Endpoints triangulation as an option (cvg#8)

* endpoints triangulation as an option. port output folder.

* fix depth-based scoring for endpoints triangulation.

Author: B1ueber2y

cfgs/fitnmerge/default.yaml

@@ -12,6 +12,7 @@ use_cuda: True
 visualize: True
 skip_exists: False
 output_dir: null 
+output_folder: "fitnmerge_finaltracks"
 load_dir: null
 
 ##############################

cfgs/triangulation/default.yaml

@@ -14,6 +14,7 @@ visualize: True
 max_image_dim: 1600
 skip_exists: False
 output_dir: null 
+output_folder: "finaltracks"
 load_dir: null
 n_jobs: -1 # for undistortion
 undistortion_output_dir: "undistorted_images"
@@ -61,6 +62,7 @@ var2d: # in pixels
 # triangulation config
 triangulation:
     use_exhaustive_matcher: False
+    use_endpoints_triangulation: False
     add_halfpix: false
     min_length_2d: 0.0 # in pixels
     var2d: -1.0 # depending on the detector

limap/runners/line_fitnmerge.py

@@ -107,7 +107,7 @@ def line_fitnmerge(cfg, imagecols, depths, neighbors=None, ranges=None):
     # [F] output and visualization
     ##########################################################
     # save tracks
-    limapio.save_folder_linetracks_with_info(os.path.join(cfg["dir_save"], "fitnmerge_finaltracks"), linetracks, config=cfg, imagecols=imagecols, all_2d_segs=all_2d_segs)
+    limapio.save_folder_linetracks_with_info(os.path.join(cfg["dir_save"], cfg["output_folder"]), linetracks, config=cfg, imagecols=imagecols, all_2d_segs=all_2d_segs)
     limapio.save_txt_linetracks(os.path.join(cfg["dir_save"], "fitnmerge_alltracks.txt"), linetracks, n_visible_views=4)
     VisTrack = limapvis.Open3DTrackVisualizer(linetracks)
     VisTrack.report()

limap/runners/line_triangulation.py

@@ -39,6 +39,7 @@ def line_triangulation(cfg, imagecols, neighbors=None, ranges=None):
     if neighbors is None:
         neighbors, ranges = _runners.compute_sfminfos(cfg, imagecols)
     else:
+        limapio.save_txt_metainfos(os.path.join(cfg["dir_save"], "metainfos.txt"), neighbors, ranges)
         neighbors = imagecols.update_neighbors(neighbors)
         for img_id, neighbor in neighbors.items():
             neighbors[img_id] = neighbors[img_id][:cfg["n_neighbors"]]
@@ -103,7 +104,7 @@ def line_triangulation(cfg, imagecols, neighbors=None, ranges=None):
     ##########################################################
     # save tracks
     limapio.save_txt_linetracks(os.path.join(cfg["dir_save"], "alltracks.txt"), linetracks, n_visible_views=4)
-    limapio.save_folder_linetracks_with_info(os.path.join(cfg["dir_save"], "finaltracks"), linetracks, config=cfg, imagecols=imagecols, all_2d_segs=all_2d_segs)
+    limapio.save_folder_linetracks_with_info(os.path.join(cfg["dir_save"], cfg["output_folder"]), linetracks, config=cfg, imagecols=imagecols, all_2d_segs=all_2d_segs)
     VisTrack = limapvis.Open3DTrackVisualizer(linetracks)
     VisTrack.report()
     limapio.save_obj(os.path.join(cfg["dir_save"], 'triangulated_lines_nv{0}.obj'.format(cfg["n_visible_views"])), VisTrack.get_lines_np(n_visible_views=cfg["n_visible_views"]))

limap/triangulation/bindings.cc

@@ -35,6 +35,7 @@ void bind_triangulator(py::module &m) {
         .def(py::init<py::dict>())
         .def_readwrite("add_halfpix", &TriangulatorConfig::add_halfpix)
         .def_readwrite("use_vp", &TriangulatorConfig::use_vp)
+        .def_readwrite("use_endpoints_triangulation", &TriangulatorConfig::use_endpoints_triangulation)
         .def_readwrite("min_length_2d", &TriangulatorConfig::min_length_2d)
         .def_readwrite("var2d", &TriangulatorConfig::var2d)
         .def_readwrite("plane_angle_threshold", &TriangulatorConfig::plane_angle_threshold)

limap/triangulation/functions.cc

@@ -96,11 +96,13 @@ V3D point_triangulation(const V2D& p1, const CameraView& view1,
 
 // Triangulating endpoints for triangulation
 Line3d triangulate_endpoints(const Line2d& l1, const CameraView& view1,
-                                  const Line2d& l2, const CameraView& view2) 
+                             const Line2d& l2, const CameraView& view2) 
 {
     V3D pstart = point_triangulation(l1.start, view1, l2.start, view2);
+    double z_start = view1.pose.projdepth(pstart);
     V3D pend = point_triangulation(l1.end, view1, l2.end, view2);
-    return Line3d(pstart, pend);
+    double z_end = view1.pose.projdepth(pend);
+    return Line3d(pstart, pend, 1.0, z_start, z_end);
 }
 
 // Asymmetric perspective to (view1, l1)

limap/triangulation/functions.h

@@ -27,7 +27,7 @@ V3D point_triangulation(const V2D& p1, const CameraView& view1,
 
 // Triangulating endpoints for triangulation
 Line3d triangulate_endpoints(const Line2d& l1, const CameraView& view1,
-                                  const Line2d& l2, const CameraView& view2);
+                             const Line2d& l2, const CameraView& view2);
 
 // Asymmetric perspective to (view1, l1)
 // Triangulation by plane intersection

limap/triangulation/triangulator.cc

@@ -259,7 +259,11 @@ void Triangulator::triangulateOneNode(const int img_id, const int line_id) {
             continue;
 
         // triangulation with weak epipolar constraints test
-        Line3d line = triangulate(l1, view1, l2, view2);
+        Line3d line;
+        if (!config_.use_endpoints_triangulation)
+            line = triangulate(l1, view1, l2, view2);
+        else
+            line = triangulate_endpoints(l1, view1, l2, view2);
         if (line.sensitivity(view1) > config_.sensitivity_threshold && line.sensitivity(view2) > config_.sensitivity_threshold)
             line.score = -1;
         if (line.score > 0) {

limap/triangulation/triangulator.h

@@ -25,6 +25,7 @@ class TriangulatorConfig {
     TriangulatorConfig(py::dict dict) {
         ASSIGN_PYDICT_ITEM(dict, add_halfpix, bool)
         ASSIGN_PYDICT_ITEM(dict, use_vp, bool)
+        ASSIGN_PYDICT_ITEM(dict, use_endpoints_triangulation, bool)
         ASSIGN_PYDICT_ITEM(dict, min_length_2d, double)
         ASSIGN_PYDICT_ITEM(dict, var2d, double);
         ASSIGN_PYDICT_ITEM(dict, plane_angle_threshold, double)
@@ -46,6 +47,7 @@ class TriangulatorConfig {
 
     bool add_halfpix = false; // offset half pixel for each line
     bool use_vp = true;
+    bool use_endpoints_triangulation = false;
     vplib::JLinkageConfig vpdet_config;
 
     double min_length_2d = 20.0;