new task4 for class4 incremental structure from motion

Author: swayfreeda

core/scene.h

@@ -40,6 +40,7 @@ class Scene
 public:
     /** Constructs and loads a scene from the given directory. */
     static Scene::Ptr create (std::string const& path);
+    //static Scene::Ptr New();
 
     Scene(const Scene&) = delete;
     Scene& operator=(const Scene&) = delete;
@@ -111,10 +112,17 @@ inline Scene::Ptr
 Scene::create (std::string const& path)
 {
     Scene::Ptr scene(new Scene);
+    if(path.empty()) return scene;
     scene->load_scene(path);
     return scene;
 }
 
+//Scene::Ptr Scene::New(){
+//   Scene::Ptr scene(new Scene);
+//   return  scene;
+//}
+
+
 inline Scene::ViewList const&
 Scene::get_views (void) const
 {

examples/CMakeLists.txt

@@ -1,4 +1,5 @@
 add_subdirectory(task1)
 add_subdirectory(task2)
 add_subdirectory(task3)
+add_subdirectory(task4)
 

examples/task2/class2_test_camera.cc

@@ -1 +1 @@
-//// Created by caoqi on 2018/9/5.//#include <iostream>#include "math/vector.h"class Camera{public:    // constructor    Camera(){        // 采用归一化坐标，不考虑图像尺寸        c_[0]=c_[1] = 0.0;    }    // 相机投影过程    math::Vec2d projection(math::Vec3d const & p3d){        // 世界坐标系到相机坐标系        double xc = R_[0] * p3d[0] + R_[1] * p3d[1] + R_[2]* p3d[2] + t_[0];        double yc = R_[3] * p3d[0] + R_[4] * p3d[1] + R_[5]* p3d[2] + t_[1];        double zc = R_[6] * p3d[0] + R_[7] * p3d[1] + R_[8]* p3d[2] + t_[2];        // 相机坐标系到像平面        double x = xc/zc;        double y = yc/zc;        // 径向畸变过程        double r2 = x*x + y*y;        double distort_ratio = 1+ dist_[0]* r2+ dist_[1]*r2*r2;        // 图像坐标系到屏幕坐标系        math::Vec2d p;        p[0] = f_* distort_ratio*x + c_[0];        p[1] = f_* distort_ratio*y + c_[1];        return p;    }    // 相机在世界坐标中的位置 -R^T*t    math::Vec3d pos_in_world(){        math::Vec3d pos;        pos[0] = R_[0]* t_[0] + R_[3]* t_[1] + R_[6]* t_[2];        pos[1] = R_[1]* t_[0] + R_[4]* t_[1] + R_[7]* t_[2];        pos[2] = R_[2]* t_[0] + R_[5]* t_[1] + R_[8]* t_[2];        return -pos;    }    // 相机在世界坐标中的方向    math::Vec3d dir_in_world(){        math::Vec3d  dir (R_[6], R_[7],R_[8]);        return dir;    }public:    // 焦距f    double f_;    // 径向畸变系数k1, k2    double dist_[2];    // 中心点坐标u0, v0    double c_[2];    // 旋转矩阵    /*     * [ R_[0], R_[1], R_[2] ]     * [ R_[3], R_[4], R_[5] ]     * [ R_[6], R_[7], R_[8] ]     */    double R_[9];    // 平移向量    double t_[3];};int main(int argc, char* argv[]){    Camera cam;    //焦距    cam.f_ = 0.920227;    // 径向畸变系数    cam.dist_[0] = -0.106599; cam.dist_[1] = 0.104385;    // 平移向量    cam.t_[0] = 0.0814358; cam.t_[1] =  0.937498;   cam.t_[2] = -0.0887441;    // 旋转矩阵    cam.R_[0] = 0.999796 ; cam.R_[1] = -0.0127375;  cam.R_[2] =  0.0156807;    cam.R_[3] = 0.0128557; cam.R_[4] =  0.999894 ;  cam.R_[5] = -0.0073718;    cam.R_[6] = -0.0155846; cam.R_[7] = 0.00757181; cam.R_[8] = 0.999854;    // 三维点坐标    math::Vec3d p3d ={1.36939, -1.17123, 7.04869};    /*计算相机的投影点*/    math::Vec2d p2d = cam.projection(p3d);    std::cout<<"projection coord:\n "<<p2d<<std::endl;    