[incrementalSfM] add option to enable/disable track merging based on …

…duplicate features
alicevision · Oct 26, 2023 · 5141d75 · 5141d75
1 parent fdd68ed
commit 5141d75
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Showing 3 changed files with 126 additions and 90 deletions.
diff --git a/src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.cpp b/src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.cpp
@@ -246,7 +246,10 @@ std::size_t ReconstructionEngine_sequentialSfM::fuseMatchesIntoTracks()
         const aliceVision::matching::PairwiseMatches& matches = *_pairwiseMatches;
 
         ALICEVISION_LOG_DEBUG("Track building");
-        tracksBuilder.build(matches, _featuresPerView->getData());
+        if (_params.mergeTracks)
+            tracksBuilder.build(matches, _featuresPerView->getData());
+        else
+            tracksBuilder.build(matches);
 
         ALICEVISION_LOG_DEBUG("Track filtering");
         tracksBuilder.filter(_params.filterTrackForks, _params.minInputTrackLength);

diff --git a/src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.hpp b/src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.hpp
@@ -63,6 +63,7 @@ class ReconstructionEngine_sequentialSfM : public ReconstructionEngine
         EFeatureConstraint featureConstraint = EFeatureConstraint::BASIC;
         float minAngleInitialPair = 5.0f;
         float maxAngleInitialPair = 40.0f;
+        bool mergeTracks = false;
         bool filterTrackForks = true;
         robustEstimation::ERobustEstimator localizerEstimator = robustEstimation::ERobustEstimator::ACRANSAC;
         double localizerEstimatorError = std::numeric_limits<double>::infinity();

diff --git a/src/software/pipeline/main_incrementalSfM.cpp b/src/software/pipeline/main_incrementalSfM.cpp
@@ -105,95 +105,127 @@ int aliceVision_main(int argc, char **argv)
       "Path to the output SfMData file.");
 
   po::options_description optionalParams("Optional parameters");
-  optionalParams.add_options()
-    ("featuresFolders,f", po::value<std::vector<std::string>>(&featuresFolders)->multitoken(),
-      "Path to folder(s) containing the extracted features.")
-    ("matchesFolders,m", po::value<std::vector<std::string>>(&matchesFolders)->multitoken(),
-      "Path to folder(s) in which computed matches are stored.")
-    ("outputViewsAndPoses", po::value<std::string>(&outputSfMViewsAndPoses)->default_value(outputSfMViewsAndPoses),
-      "Path to the output SfMData file (with only views and poses).")
-    ("extraInfoFolder", po::value<std::string>(&extraInfoFolder)->default_value(extraInfoFolder),
-      "Folder for intermediate reconstruction files and additional reconstruction information files.")
-    ("describerTypes,d", po::value<std::string>(&describerTypesName)->default_value(describerTypesName),
-      feature::EImageDescriberType_informations().c_str())
-    ("interFileExtension", po::value<std::string>(&sfmParams.sfmStepFileExtension)->default_value(sfmParams.sfmStepFileExtension),
-      "Extension of the intermediate file export.")
-    ("maxNumberOfMatches", po::value<int>(&maxNbMatches)->default_value(maxNbMatches),
-      "Maximum number of matches per image pair (and per feature type). "
-      "This can be useful to have a quick reconstruction overview. 0 means no limit.")
-    ("minNumberOfMatches", po::value<int>(&minNbMatches)->default_value(minNbMatches),
-      "Minimum number of matches per image pair (and per feature type). "
-      "This can be useful to have a meaningful reconstruction with accurate keypoints. 0 means no limit.")
-    ("minInputTrackLength", po::value<int>(&sfmParams.minInputTrackLength)->default_value(sfmParams.minInputTrackLength),
-      "Minimum track length in input of SfM.")
-    ("minAngleForTriangulation", po::value<double>(&sfmParams.minAngleForTriangulation)->default_value(sfmParams.minAngleForTriangulation),
-      "Minimum angle for triangulation.")
-    ("minAngleForLandmark", po::value<double>(&sfmParams.minAngleForLandmark)->default_value(sfmParams.minAngleForLandmark),
-      "Minimum angle for landmark.")
