[SfM] Add a HTML SfMReport. openMVG#288

src/openMVG/sfm/sfm.hpp

@@ -26,6 +26,7 @@
 //-----------------
 // SfM pipelines
 //-----------------
+#include "openMVG/sfm/sfm_report.hpp"
 #include "openMVG/sfm/pipelines/sfm_engine.hpp"
 #include "openMVG/sfm/pipelines/sfm_features_provider.hpp"
 #include "openMVG/sfm/pipelines/sfm_regions_provider.hpp"

src/openMVG/sfm/sfm_report.hpp

@@ -0,0 +1,181 @@
+// Copyright (c) 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/.
+
+#ifndef OPENMVG_SFM_REPORT_HPP
+#define OPENMVG_SFM_REPORT_HPP
+
+#include "third_party/stlplus3/filesystemSimplified/file_system.hpp"
+#include "third_party/htmlDoc/htmlDoc.hpp"
+#include "third_party/histogram/histogram.hpp"
+#include "third_party/vectorGraphics/svgDrawer.hpp"
+
+namespace openMVG {
+
+static bool Generate_SfM_Report
+(
+  const SfM_Data & sfm_data,
+  const std::string & htmlFilename
+)
+{
+  // Compute mean,max,median residual values per View
+  IndexT residualCount = 0;
+  Hash_Map< IndexT, std::vector<double> > residuals_per_view;
+  for (Landmarks::const_iterator iterTracks = sfm_data.getLandmarks().begin();
+    iterTracks != sfm_data.getLandmarks().end();
+    ++iterTracks
+  )
+  {
+    const Observations & obs = iterTracks->second.obs;
+    for (Observations::const_iterator itObs = obs.begin();
+      itObs != obs.end(); ++itObs)
+    {
+      const View * view = sfm_data.getViews().at(itObs->first).get();
+      const Pose3 & pose = sfm_data.getPoses().at(view->id_pose);
+      const IntrinsicBase * intrinsic = sfm_data.getIntrinsics().at(view->id_intrinsic).get();
+      // Use absolute values
+      const Vec2 residual = intrinsic->residual(pose, iterTracks->second.X, itObs->second.x).array().abs();
+      residuals_per_view[itObs->first].push_back(residual(0));
+      residuals_per_view[itObs->first].push_back(residual(1));
+      ++residualCount;
+    }
+  }
+  using namespace htmlDocument;
+  // extract directory from htmlFilename
+  const std::string sTableBegin = "<table border=\"1\">",
+    sTableEnd = "</table>",
+    sRowBegin= "<tr>", sRowEnd = "</tr>",
+    sColBegin = "<td>", sColEnd = "</td>",
+    sNewLine = "<br>", sFullLine = "<hr>";
+
+  htmlDocument::htmlDocumentStream htmlDocStream("SFM report.");
+  htmlDocStream.pushInfo(
+  htmlDocument::htmlMarkup("h1", std::string("SFM report.")));
+  htmlDocStream.pushInfo(sFullLine);
+
+  htmlDocStream.pushInfo( "Dataset info:" + sNewLine );
+
+  std::ostringstream os;
+  os << " #views: " << sfm_data.getViews().size() << sNewLine
+  << " #poses: " << sfm_data.getPoses().size() << sNewLine
+  << " #intrinsics: " << sfm_data.getIntrinsics().size() << sNewLine
+  << " #tracks: " << sfm_data.getLandmarks().size() << sNewLine
+  << " #residuals: " << residualCount << sNewLine;
+
+  htmlDocStream.pushInfo( os.str() );
+  htmlDocStream.pushInfo( sFullLine );
+
+  htmlDocStream.pushInfo( sTableBegin);
+  os.str("");
+  os << sRowBegin
+    << sColBegin + "IdView" + sColEnd
+    << sColBegin + "Basename" + sColEnd
+    << sColBegin + "#Observations" + sColEnd
+    << sColBegin + "Residuals min" + sColEnd
+    << sColBegin + "Residuals median" + sColEnd
+    << sColBegin + "Residuals mean" + sColEnd
+    << sColBegin + "Residuals max" + sColEnd
+    << sRowEnd;
+  htmlDocStream.pushInfo( os.str() );
+
+  for (Views::const_iterator iterV = sfm_data.getViews().begin();
+    iterV != sfm_data.getViews().end();
+    ++iterV)
+  {
+    const View * v = iterV->second.get();
+    const IndexT id_view = v->id_view;
+    const IndexT id_intrinsic = v->id_intrinsic;
+    const IndexT id_pose = v->id_pose;
+
+    os.str("");
+    os << sRowBegin
+      << sColBegin << id_view << sColEnd
+      << sColBegin + stlplus::basename_part(v->s_Img_path) + sColEnd;
+
+    bool bDefined =
+      id_intrinsic != UndefinedIndexT &&
+      sfm_data.getIntrinsics().find(id_intrinsic) != sfm_data.getIntrinsics().end() &&
+      id_pose != UndefinedIndexT &&
+      sfm_data.getPoses().find(id_pose) != sfm_data.getPoses().end();
+
+    // IdView | basename | #Observations | residuals min | residual median | residual max
+    if (bDefined)
+    {
+      const std::vector<double> & residuals = residuals_per_view.at(id_view);
+      if (!residuals.empty())
+      {
+        double min, max, mean, median;
+        minMaxMeanMedian(residuals.begin(), residuals.end(), min, max, mean, median);
+        os << sColBegin << residuals.size()/2 << sColEnd // #observations
+          << sColBegin << min << sColEnd
+          << sColBegin << median << sColEnd
+          << sColBegin << mean << sColEnd
+          << sColBegin << max <<sColEnd;
+      }
+    }
+    os << sRowEnd;
+    htmlDocStream.pushInfo( os.str() );
+  }
+  htmlDocStream.pushInfo( sTableEnd );
+  htmlDocStream.pushInfo( sFullLine );
+
+  // combine all residual values into one vector
+  // export the SVG histogram
+  {
+    IndexT residualCount = 0;
+    for (Hash_Map< IndexT, std::vector<double> >::const_iterator
+      it = residuals_per_view.begin();
+      it != residuals_per_view.end();
+      ++it)
+    {
+      residualCount += it->second.size();
+    }
+    // Concat per view residual values into one vector
+    std::vector<double> residuals(residualCount);
+    residualCount = 0;
+    for (Hash_Map< IndexT, std::vector<double> >::const_iterator
+      it = residuals_per_view.begin();
+      it != residuals_per_view.end();
+      ++it)
+    {
+      std::copy(it->second.begin(),
+        it->second.begin()+it->second.size(),
+        residuals.begin()+residualCount);
+      residualCount += it->second.size();
+    }
+    if (!residuals.empty())
+    {
+      // RMSE computation
+      const Eigen::Map<Eigen::RowVectorXd> residuals_mapping(&residuals[0], residuals.size());
+      const double RMSE = std::sqrt(residuals_mapping.squaredNorm() / (double)residuals.size());
+      os.str("");
+      os << sFullLine << "SfM Scene RMSE: " << RMSE << sFullLine;
+      htmlDocStream.pushInfo(os.str());
+
+      const double maxRange = *max_element(residuals.begin(), residuals.end());
+      Histogram<double> histo(0.0, maxRange, 100);
+      histo.Add(residuals.begin(), residuals.end());
+
+      svg::svgHisto svg_Histo;
+      svg_Histo.draw(histo.GetHist(), std::pair<float,float>(0.f, maxRange),
+        stlplus::create_filespec(stlplus::folder_part(htmlFilename), "residuals_histogram", "svg"),
+        600, 200);
+
+      os.str("");
+      os << sNewLine<< "Residuals histogram" << sNewLine;
+      os << "<img src=\""
+        << stlplus::create_filespec(stlplus::folder_part(htmlFilename), "residuals_histogram", "svg")
+        << "\" height=\"300\" width =\"800\">\n";
+      htmlDocStream.pushInfo(os.str());
+    }
+  }
+
+  std::ofstream htmlFileStream(htmlFilename.c_str());
+  htmlFileStream << htmlDocStream.getDoc();
+}
+
+} // namespace openMVG
+
+#endif // OPENMVG_SFM_REPORT_HPP

