[sfm] Add new parameters to the SfM process

meshroom/aliceVision/SfmBootstrapping.py

@@ -1,4 +1,4 @@
-__version__ = "4.0"
+__version__ = "4.1"
 
 from meshroom.core import desc
 from meshroom.core.utils import VERBOSE_LEVEL
@@ -37,13 +37,21 @@ class SfMBootStrapping(desc.AVCommandLineNode):
             value="",
         ),
         desc.FloatParam(
-            name="minAngleInitialPair",
-            label="Min Angle Initial Pair",
-            description="Minimum angle for the initial pair.",
+            name="minAngleSoftInitialPair",
+            label="Min Angle Initial Pair (Soft)",
+            description="Pair score is downgraded heavily if angle is under this value",
             value=5.0,
             range=(0.1, 10.0, 0.1),
             advanced=True,
         ),
+        desc.FloatParam(
+            name="minAngleHardInitialPair",
+            label="Min Angle Initial Pair (Hard)",
+            description="Minimum angle for the initial pair validation.",
+            value=1.0,
+            range=(0.1, 10.0, 0.1),
+            advanced=True,
+        ),
         desc.FloatParam(
             name="maxAngleInitialPair",
             label="Max Angle Initial Pair",

meshroom/aliceVision/SfmExpanding.py

@@ -1,4 +1,4 @@
-__version__ = "2.0"
+__version__ = "2.1"
 
 from meshroom.core import desc
 from meshroom.core.utils import VERBOSE_LEVEL
@@ -131,11 +131,19 @@ class SfMExpanding(desc.AVCommandLineNode):
         desc.FloatParam(
             name="maxReprojectionError",
             label="Max Reprojection Error",
-            description="Maximum reprojection error.",
+            description="Maximum reprojection error in the bundle verification step.",
             value=4.0,
             range=(0.1, 10.0, 0.1),
             advanced=True,
         ),
+        desc.FloatParam(
+            name="maxTriangulationError",
+            label="Max Triangulation Error",
+            description="Maximum reprojection error in the triangulation process.",
+            value=8.0,
+            range=(0.1, 10.0, 0.1),
+            advanced=True,
+        ),
         desc.BoolParam(
             name="lockAllIntrinsics",
             label="Lock All Intrinsic Camera Parameters",

meshroom/cameraTrackingExperimental.mg

@@ -27,9 +27,9 @@
             "Publish": "1.3",
             "RelativePoseEstimating": "3.0",
             "ScenePreview": "2.0",
-            "SfMBootStrapping": "4.0",
+            "SfMBootStrapping": "4.1",
             "SfMColorizing": "1.0",
-            "SfMExpanding": "2.0",
+            "SfMExpanding": "2.1",
             "SfMTransfer": "2.1",
             "SfMTransform": "3.1",
             "SfMTriangulation": "1.0",

meshroom/cameraTrackingWithoutCalibrationExperimental.mg

@@ -26,9 +26,9 @@
             "Publish": "1.3",
             "RelativePoseEstimating": "3.0",
             "ScenePreview": "2.0",
-            "SfMBootStrapping": "4.0",
+            "SfMBootStrapping": "4.1",
             "SfMColorizing": "1.0",
-            "SfMExpanding": "2.0",
+            "SfMExpanding": "2.1",
             "SfMTransfer": "2.1",
             "SfMTransform": "3.1",
             "SfMTriangulation": "1.0",

meshroom/photogrammetryAndCameraTrackingExperimental.mg

@@ -27,9 +27,9 @@
             "Publish": "1.3",
             "RelativePoseEstimating": "3.0",
             "ScenePreview": "2.0",
-            "SfMBootStrapping": "4.0",
+            "SfMBootStrapping": "4.1",
             "SfMColorizing": "1.0",
-            "SfMExpanding": "2.0",
+            "SfMExpanding": "2.1",
             "SfMTransfer": "2.1",
             "SfMTransform": "3.1",
             "Texturing": "6.0",

meshroom/photogrammetryExperimental.mg

@@ -15,9 +15,9 @@
             "Meshing": "7.0",
             "Publish": "1.3",
             "RelativePoseEstimating": "3.0",
-            "SfMBootStrapping": "4.0",
+            "SfMBootStrapping": "4.1",
             "SfMColorizing": "1.0",
-            "SfMExpanding": "2.0",
+            "SfMExpanding": "2.1",
             "SfMTransform": "3.1",
             "Texturing": "6.0",
             "TracksBuilding": "1.0"