-    ("maxReprojectionError", po::value<double>(&sfmParams.maxReprojectionError)->default_value(sfmParams.maxReprojectionError),
-      "Maximum reprojection error.")
-    ("minAngleInitialPair", po::value<float>(&sfmParams.minAngleInitialPair)->default_value(sfmParams.minAngleInitialPair),
-      "Minimum angle for the initial pair.")
-    ("maxAngleInitialPair", po::value<float>(&sfmParams.maxAngleInitialPair)->default_value(sfmParams.maxAngleInitialPair),
-      "Maximum angle for the initial pair.")
-    ("minNumberOfObservationsForTriangulation", po::value<std::size_t>(&sfmParams.minNbObservationsForTriangulation)->default_value(sfmParams.minNbObservationsForTriangulation),
-      "Minimum number of observations to triangulate a point.\n"
-      "Set it to 3 (or more) reduces drastically the noise in the point cloud, but the number of final poses is a little bit reduced (from 1.5% to 11% on the tested datasets).\n"
-      "Note: set it to 0 or 1 to use the old triangulation algorithm (using 2 views only) during resection.")
-    ("initialPairA", po::value<std::string>(&initialPairString.first)->default_value(initialPairString.first),
-      "UID or filepath or filename of the first image.")
-    ("initialPairB", po::value<std::string>(&initialPairString.second)->default_value(initialPairString.second),
-      "UID or filepath or filename of the second image.")
-    ("lockAllIntrinsics", po::value<bool>(&sfmParams.lockAllIntrinsics)->default_value(sfmParams.lockAllIntrinsics),
-      "Force lock of all camera intrinsic parameters, so they will not be refined during Bundle Adjustment.")
-    ("minNbCamerasToRefinePrincipalPoint", po::value<int>(&sfmParams.minNbCamerasToRefinePrincipalPoint)->default_value(sfmParams.minNbCamerasToRefinePrincipalPoint),
-        "Minimal number of cameras to refine the principal point of the cameras (one of the intrinsic parameters of the camera). "
-        "If we do not have enough cameras, the principal point in consider is considered in the center of the image. "
-        "If minNbCamerasToRefinePrincipalPoint<=0, the principal point is never refined. "
-        "If minNbCamerasToRefinePrincipalPoint==1, the principal point is always refined.")
-    ("useLocalBA,l", po::value<bool>(&sfmParams.useLocalBundleAdjustment)->default_value(sfmParams.useLocalBundleAdjustment),
-      "Enable/Disable the Local bundle adjustment strategy.\n"
-      "It reduces the reconstruction time, especially for big datasets (500+ images).")
-    ("localBAGraphDistance", po::value<int>(&sfmParams.localBundelAdjustementGraphDistanceLimit)->default_value(sfmParams.localBundelAdjustementGraphDistanceLimit),
-      "Graph-distance limit setting the Active region in the Local Bundle Adjustment strategy.")
-    ("nbFirstUnstableCameras", po::value<std::size_t>(&sfmParams.nbFirstUnstableCameras)->default_value(sfmParams.nbFirstUnstableCameras),
-      "Number of cameras for which the bundle adjustment is performed every single time a camera is added, leading to more stable "
-      "results while the computations are not too expensive since there is not much data. Past this number, the bundle adjustment "
-      "will only be performed once for N added cameras.")
-    ("maxImagesPerGroup", po::value<std::size_t>(&sfmParams.maxImagesPerGroup)->default_value(sfmParams.maxImagesPerGroup),
-      "Maximum number of cameras that can be added before the bundle adjustment is performed. This prevents adding too much data "
-      "at once without performing the bundle adjustment.")
-    ("bundleAdjustmentMaxOutliers", po::value<int>(&sfmParams.bundleAdjustmentMaxOutliers)->default_value(sfmParams.bundleAdjustmentMaxOutliers),
-      "Threshold for the maximum number of outliers allowed at the end of a bundle adjustment iteration."
-      "Using a negative value for this threshold will disable BA iterations.")
-    ("localizerEstimator", po::value<robustEstimation::ERobustEstimator>(&sfmParams.localizerEstimator)->default_value(sfmParams.localizerEstimator),
-      "Estimator type used to localize cameras (acransac (default), ransac, lsmeds, loransac, maxconsensus)")
-    ("localizerEstimatorError", po::value<double>(&sfmParams.localizerEstimatorError)->default_value(0.0),
-      "Reprojection error threshold (in pixels) for the localizer estimator (0 for default value according to the estimator).")