src/software/SfM/main_GlobalSfM.cpp

@@ -151,7 +151,12 @@ int main(int argc, char **argv)
   {
     std::cout << std::endl << " Total Ac-Global-Sfm took (s): " << timer.elapsed() << std::endl;
 
+    std::cout << "...Generating SfM_Report.html" << std::endl;
+    Generate_SfM_Report(sfmEngine.Get_SfM_Data(),
+      stlplus::create_filespec(sOutDir, "SfMReconstruction_Report.html"));
+
     //-- Export to disk computed scene (data & visualizable results)
+    std::cout << "...Export SfM_Data to disk." << std::endl;
     Save(sfmEngine.Get_SfM_Data(),
       stlplus::create_filespec(sOutDir, "sfm_data", ".json"),
       ESfM_Data(ALL));

src/software/SfM/main_IncrementalSfM.cpp

@@ -173,7 +173,12 @@ int main(int argc, char **argv)
   {
     std::cout << std::endl << " Total Ac-Sfm took (s): " << timer.elapsed() << std::endl;
 
+    std::cout << "...Generating SfM_Report.html" << std::endl;
+    Generate_SfM_Report(sfmEngine.Get_SfM_Data(),
+      stlplus::create_filespec(sOutDir, "SfMReconstruction_Report.html"));
+
     //-- Export to disk computed scene (data & visualizable results)
+    std::cout << "...Export SfM_Data to disk." << std::endl;
     Save(sfmEngine.Get_SfM_Data(),
       stlplus::create_filespec(sOutDir, "sfm_data", ".json"),
       ESfM_Data(ALL));