Update documentation. openMVG#254

docs/sphinx/rst/openMVG_Samples/openMVG_Samples.rst

@@ -20,6 +20,14 @@ Show how:
   - match features descriptors,
   - display the computed matches.
 
+image_describer_matches
+-------------------------
+
+Show how:
+  - use the Image_describer interface to extract features & descriptors
+  - match the detected regions
+  - display detected features & corresponding matches
+
 robust_homography
 --------------------
 
@@ -28,13 +36,15 @@ Show how:
 
 robust_homography_guided
 ---------------------------
+
 Show how:
   - estimate a robust homography between features matches,
   - extent the putative matches with a guided filter,
   - warp the query image over the reference image.
 
 robust_fundamental
 --------------------
+
 Show how:
   - estimate a robust fundamental matrix between features matches.
 
@@ -46,6 +56,7 @@ Show how:
 
 robust_essential_ba 
 --------------------
+
 Show how:
   - refine with bundle_adjustment the Structure and Motion of a scene
   - for different camera model:
@@ -54,23 +65,34 @@ Show how:
     - Refine ``[X],[R|t]``, shared ``[f]``,
     - Refine ``[X],[R|t]``, shared brown disto models.
 
+robust_essential_spherical
+---------------------------
+
+Show how:
+  - estimate a robust essential matrix between two spherical panorama
+  - triangulate remaning inliers.
+
 kvld_filter
 --------------------
+
 Show how:
   - filter putative matches with the K-VLD filter [KVLD12]_.
 
 exifParsing
 --------------------
+
 Show how:
   - parse JPEG EXIF metadata
 
 sensorWidthDatabase
 --------------------
+
 Show how:
   - use the camera sensor width database
 
 undisto_Brown
 --------------------
+
 Show how:
   - undistord a picture according known Brown radial parameters.
 

docs/sphinx/rst/software/SfM/ComputeFeatures.rst

@@ -0,0 +1,67 @@
+
+***************************************************************
+openMVG_main_ComputeFeatures
+***************************************************************
+
+Compute image description for a given sfm_data.json file.
+For each view it compute the image description (local regions) and store them on disk
+
+.. code-block:: c++
+
+  $ openMVG_main_ComputeFeatures -i [..\matches\sfm_data.json] -o [...\matches]
+
+Arguments description:
+
+**Required parameters:**
+
+  - **[-i|--input_file]**
+
+    - a SfM_Data file
+
+  - **[-o|--outdir path]**
+
+    - path were image description will be stored
+
+**Optional parameters:**
+
+  - **[-f|--force: Force to recompute data]**
+
+    - 0: (default) reload previously computed data (useful when you have kill the process and want to continue to compute)
+    - 1: useful when you change have changed a command line parameter, force recomputing and re-saving.
+
+  - **[-m|--describerMethod]**
+
+    - Used method to describe an image:
+
+      - SIFT: (default),
+      - AKAZE_FLOAT: AKAZE with floating point descriptors,
+      - AKAZE_MLDB:  AKAZE with binary descriptors.
+
+  - **[-u|--upright]**
+
+    - Use Upright feature or not
+
+      - 0: (default, rotation invariance) 
+      - 1: extract upright feature (orientation angle = 0°)
+
+  - **[-p|--describerPreset]**
+
+    - Used to control the Image_describer configuration:
+
+      - NORMAL,
+      - HIGH,
+      - ULTRA: !!Can be time consumming!!
+
+Once openMVG_main_ComputeFeatures is done you can compute the Matches between the computed description.
+
+.. toctree::
+   :maxdepth: 1
+
+   ./ComputeMatches.rst
+
+Export detected regions as SVG files:
+----------------------------------------
+
+* **Detected keypoints**: openMVG_main_exportKeypoints
+
+