-    ("localizerEstimatorMaxIterations", po::value<std::size_t>(&sfmParams.localizerEstimatorMaxIterations)->default_value(sfmParams.localizerEstimatorMaxIterations),
-      "Max number of RANSAC iterations.")
-    ("useOnlyMatchesFromInputFolder", po::value<bool>(&useOnlyMatchesFromInputFolder)->default_value(useOnlyMatchesFromInputFolder),
-      "Use only matches from the input matchesFolder parameter.\n"
-      "Matches folders previously added to the SfMData file will be ignored.")
-    ("filterTrackForks", po::value<bool>(&sfmParams.filterTrackForks)->default_value(sfmParams.filterTrackForks),
-      "Enable/Disable the track forks removal. A track contains a fork when incoherent matches leads to multiple features in the same image for a single track.\n")
-    ("useRigConstraint", po::value<bool>(&sfmParams.rig.useRigConstraint)->default_value(sfmParams.rig.useRigConstraint),
-      "Enable/Disable rig constraint.\n")
-    ("rigMinNbCamerasForCalibration", po::value<int>(&sfmParams.rig.minNbCamerasForCalibration)->default_value(sfmParams.rig.minNbCamerasForCalibration),
-        "Minimal number of cameras to start the calibration of the rig.\n")
-    ("lockScenePreviouslyReconstructed", po::value<bool>(&lockScenePreviouslyReconstructed)->default_value(lockScenePreviouslyReconstructed),
-      "Lock/Unlock scene previously reconstructed.\n")
-    ("observationConstraint", po::value<EFeatureConstraint>(&sfmParams.featureConstraint)->default_value(sfmParams.featureConstraint),
-      "Use of an observation constraint : basic, scale the observation or use of the covariance.\n")
-    ("computeStructureColor", po::value<bool>(&computeStructureColor)->default_value(computeStructureColor),
-      "Compute each 3D point color.\n")
-    ("useAutoTransform", po::value<bool>(&useAutoTransform)->default_value(useAutoTransform),
-      "Transform the result with the alignment method 'AUTO'.\n")
-    ("randomSeed", po::value<int>(&randomSeed)->default_value(randomSeed),
-      "This seed value will generate a sequence using a linear random generator. Set -1 to use a random seed.")
-    ("logIntermediateSteps", po::value<bool>(&sfmParams.logIntermediateSteps)->default_value(logIntermediateSteps),
-      "If set to true, the current state of the scene will be dumped as an SfMData file every 3 resections.")
-    ;
+  optionalParams.add_options()(
+    "featuresFolders,f", po::value<std::vector<std::string>>(&featuresFolders)->multitoken(), "Path to folder(s) containing the extracted features.")(
+    "matchesFolders,m",
+    po::value<std::vector<std::string>>(&matchesFolders)->multitoken(),
+    "Path to folder(s) in which computed matches are stored.")("outputViewsAndPoses",
+                                                               po::value<std::string>(&outputSfMViewsAndPoses)->default_value(outputSfMViewsAndPoses),
+                                                               "Path to the output SfMData file (with only views and poses).")(
+    "extraInfoFolder",
+    po::value<std::string>(&extraInfoFolder)->default_value(extraInfoFolder),
+    "Folder for intermediate reconstruction files and additional reconstruction information files.")(
+    "describerTypes,d",
+    po::value<std::string>(&describerTypesName)->default_value(describerTypesName),
+    feature::EImageDescriberType_informations().c_str())(
+    "interFileExtension",
+    po::value<std::string>(&sfmParams.sfmStepFileExtension)->default_value(sfmParams.sfmStepFileExtension),
+    "Extension of the intermediate file export.")("maxNumberOfMatches",
+                                                  po::value<int>(&maxNbMatches)->default_value(maxNbMatches),
+                                                  "Maximum number of matches per image pair (and per feature type). "
+                                                  "This can be useful to have a quick reconstruction overview. 0 means no limit.")(
+    "minNumberOfMatches",
+    po::value<int>(&minNbMatches)->default_value(minNbMatches),
+    "Minimum number of matches per image pair (and per feature type). "
+    "This can be useful to have a meaningful reconstruction with accurate keypoints. 0 means no limit.")(
+    "minInputTrackLength",
+    po::value<int>(&sfmParams.minInputTrackLength)->default_value(sfmParams.minInputTrackLength),
+    "Minimum track length in input of SfM.")(