src/aliceVision/multiview/triangulation/TriangulationSphericalKernel.hpp

@@ -21,16 +21,19 @@ class TriangulationSphericalKernel : public robustEstimation::IRansacKernel<robu
   /**
    * @brief Constructor.
    * @param[in] observations The observations 2d points in pixels.
+   * @param[in] weights The observations weights.
    * @param[in] poses the transformation for each observation.
    * @param[in] intrinsics the camera intrinsic for each observation.
    */
   TriangulationSphericalKernel(
         const std::vector<Vec2> & observations, 
+        const std::vector<double> & weights, 
         const std::vector<Eigen::Matrix4d>& poses, 
         std::vector<std::shared_ptr<camera::IntrinsicBase>> & intrinsics
     )
   : _poses(poses)
   , _intrinsics(intrinsics)
+  , _weights(weights)
   {
     for (int id = 0; id < observations.size(); id++)
     {
@@ -134,10 +137,10 @@ class TriangulationSphericalKernel : public robustEstimation::IRansacKernel<robu
   }
 
   /**
-   * @brief Error for the i-th view
-   * @param[in] sample The index of the view for which the error is computed.
+   * @brief Error for the i-th observation
+   * @param[in] sample The index of the observation for which the error is computed.
    * @param[in] model The 3D point.
-   * @return The estimation error for the given view and 3D point.
+   * @return The estimation error for the given observation and 3D point.
    */
   double error(std::size_t sample, const ModelT & model) const override
   {
@@ -147,9 +150,11 @@ class TriangulationSphericalKernel : public robustEstimation::IRansacKernel<robu
         X = X / X(3);
     }
 
+    double w = _weights[sample];
+
     Vec2 residual = _intrinsics[sample]->residual(_poses[sample], X, _observations[sample], false);
 
-    return residual.norm();
+    return residual.norm() * w;
   }
 
   /**
@@ -217,6 +222,7 @@ class TriangulationSphericalKernel : public robustEstimation::IRansacKernel<robu
 private:
   std::vector<Vec3> _lifted;
   std::vector<Vec2> _observations;
+  std::vector<double> _weights;
   const std::vector<Eigen::Matrix4d> _poses;
   const std::vector<std::shared_ptr<camera::IntrinsicBase>> _intrinsics;
   multiview::TriangulateNViewsSphericalSolver _solver;

src/aliceVision/sfm/pipeline/bootstrapping/PairsScoring.cpp

@@ -18,7 +18,8 @@ IndexT findBestPair(const sfmData::SfMData & sfmData,
                 const track::TracksPerView & tracksPerView, 
                 const std::set<IndexT> & filterIn,
                 const std::set<IndexT> & filterOut,
-                double minAngle,
+                double hardMinAngle,
+                double softMinAngle,
                 double maxAngle)
 {
     IndexT bestPair = UndefinedIndexT;
@@ -74,26 +75,30 @@ IndexT findBestPair(const sfmData::SfMData & sfmData,
             continue;
         }
 
-        if (radianToDegree(angle) > maxAngle)
+        double degrees = radianToDegree(angle);
+        if (degrees > maxAngle)
         {
             continue;
         }
 
-
+        if (degrees < hardMinAngle)
+        {
+            continue;
+        }
 
         const sfmData::View & vref = sfmData.getView(pair.reference);
         const sfmData::View & vnext = sfmData.getView(pair.next);
 
         int maxref = std::max(vref.getImage().getWidth(), vref.getImage().getHeight());
         int maxnext = std::max(vnext.getImage().getWidth(), vnext.getImage().getHeight());
-
 
         double refScore = sfm::ExpansionPolicyLegacy::computeScore(tracksMap, usedTracks, pair.reference, maxref, 5);
         double nextScore = sfm::ExpansionPolicyLegacy::computeScore(tracksMap, usedTracks, pair.next, maxnext, 5);
 
         double score = std::min(refScore, nextScore) * std::max(1e-12, radianToDegree(angle));
-         //If the angle is too small, then dramatically reduce its chances
-        if (radianToDegree(angle) < minAngle)
+
+        //If the angle is too small, then dramatically reduce its chances
+        if (degrees < softMinAngle)
         {
             score = -1.0 / score;
         }

