@ -118,26 +103,16 @@ void EightPointSolver::Solve
   assert(x1.cols() == x2.cols());
 
   Vec9 f;
-  if (x1.cols() == 8) {
-    using Mat9 = Eigen::Matrix<double, 9, 9>;
-    // In the minimal solution use fixed sized matrix to let Eigen and the
-    //  compiler doing the maximum of optimization.
-    Mat9 epipolar_constraint = Mat::Zero(9,9);
-    EncodeEpipolarEquation(x1.colwise().homogeneous(),
-                           x2.colwise().homogeneous(),
-                           &epipolar_constraint);
-    Eigen::SelfAdjointEigenSolver<Eigen::Matrix<double, 9, 9>> solver
-      (epipolar_constraint.transpose() * epipolar_constraint);
-    f = solver.eigenvectors().leftCols<1>();
-  }
-  else  {
-    MatX9 epipolar_constraint(x1.cols(), 9);
-    epipolar_constraint.fill(0.0);
-    EncodeEpipolarEquation(x1, x2, &epipolar_constraint);
-    Eigen::SelfAdjointEigenSolver<MatX9> solver
-      (epipolar_constraint.transpose() * epipolar_constraint);
-    f = solver.eigenvectors().leftCols<1>();
-  }
+  using Mat9 = Eigen::Matrix<double, 9, 9>;
+  // Set up the homogeneous system Af = 0 from the equations x'T*F*x = 0.
+  MatX9 epipolar_constraint = MatX9::Zero((x1.cols() == 8) ? 9 : x1.cols(), 9);
+  EncodeEpipolarEquation(x1.colwise().homogeneous(),
+                         x2.colwise().homogeneous(),
+                         &epipolar_constraint);
+  // Find the F matrice in the nullspace of epipolar_constraint.
+  Eigen::SelfAdjointEigenSolver<Mat9> solver
+    (epipolar_constraint.transpose() * epipolar_constraint);
+  f = solver.eigenvectors().leftCols<1>();
 
   Mat3 F = Map<RMat3>(f.data());
 

src/openMVG/sfm/CMakeLists.txt

@@ -57,6 +57,6 @@ UNIT_TEST(openMVG sfm_data_BA "openMVG_multiview_test_data;openMVG_sfm;${STLPLUS
 UNIT_TEST(openMVG sfm_data_utils "openMVG_sfm;${STLPLUS_LIBRARY}")
 UNIT_TEST(openMVG sfm_data_filters "openMVG_sfm")
 UNIT_TEST(openMVG sfm_data_graph_utils "openMVG_sfm")
-UNIT_TEST(openMVG sfm_data_triangulation "openMVG_sfm;openMVG_multiview_test_data")
+UNIT_TEST(openMVG sfm_data_triangulation "openMVG_sfm;openMVG_multiview_test_data;${STLPLUS_LIBRARY}")
 
 add_subdirectory(pipelines)

src/software/SfM/CMakeLists.txt

@@ -72,6 +72,16 @@ target_link_libraries(openMVG_main_ComputeMatches
     ${STLPLUS_LIBRARY}
 )
 
+# - convert matches from one format (bin, txt) to the other format
+#
+add_executable(openMVG_main_ConvertMatches main_ConvertMatches.cpp)
+target_link_libraries(openMVG_main_ConvertMatches
+  openMVG_system
+  openMVG_features
+  openMVG_sfm
+  ${STLPLUS_LIBRARY}
+)
+
 add_executable(openMVG_main_MatchesToTracks main_MatchesToTracks.cpp)
 target_link_libraries(openMVG_main_MatchesToTracks
   PRIVATE

src/software/SfM/main_ConvertMatches.cpp

@@ -0,0 +1,69 @@
+// This file is part of OpenMVG, an Open Multiple View Geometry C++ library.
+
+// Copyright (c) 2012, 2013, 2015 Pierre MOULON.
+
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v. 2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "openMVG/matching/indMatch.hpp"
+#include "openMVG/matching/indMatch_utils.hpp"
+
+#include "third_party/cmdLine/cmdLine.h"
+
+#include <cstdlib>
+#include <string>
+
+using namespace openMVG;
+using namespace openMVG::matching;
+
+int main(int argc, char ** argv)
+{
+  CmdLine cmd;
+
+  std::string sMatchFile;
+  std::string sOutMatchFile;
+
+  cmd.add( make_option('m', sMatchFile, "matchfile") );
+  cmd.add( make_option('o', sOutMatchFile, "outmatchfile") );
+
+  try {
+      if (argc == 1) throw std::string("Invalid command line parameter.");
+      cmd.process(argc, argv);
+  } catch (const std::string& s) {
+      std::cerr << "Convert matches from bin to txt or txt to bin.\nUsage: " << argv[0] << "\n"
+      << "[-m|--sMatchFile filename]\n"
+      << "[-o|--outmatchfile filename]\n"
+      << std::endl;
+
+      std::cerr << s << std::endl;
+      return EXIT_FAILURE;
+  }
+
+  if (sMatchFile.empty()) {
+    std::cerr << "\nmatchfile cannot be an empty option" << std::endl;
+    return EXIT_FAILURE;
+  }
+  if (sOutMatchFile.empty())  {
+    std::cerr << "\noutmatchfile cannot be an empty option" << std::endl;
+    return EXIT_FAILURE;
+  }
+
+  // Read the matches
+  matching::PairWiseMatches pairWise_matches;
+  if (!Load(pairWise_matches, sMatchFile)) {
+    std::cerr << "\nInvalid matches file." << std::endl;
+    return EXIT_FAILURE;
+  }
+
+  // Write the matches
+  if (!Save(pairWise_matches, sOutMatchFile))
+  {
+    std::cerr
+        << "Cannot save matches to: "
+        << sOutMatchFile;
+    return EXIT_FAILURE;
+  }
+
+  return EXIT_SUCCESS;
+}