+    "minAngleForTriangulation",
+    po::value<double>(&sfmParams.minAngleForTriangulation)->default_value(sfmParams.minAngleForTriangulation),
+    "Minimum angle for triangulation.")("minAngleForLandmark",
+                                        po::value<double>(&sfmParams.minAngleForLandmark)->default_value(sfmParams.minAngleForLandmark),
+                                        "Minimum angle for landmark.")(
+    "maxReprojectionError",
+    po::value<double>(&sfmParams.maxReprojectionError)->default_value(sfmParams.maxReprojectionError),
+    "Maximum reprojection error.")("minAngleInitialPair",
+                                   po::value<float>(&sfmParams.minAngleInitialPair)->default_value(sfmParams.minAngleInitialPair),
+                                   "Minimum angle for the initial pair.")(
+    "maxAngleInitialPair",
+    po::value<float>(&sfmParams.maxAngleInitialPair)->default_value(sfmParams.maxAngleInitialPair),
+    "Maximum angle for the initial pair.")(
+    "minNumberOfObservationsForTriangulation",
+    po::value<std::size_t>(&sfmParams.minNbObservationsForTriangulation)->default_value(sfmParams.minNbObservationsForTriangulation),
+    "Minimum number of observations to triangulate a point.\n"
+    "Set it to 3 (or more) reduces drastically the noise in the point cloud, but the number of final poses is a little bit reduced (from 1.5% to 11% "
+    "on the tested datasets).\n"
+    "Note: set it to 0 or 1 to use the old triangulation algorithm (using 2 views only) during resection.")(
+    "initialPairA",
+    po::value<std::string>(&initialPairString.first)->default_value(initialPairString.first),
+    "UID or filepath or filename of the first image.")("initialPairB",
+                                                       po::value<std::string>(&initialPairString.second)->default_value(initialPairString.second),
+                                                       "UID or filepath or filename of the second image.")(
+    "lockAllIntrinsics",
+    po::value<bool>(&sfmParams.lockAllIntrinsics)->default_value(sfmParams.lockAllIntrinsics),
+    "Force lock of all camera intrinsic parameters, so they will not be refined during Bundle Adjustment.")(
+    "minNbCamerasToRefinePrincipalPoint",
+    po::value<int>(&sfmParams.minNbCamerasToRefinePrincipalPoint)->default_value(sfmParams.minNbCamerasToRefinePrincipalPoint),
+    "Minimal number of cameras to refine the principal point of the cameras (one of the intrinsic parameters of the camera). "
+    "If we do not have enough cameras, the principal point in consider is considered in the center of the image. "
+    "If minNbCamerasToRefinePrincipalPoint<=0, the principal point is never refined. "
+    "If minNbCamerasToRefinePrincipalPoint==1, the principal point is always refined.")(
+    "useLocalBA,l",
+    po::value<bool>(&sfmParams.useLocalBundleAdjustment)->default_value(sfmParams.useLocalBundleAdjustment),
+    "Enable/Disable the Local bundle adjustment strategy.\n"
+    "It reduces the reconstruction time, especially for big datasets (500+ images).")(
+    "localBAGraphDistance",
+    po::value<int>(&sfmParams.localBundelAdjustementGraphDistanceLimit)->default_value(sfmParams.localBundelAdjustementGraphDistanceLimit),
+    "Graph-distance limit setting the Active region in the Local Bundle Adjustment strategy.")(
+    "nbFirstUnstableCameras",
+    po::value<std::size_t>(&sfmParams.nbFirstUnstableCameras)->default_value(sfmParams.nbFirstUnstableCameras),
+    "Number of cameras for which the bundle adjustment is performed every single time a camera is added, leading to more stable "
+    "results while the computations are not too expensive since there is not much data. Past this number, the bundle adjustment "
+    "will only be performed once for N added cameras.")(
+    "maxImagesPerGroup",
+    po::value<std::size_t>(&sfmParams.maxImagesPerGroup)->default_value(sfmParams.maxImagesPerGroup),
+    "Maximum number of cameras that can be added before the bundle adjustment is performed. This prevents adding too much data "
+    "at once without performing the bundle adjustment.")(
+    "bundleAdjustmentMaxOutliers",
+    po::value<int>(&sfmParams.bundleAdjustmentMaxOutliers)->default_value(sfmParams.bundleAdjustmentMaxOutliers),
+    "Threshold for the maximum number of outliers allowed at the end of a bundle adjustment iteration."