src/aliceVision/sfm/pipeline/bootstrapping/PairsScoring.hpp

@@ -22,7 +22,8 @@ namespace sfm {
 * @param tracksPerView tracks grouped by views
 * @param filterIn pair must contains one of the views inside this set (if non empty)
 * @param filterout pair must NOT contains one of the views inside this set (if non empty)
-* @param minAngle minimal angle allowed
+* @param hardMinAngle minimal angle allowed (rejected)
+* @param softMinAngle minimal angle allowed (tolerated, but heavily downgraded)
 * @param maxAngle maximal angle allowed
 * @return index in "pairs" of the best pair or UndefinedIndexT if no pair found
 */
@@ -32,7 +33,8 @@ IndexT findBestPair(const sfmData::SfMData & sfmData,
                     const track::TracksPerView & tracksPerView, 
                     const std::set<IndexT> & filterIn,
                     const std::set<IndexT> & filterOut,
-                    double minAngle,
+                    double hardMinAngle,
+                    double softMinAngle,
                     double maxAngle);
 
 }

src/aliceVision/sfm/pipeline/expanding/ExpansionChunk.hpp

@@ -69,7 +69,6 @@ class ExpansionChunk
     /**
      * @brief set the maximal error allowed for ransac resection module
      * @param error the error value or <= 0 for automatic decision
-     * @param count the number of points
     */
     void setResectionMaxError(double error)
     {
@@ -89,6 +88,15 @@ class ExpansionChunk
         _triangulationMinPoints = count;
     }
 
+    /**
+     * @brief set the maximal reprojection error in the triangulation process.
+     * @param count the number of points
+    */
+    void setTriangulationMaxError(double error)
+    {
+        _maxTriangulationError = error;
+    }
+
     /**
      * @brief set the minimal allowed parallax degree for triangulation
      * @param angle the angle in DEGREES

src/aliceVision/sfm/pipeline/expanding/SfmTriangulation.cpp

@@ -106,6 +106,7 @@ bool SfmTriangulation::processTrack(
 {
     feature::EImageDescriberType descType = track.descType;
 
+    std::vector<double> weights;
     std::vector<Vec2> observations;
     std::vector<std::shared_ptr<camera::IntrinsicBase>> intrinsics;
     std::vector<Eigen::Matrix4d> poses;
@@ -126,6 +127,9 @@ bool SfmTriangulation::processTrack(
         observations.push_back(coords);
         intrinsics.push_back(intrinsic);
         poses.push_back(pose);
+
+        //Weight is dependent on the feature scale
+        weights.push_back(1.0 / trackItem.scale);
 
         indexedViewIds.push_back(viewId);
     }
@@ -135,7 +139,7 @@ bool SfmTriangulation::processTrack(
     robustEstimation::MatrixModel<Vec4> model;
     std::vector<std::size_t> inliers;
     robustEstimation::ScoreEvaluator<multiview::TriangulationSphericalKernel> scorer(_maxError);
-    multiview::TriangulationSphericalKernel kernel(observations, poses, intrinsics);
+    multiview::TriangulationSphericalKernel kernel(observations, weights, poses, intrinsics);
 
     if (observations.size() <= 0)
     {

src/software/pipeline/main_sfmBootstrapping.cpp

@@ -42,7 +42,7 @@
 // These constants define the current software version.
 // They must be updated when the command line is changed.
 #define ALICEVISION_SOFTWARE_VERSION_MAJOR 4
-#define ALICEVISION_SOFTWARE_VERSION_MINOR 0
+#define ALICEVISION_SOFTWARE_VERSION_MINOR 1
 
 using namespace aliceVision;
 
@@ -136,7 +136,8 @@ int aliceVision_main(int argc, char** argv)
 
     // user optional parameters
     const double maxEpipolarDistance = 4.0;
-    double minAngle = 5.0;
+    double minAngleHard = 1.0;
+    double minAngleSoft = 5.0;
     double maxAngle = 40.0;
     std::pair<std::string, std::string> initialPairString("", "");
 