std::cout<<"result should be:\n 0.208188 -0.035398\n\n";    /*计算相机在世界坐标系中的位置*/    math::Vec3d pos = cam.pos_in_world();    std::cout<<"cam position in world is:\n "<< pos<<std::endl;    std::cout<<"result should be: \n -0.0948544 -0.935689 0.0943652\n\n";    /*计算相机在世界坐标系中的方向*/    math::Vec3d dir = cam.dir_in_world();    std::cout<<"cam direction in world is:\n "<<dir<<std::endl;    std::cout<<"result should be: \n -0.0155846 0.00757181 0.999854\n";}
+//// Created by caoqi on 2018/9/5.//#include <iostream>#include "math/vector.h"class Camera{public:    // constructor    Camera(){        // 采用归一化坐标，不考虑图像尺寸        c_[0]=c_[1] = 0.0;    }    // 相机投影过程    math::Vec2d projection(math::Vec3d const & p3d){        // 世界坐标系到相机坐标系        double xc = R_[0] * p3d[0] + R_[1] * p3d[1] + R_[2]* p3d[2] + t_[0];        double yc = R_[3] * p3d[0] + R_[4] * p3d[1] + R_[5]* p3d[2] + t_[1];        double zc = R_[6] * p3d[0] + R_[7] * p3d[1] + R_[8]* p3d[2] + t_[2];        // 相机坐标系到像平面        double x = xc/zc;        double y = yc/zc;        // 径向畸变过程        double r2 = x*x + y*y;        double distort_ratio = 1+ dist_[0]* r2+ dist_[1]*r2*r2;        // 图像坐标系到屏幕坐标系        math::Vec2d p;        p[0] = f_* distort_ratio*x + c_[0];        p[1] = f_* distort_ratio*y + c_[1];        return p;    }    // 相机在世界坐标中的位置 -R^T*t    math::Vec3d pos_in_world(){        math::Vec3d pos;        pos[0] = R_[0]* t_[0] + R_[3]* t_[1] + R_[6]* t_[2];        pos[1] = R_[1]* t_[0] + R_[4]* t_[1] + R_[7]* t_[2];        pos[2] = R_[2]* t_[0] + R_[5]* t_[1] + R_[8]* t_[2];        return -pos;    }    // 相机在世界坐标中的方向    math::Vec3d dir_in_world(){        math::Vec3d  dir (R_[6], R_[7],R_[8]);        return dir;    }public:    // 焦距f    double f_;    // 径向畸变系数k1, k2    double dist_[2];    // 中心点坐标u0, v0    double c_[2];    // 旋转矩阵    /*     * [ R_[0], R_[1], R_[2] ]     * [ R_[3], R_[4], R_[5] ]     * [ R_[6], R_[7], R_[8] ]     */    double R_[9];    // 平移向量    double t_[3];};int main(int argc, char* argv[]){    Camera cam;    //焦距    cam.f_ = 0.920227;    // 径向畸变系数    cam.dist_[0] = -0.106599; cam.dist_[1] = 0.104385;    // 平移向量    cam.t_[0] = 0.0814358; cam.t_[1] =  0.937498;   cam.t_[2] = -0.0887441;    // 旋转矩阵    cam.R_[0] = 0.999796 ; cam.R_[1] = -0.0127375;  cam.R_[2] =  0.0156807;    cam.R_[3] = 0.0128557; cam.R_[4] =  0.999894 ;  cam.R_[5] = -0.0073718;    cam.R_[6] = -0.0155846; cam.R_[7] = 0.00757181; cam.R_[8] = 0.999854;    // 三维点坐标    math::Vec3d p3d ={1.36939, -1.17123, 7.04869};    /*计算相机的投影点*/    math::Vec2d p2d = cam.projection(p3d);    std::cout<<"projection coord:\n "<<p2d<<std::endl;    std::cout<<"result should be:\n 0.208188 -0.035398\n\n";    /*计算相机在世界坐标系中的位置*/    math::Vec3d pos = cam.pos_in_world();    std::cout<<"cam position in world is:\n "<< pos<<std::endl;    std::cout<<"result should be: \n -0.0948544 -0.935689 0.0943652\n\n";    /*计算相机在世界坐标系中的方向*/    math::Vec3d dir = cam.dir_in_world();    std::cout<<"cam direction in world is:\n "<<dir<<std::endl;    std::cout<<"result should be: \n -0.0155846 0.00757181 0.999854\n";}