+    "Using a negative value for this threshold will disable BA iterations.")(
+    "localizerEstimator",
+    po::value<robustEstimation::ERobustEstimator>(&sfmParams.localizerEstimator)->default_value(sfmParams.localizerEstimator),
+    "Estimator type used to localize cameras (acransac (default), ransac, lsmeds, loransac, maxconsensus)")(
+    "localizerEstimatorError",
+    po::value<double>(&sfmParams.localizerEstimatorError)->default_value(0.0),
+    "Reprojection error threshold (in pixels) for the localizer estimator (0 for default value according to the estimator).")(
+    "localizerEstimatorMaxIterations",
+    po::value<std::size_t>(&sfmParams.localizerEstimatorMaxIterations)->default_value(sfmParams.localizerEstimatorMaxIterations),
+    "Max number of RANSAC iterations.")("useOnlyMatchesFromInputFolder",
+                                        po::value<bool>(&useOnlyMatchesFromInputFolder)->default_value(useOnlyMatchesFromInputFolder),
+                                        "Use only matches from the input matchesFolder parameter.\n"
+                                        "Matches folders previously added to the SfMData file will be ignored.")(
+    "mergeTracks",
+    po::value<bool>(&sfmParams.mergeTracks)->default_value(sfmParams.mergeTracks),
+    "Enable/Disable the track merging. The merging between two tracks is made when they have duplicate features coming from the same original "
+    "feature "
+    "(same describer type, same 2D position in the same view, same scale, but different rotations and different feature id).\n")(
+    "filterTrackForks",
+    po::value<bool>(&sfmParams.filterTrackForks)->default_value(sfmParams.filterTrackForks),
+    "Enable/Disable the track forks removal. A track contains a fork when incoherent matches leads to multiple features in the same image for a "
+    "single track.\n")("useRigConstraint",
+                       po::value<bool>(&sfmParams.rig.useRigConstraint)->default_value(sfmParams.rig.useRigConstraint),
+                       "Enable/Disable rig constraint.\n")(
+    "rigMinNbCamerasForCalibration",
+    po::value<int>(&sfmParams.rig.minNbCamerasForCalibration)->default_value(sfmParams.rig.minNbCamerasForCalibration),
+    "Minimal number of cameras to start the calibration of the rig.\n")(
+    "lockScenePreviouslyReconstructed",
+    po::value<bool>(&lockScenePreviouslyReconstructed)->default_value(lockScenePreviouslyReconstructed),
+    "Lock/Unlock scene previously reconstructed.\n")(
+    "observationConstraint",
+    po::value<EFeatureConstraint>(&sfmParams.featureConstraint)->default_value(sfmParams.featureConstraint),
+    "Use of an observation constraint : basic, scale the observation or use of the covariance.\n")(
+    "computeStructureColor", po::value<bool>(&computeStructureColor)->default_value(computeStructureColor), "Compute each 3D point color.\n")(
+    "useAutoTransform",
+    po::value<bool>(&useAutoTransform)->default_value(useAutoTransform),
+    "Transform the result with the alignment method 'AUTO'.\n")(
+    "randomSeed",
+    po::value<int>(&randomSeed)->default_value(randomSeed),
+    "This seed value will generate a sequence using a linear random generator. Set -1 to use a random seed.")(
+    "logIntermediateSteps",
+    po::value<bool>(&sfmParams.logIntermediateSteps)->default_value(logIntermediateSteps),
+    "If set to true, the current state of the scene will be dumped as an SfMData file every 3 resections.");
 
   CmdLine cmdline("Sequential/Incremental reconstruction.\n"
                   "This program performs incremental SfM (Initial Pair Essential + Resection).\n"