QVision: Qt's Image, Video and Computer Vision Library

00001 /*
00002  *      Copyright (C) 2011, 2012. PARP Research Group.
00003  *      <http://perception.inf.um.es>
00004  *      University of Murcia, Spain.
00005  *
00006  *      This file is part of the QVision library.
00007  *
00008  *      QVision is free software: you can redistribute it and/or modify
00009  *      it under the terms of the GNU Lesser General Public License as
00010  *      published by the Free Software Foundation, version 3 of the License.
00011  *
00012  *      QVision is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *      GNU Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with QVision. If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00039 // Uncomment the line below to show the initial and the optimized reconstruction.
00040 #define SHOW_RECONSTRUCTION
00041 
00042 #include <QVApplication>
00043 #include <QTime>
00044 #include <qvsfm.h>
00045 #include <sfmviewer.h>
00046 
00047 // Print the number of cameras, 3D points, projections and some statistics from a SfM reconstruction.
00048 void printReconstructionStats(  const QList<QVCameraPose> &cameraPoses,
00049                                 const QList<QV3DPointF> &points3D,
00050                                 const QList< QHash< int, QPointF> > &pointsTrackings)
00051         {
00052         const int numCameras = cameraPoses.count(), numPoints = points3D.count();
00053         int numProjections = 0;
00054         QHash< int, QPointF> temp;
00055         foreach(temp, pointsTrackings)
00056                 numProjections += temp.count();
00057 
00058         std::cout << "[main] Readed "   << numPoints << " points, "
00059                                         << numCameras << " cameras, "
00060                                         << numProjections << " projections, "
00061                                         << double(numProjections)/double(numCameras) << " projections/camera, "
00062                                         << double(numProjections)/double(numPoints) << " projections/point."
00063                                         << std::endl;
00064         }
00065 
00066 int main(int argc, char *argv[])
00067         {
00068         #ifdef SHOW_RECONSTRUCTION
00069         QVApplication app(argc, argv, "Example application for QVision.", true);
00070         #else
00071         QVApplication app(argc, argv, "Example application for QVision.", false);
00072         #endif
00073 
00074         // 1. Get the data-set files path from the first command line parameter.
00075         if (app.getNumberOfArguments() < 2)
00076                 {
00077                 std::cout << "Usage: " << std::endl << "\t" << argv[0] << " <data_set_path> [iterations] [lambda_sba]"
00078                         << std::endl << std::endl;
00079                 exit(0);
00080                 }
00081 
00082         const QString path = app.getArgument(1);
00083 
00084         // 2. Set the number of iterations, and lambda values for the GEA and sSBA optimizations, if provided as parameters through the command line.
00085         bool iters_OK = true, lambda_sba_OK = true;
00086 
00087         const int iters =                       (app.getNumberOfArguments() < 3)? 1 : app.getArgument(2).toInt(&iters_OK);
00088         const double lambda_sba =       (app.getNumberOfArguments() < 4)? 1.0 : app.getArgument(3).toDouble(&lambda_sba_OK);
00089 
00090         if (not iters_OK)
00091                 {
00092                 std::cout << "[main] Error reading number of iterations." << std::endl;
00093                 exit(0);
00094                 }
00095         else
00096                 std::cout << "[main] Number of iterations = " << iters << std::endl;
00097 
00098         if (not lambda_sba_OK)
00099                 {
00100                 std::cout << "[main] Error reading lambda for SBA optimization" << std::endl;
00101                 exit(0);
00102                 }
00103         else
00104                 std::cout << "[main] Lambda for SBA = " << lambda_sba << std::endl;
00105 
00106         // 3. Read SfM reconstruction from the specified path.
00107         QList<QV3DPointF> points3D;
00108         QList<QVCameraPose> cameraPoses;
00109         QList<QVMatrix> cameraCalibrations;
00110         QList< QHash< int, QPointF> > pointsTrackings;
00111 
00112         if( not readSfMReconstruction(path, cameraCalibrations, cameraPoses, points3D, pointsTrackings) )
00113                 {
00114                 std::cout << "[main] Error: could not read SfM reconstruction from path '" << qPrintable(path) << "'." << std::endl;
00115                 return 0;
00116                 }
00117 
00118         // 4. Correct camera intrinsic calibrations from point projections.
00119         const QList< QHash< int, QPointF> > calibratedPointsTrackings = correctIntrinsics(cameraCalibrations, pointsTrackings);
00120 
00121         // 5. Correct camera cheirality. This is required for the sSBA routines to work properly.
00122         if (testCheirality(cameraPoses, calibratedPointsTrackings))
00123                 invertCheirality(cameraPoses, points3D);
00124 
00125         // 6. Print SfM reconstruction stats.
00126         std::cout << "[main] Reconstruction loaded."<< std::endl;       
00127         printReconstructionStats(cameraPoses, points3D, calibratedPointsTrackings);
00128 
00129         // 7. Perform sSBA optimization on the reconstruction.
00130         QList<QV3DPointF> points3D_SBA;
00131         QList<QVCameraPose> cameraPoses_SBA;
00132         laSBAOptimization(cameraPoses, points3D, calibratedPointsTrackings, cameraPoses_SBA, points3D_SBA, iters, 0, 0, lambda_sba);
00133 
00134         // 9. Print errors and total performance times.
00135         std::cout << "[main] Initial error\t" << 1000.0 * reconstructionError(cameraPoses, points3D, calibratedPointsTrackings) << std::endl;
00136         std::cout << "[main] SBA error/time\t" << 1000.0 * reconstructionError(cameraPoses_SBA, points3D_SBA, calibratedPointsTrackings) << std::endl;
00137         std::cout << "[main] SBA2 error/time\t" << 1000.0 * reconstructionError(cameraPoses_SBA, linear3DPointsTriangulation(cameraPoses_SBA, calibratedPointsTrackings), calibratedPointsTrackings) << std::endl;
00138 
00139         #ifdef SHOW_RECONSTRUCTION
00140         SfMViewer originalMap(cameraPoses, points3D, "Original reconstruction");
00141         SfMViewer sbaOptimizedMap(cameraPoses_SBA, points3D_SBA, "Reconstruction optimized with SBA");
00142         SfMViewer sbaOptimizedMap2(cameraPoses_SBA, linear3DPointsTriangulation(cameraPoses_SBA, calibratedPointsTrackings), "Reconstruction optimized with SBA 2");
00143         return app.exec();
00144         #endif // SHOW_RECONSTRUCTION
00145 
00146         exit(0);
00147         }
00148
examples/testSBA/testSBA.cpp