@@ -155,7 +156,8 @@ int aliceVision_main(int argc, char** argv)
     po::options_description optionalParams("Required parameters");
     optionalParams.add_options()
     ("outputViewsAndPoses", po::value<std::string>(&outputSfMViewsAndPoses)->default_value(outputSfMViewsAndPoses), "Path to the output SfMData file (with only views and poses).")
-    ("minAngleInitialPair", po::value<double>(&minAngle)->default_value(minAngle), "Minimum angle for the initial pair.")
+    ("minAngleSoftInitialPair", po::value<double>(&minAngleSoft)->default_value(minAngleSoft), "Minimum angle for the initial pair (Score is downgraded heavily if angle is under this value).")
+    ("minAngleHardInitialPair", po::value<double>(&minAngleHard)->default_value(minAngleHard), "Minimum angle for the initial pair validation.")
     ("maxAngleInitialPair", po::value<double>(&maxAngle)->default_value(maxAngle), "Maximum angle for the initial pair.")
     ("meshFilename,t", po::value<std::string>(&meshFilename)->required(), "Mesh object file.")
     ("initialPairA", po::value<std::string>(&initialPairString.first)->default_value(initialPairString.first), "UID or filepath or filename of the first image.")
@@ -342,7 +344,7 @@ int aliceVision_main(int argc, char** argv)
     IndexT bestPairId = findBestPair(sfmData, reconstructedPairs,  
                             tracksHandler.getAllTracks(), tracksHandler.getTracksPerView(), 
                             filterIn, filterOut,
-                            minAngle, maxAngle);
+                            minAngleHard, minAngleSoft, maxAngle);
 
     if (bestPairId == UndefinedIndexT)
     {

src/software/pipeline/main_sfmExpanding.cpp

@@ -27,7 +27,7 @@
 // These constants define the current software version.
 // They must be updated when the command line is changed.
 #define ALICEVISION_SOFTWARE_VERSION_MAJOR 2
-#define ALICEVISION_SOFTWARE_VERSION_MINOR 0
+#define ALICEVISION_SOFTWARE_VERSION_MINOR 1
 
 using namespace aliceVision;
 
@@ -97,6 +97,7 @@ int aliceVision_main(int argc, char** argv)
     double minAngleForTriangulation = 3.0;
     double minAngleForLandmark = 2.0;
     double maxReprojectionError = 4.0;
+    double maxTriangulationError = 8.0;
     bool lockAllIntrinsics = false;
     int minNbCamerasToRefinePrincipalPoint = 3;
     bool useRigConstraint = true;
@@ -132,7 +133,8 @@ int aliceVision_main(int argc, char** argv)
     ("minNumberOfObservationsForTriangulation", po::value<std::size_t>(&minNbObservationsForTriangulation)->default_value(minNbObservationsForTriangulation),"Minimum number of observations to triangulate a point")
     ("minAngleForTriangulation", po::value<double>(&minAngleForTriangulation)->default_value(minAngleForTriangulation),"Minimum angle for triangulation.")
     ("minAngleForLandmark", po::value<double>(&minAngleForLandmark)->default_value(minAngleForLandmark), "Minimum angle for landmark.")
-    ("maxReprojectionError", po::value<double>(&maxReprojectionError)->default_value(maxReprojectionError), "Maximum reprojection error.")
+    ("maxTriangulationError", po::value<double>(&maxTriangulationError)->default_value(maxTriangulationError), "Maximum reprojection error in the triangulation process.")
+    ("maxReprojectionError", po::value<double>(&maxReprojectionError)->default_value(maxReprojectionError), "Maximum reprojection error in the bundle verification step.")
     ("lockAllIntrinsics", po::value<bool>(&lockAllIntrinsics)->default_value(lockAllIntrinsics), "Force lock of all camera intrinsic parameters, so they will not be refined during Bundle Adjustment.")
     ("minNbCamerasToRefinePrincipalPoint", po::value<int>(&minNbCamerasToRefinePrincipalPoint)->default_value(minNbCamerasToRefinePrincipalPoint),
          "Minimal number of cameras to refine the principal point of the cameras (one of the intrinsic parameters of the camera). "
@@ -242,6 +244,7 @@ int aliceVision_main(int argc, char** argv)
     expansionChunk->setExpansionHistoryHandler(expansionHistory);
     expansionChunk->setResectionMaxIterations(localizerEstimatorMaxIterations);
     expansionChunk->setResectionMaxError(localizerEstimatorError);
+    expansionChunk->setTriangulationMaxError(maxTriangulationError);
     expansionChunk->setTriangulationMinPoints(minNbObservationsForTriangulation);
     expansionChunk->setMinAngleTriangulation(minAngleForTriangulation);
     expansionChunk->setPointFetcherHandler(pointFetcherHandler);