docs/sphinx/rst/software/SfM/ComputeMatches.rst

@@ -0,0 +1,77 @@
+
+***************************************************************
+openMVG_main_ComputeMatches
+***************************************************************
+
+This binary compute images that have a visual overlap. Using image descriptions computed by **openMVG_main_ComputeFeatures**, we establish the corresponding putative photometric matches and filter the resulting correspondences using some robust geometric filters.
+
+.. code-block:: c++
+
+  $ openMVG_main_ComputeMatches -i [..\matches\sfm_data.json] -o [...\matches]
+
+Arguments description:
+
+**Required parameters:**
+
+  - **[-i|--input_file]**
+
+    - a SfM_Data file
+
+  - **[-o|--outdir path]**
+
+    - path were putative and geometric matches will be stored
+
+**Optional parameters:**
+
+  - [-f|--force: Force to recompute data]
+
+    - 0: (default) reload previously computed data (useful when you have kill the process and want to continue to compute)
+    - 1: useful when you change have changed a command line parameter, force recomputing and re-saving.
+
+  - **[-r|-ratio]**
+
+    - (Nearest Neighbor distance ratio, default value is set to 0.6). 0.8 is less restrictive and advised.
+
+  - **[-g|-geometricModel]**
+
+    - type of model used for robust estimation from the photometric putative matches
+
+      - f: Fundamental matrix filtering
+      - e: Essential matrix filtering (all the image must have the same known focal length)
+      - h: Homography matrix filtering
+
+  - **[-n|--nearestMatchingMethod]**
+
+    - AUTO: auto choice from regions type,
+    - BRUTEFORCEL2: BruteForce L2 matching for Scalar based regions descriptor,
+    - BRUTEFORCEHAMMING: BruteForce Hamming matching for binary based regions descriptor,
+    - ANNL2: Approximate Nearest Neighbor L2 matching for Scalar based regions descriptor. 
+
+
+  - **[-v|--videoModeMatching]**
+
+    - (sequence matching with an overlap of X images)
+
+      - X: with match 0 with (1->X), ...]
+      - 2: will match 0 with (1,2), 1 with (2,3), ...
+      - 3: will match 0 with (1,2,3), 1 with (2,3,4), ...]
+
+
+  - **[-l|--pairList]**
+
+    - file that explicitly list the View pair that must be compared
+
+Once matches have been computed you can, at your choice, you can display detected, matches as SVG files:
+
+* **Detected keypoints**: openMVG_main_exportKeypoints
+*	**Putative, Geometric matches**: openMVG_main_exportMatches
+*	**Tracks**: openMVG_main_exportTracks
+
+**Or start the 3D reconstruction:**
+
+.. toctree::
+   :maxdepth: 1
+
+   ./IncrementalSfM.rst
+   ./GlobalSfM.rst
+

docs/sphinx/rst/software/SfM/ComputeSfM_DataColor.rst

@@ -0,0 +1,41 @@
+
+********************************************
+openMVG_main_ComputeSfM_DataColor
+********************************************
+
+Compute the color of the Structure of a sfm_data scene.
+
+Use a very simple approach:
+
+.. code-block:: c++
+
+  a. list the track id with no color
+  b. list the most viewed view id
+  c. color the track that see the view
+  d. go to a. until uncolored track are remaining
+
+Information and usage
+========================
+
+The application is designed to run on a sfm_data.json file
+The sfm_data file should contains:
+
+- valid view with some defined intrinsics and camera poses,
+- (optional existing structure).
+
+  .. code-block:: c++
+
+    $ openMVG_main_ComputeSfM_DataColor -i Dataset/out_Reconstruction/sfm_data.json -o Dataset/out_Reconstruction/sfm_data_color.ply
+
+Arguments description:
+
+**Required parameters:**
+
+  - **[-i|--input_file]**
+
+    - a SfM_Data file
+
+  - **[-o|--output_file]**
+
+    - output scene with updated landmarks color
+

docs/sphinx/rst/software/SfM/ComputeStructureFromKnownPoses.rst

@@ -0,0 +1,59 @@
+
+********************************************
+openMVG_main_ComputeStructureFromKnownPoses
+********************************************
+
+This application compute corresponding features and robustly triangulate them according the geometry of the known camera intrinsics & poses.
+
+Algorithm of the application
+
+.. code-block:: c++
+
+  Require: internal + external camera calibration
+  Require: image description regions (features + descriptors)
+  Ensure: 3D point cloud
+  compute image visibility
+    list all the pair that share common visual content
+      - camera frustum based
+      - or structure visbility (SfM tracks) based
+  list triplets of view from pairs
+   for each triplets compute 3 view tracks
+     if tracks triangulable add correspondences to p
+  link 3 views validated matches (p) as tracks
+    robustly triangulate them
+
+Information and usage
+========================
+
+The chain is designed to run on a sfm_data.json file and some pre-computed matches.
+The sfm_data file should contains:
+- valid view with some defined intrinsics and camera poses,
+- (optional existing structure).
+
+  .. code-block:: c++
+
+    $ openMVG_main_ComputeStructureFromKnownPoses -i Dataset/out_Reconstruction/sfm_data.json -o Dataset/out_Reconstruction/robustFitting.json
+
+Arguments description:
+
+**Required parameters:**
+
+  - **[-i|--input_file]**
+
+    - a SfM_Data file with valid intrinsics and poses and optional structure
+
+  - **[-m|--matchdir]**
+
+    - path were image descriptions were stored
+
+  - **[-o|--outdir]**
+
+    - path where the updated scene data will be stored
+
+**Optional parameters:**
+
+  - **[-f|--match_file]**
+
+    - path to a matches file (pairs of the match files will be listed and used)
+
+