examples/task3/class3_test_lm_optimize.cc

@@ -12,6 +12,7 @@ set(HEADERS
         matching_base.h
         matching.h
         exhaustive_matching.h
+        cascade_hashing.h
         )
 
 set(SOURCE_FILES
@@ -20,6 +21,7 @@ set(SOURCE_FILES
         nearest_neighbor.cc
         matching.cc
         exhaustive_matching.cc
+        cascade_hashing.cc
 
         )
 add_library(${PROJECT_NAME} ${HEADERS} ${SOURCE_FILES})

features/CMakeLists.txt

@@ -11,9 +11,9 @@
 #include <cstdint>
 #include <vector>
 
-#include "sfm/cascade_hashing.h"
+#include "features/cascade_hashing.h"
 
-SFM_NAMESPACE_BEGIN
+FEATURES_NAMESPACE_BEGIN
 
 void
 CascadeHashing::GlobalData::generate_proj_matrices (Options const& opts)
@@ -31,7 +31,7 @@ CascadeHashing::GlobalData::generate_proj_matrices (Options const& opts)
 /* ---------------------------------------------------------------- */
 
 void
-CascadeHashing::init (bundler::ViewportList* viewports)
+CascadeHashing::init (sfm::bundler::ViewportList* viewports)
 {
     ExhaustiveMatching::init(viewports);
 
@@ -222,4 +222,4 @@ CascadeHashing::build_buckets(
     }
 }
 
-SFM_NAMESPACE_END
+FEATURES_NAMESPACE_END

features/cascade_hashing.cc

@@ -17,14 +17,14 @@
 #include "math/functions.h"
 #include "math/vector.h"
 #include "sfm/defines.h"
-#include "sfm/exhaustive_matching.h"
-#include "sfm/matching.h"
-#include "sfm/sift.h"
-#include "sfm/surf.h"
+#include "features/exhaustive_matching.h"
+#include "features/matching.h"
+#include "features/sift.h"
+#include "features/surf.h"
 #include "util/system.h"
 #include "util/timer.h"
 
-SFM_NAMESPACE_BEGIN
+FEATURES_NAMESPACE_BEGIN
 
 class CascadeHashing : public ExhaustiveMatching
 {
@@ -48,7 +48,7 @@ class CascadeHashing : public ExhaustiveMatching
      * Initialize matcher by computing cascade hashes of the SIFT/SURF
      * descriptors.
      */
-    void init (bundler::ViewportList* viewports) override;
+    void init (sfm::bundler::ViewportList* viewports) override;
 
     /** Matches all feature types yielding a single matching result. */
     void pairwise_match (int view_1_id, int view_2_id,
@@ -470,6 +470,6 @@ CascadeHashing::collect_top_ranked_candidates (
     }
 }
 
-SFM_NAMESPACE_END
+FEATURES_NAMESPACE_END
 
 #endif /* SFM_CASCADE_HASHING_HEADER */

features/cascade_hashing.h

@@ -26,6 +26,12 @@ set(HEADERS
         ba_cholesky.h
         extract_focal_length.h
         triangulate.h
+        bundler_features.h
+        bundler_matching.h
+        bundler_intrinsics.h
+        bundler_tracks.h
+        bundler_incremental.h
+        bundler_init_pair.h
         )
 
 set(SOURCE_FILES
@@ -43,7 +49,13 @@ set(SOURCE_FILES
         ba_linear_solver.cc
         extract_focal_length.cc
         triangulate.cc
+        bundler_features.cc
+        bundler_matching.cc
+        bundler_intrinsics.cc
+        bundler_tracks.cc
+        bundler_incremental.cc
+        bundler_init_pair.cc
         )
 add_library(sfm ${HEADERS} ${SOURCE_FILES})
-target_link_libraries(sfm core util features)
+#target_link_libraries(sfm core util features)