[feature] SfM: add scale as an option in SfM command line

src/aliceVision/feature/cctag/ImageDescriber_CCTAG.cpp

@@ -143,7 +143,8 @@ bool ImageDescriber_CCTAG::describe(const image::Image<unsigned char>& image,
       }
       desc[cctag.id()] = (unsigned char) 255;
       regionsCasted->Descriptors().push_back(desc);
-      regionsCasted->Features().push_back(PointFeature(cctag.x(), cctag.y(), cctag.scale(), orientation)); // TODO: scale factor
+      const float scale = std::max(cctag.outerEllipse().a(), cctag.outerEllipse().b());
+      regionsCasted->Features().push_back(PointFeature(cctag.x(), cctag.y(), scale, orientation));
     }
   }
 

src/aliceVision/robustEstimation/estimators.hpp

@@ -66,7 +66,7 @@ inline std::ostream& operator<<(std::ostream& os, ERobustEstimator e)
     return os << ERobustEstimator_enumToString(e);
 }
 
-inline std::istream& operator>>(std::istream& in, robustEstimation::ERobustEstimator& estimatorType)
+inline std::istream& operator>>(std::istream& in, ERobustEstimator& estimatorType)
 {
     std::string token;
     in >> token;

src/aliceVision/sfm/BundleAdjustment.hpp

@@ -8,6 +8,9 @@
 #pragma once
 
 #include <boost/detail/bitmask.hpp>
+#include <string>
+#include <algorithm>
+#include <stdexcept>
 
 namespace aliceVision {
 
@@ -17,6 +20,58 @@ class SfMData;
 
 namespace sfm {
 
+/**
+ * @brief Defines basic, scale and covariance options for features that can be used in a bundle adjustment.
+ */
+enum class EFeatureConstraint
+{
+  BASIC = 0,
+  SCALE = 1
+};
+
+/**
+*@brief convert an enum ESfMobservationConstraint to its corresponding string
+*
+*/
+inline std::string ESfMobservationConstraint_enumToString(EFeatureConstraint m)
+{
+  switch(m)
+  {
+    case EFeatureConstraint::BASIC: return "Basic";
+    case EFeatureConstraint::SCALE: return "Scale";
+  }
+  throw std::out_of_range("Invalid ESfMobservationConstraint enum: " + std::to_string(int(m)));
+}
+
+/**
+* @brief convert a string featureConstraint to its corresponding enum featureConstraint
+* @param String
+* @return ESfMobservationConstraint
+*/
+inline EFeatureConstraint ESfMobservationConstraint_stringToEnum(const std::string& m)
+{
+  std::string featureConstraint = m;
+  std::transform(featureConstraint.begin(), featureConstraint.end(), featureConstraint.begin(), ::tolower);
+
+  if(featureConstraint == "basic") return EFeatureConstraint::BASIC;
+  if(featureConstraint == "scale") return EFeatureConstraint::SCALE;
+
+  throw std::out_of_range("Invalid ESfMobservationConstraint: " + m);
+}
+
+inline std::ostream& operator<<(std::ostream& os, EFeatureConstraint m)
+{
+    return os << ESfMobservationConstraint_enumToString(m);
+}
+
+inline std::istream& operator>>(std::istream& in, EFeatureConstraint& m)
+{
+    std::string token;
+    in >> token;
+    m = ESfMobservationConstraint_stringToEnum(token);
+    return in;
+}
+
 class BundleAdjustment
 {
 public:

src/aliceVision/sfm/BundleAdjustmentCeres.hpp

@@ -277,6 +277,9 @@ class BundleAdjustmentCeres : public BundleAdjustment
   /// user Ceres options to use in the solver
   CeresOptions _ceresOptions;
 
+  /// user FeatureConstraint options to use
+  EFeatureConstraint _featureConstraint;
+
   /// last adjustment iteration statisics
   Statistics _statistics;
 

src/aliceVision/sfm/pipeline/global/ReconstructionEngine_globalSfM.cpp

@@ -361,7 +361,7 @@ bool ReconstructionEngine_globalSfM::Compute_Initial_Structure(matching::Pairwis
 bool ReconstructionEngine_globalSfM::Adjust()
 {
   // refine sfm  scene (in a 3 iteration process (free the parameters regarding their incertainty order)):
-  BundleAdjustmentCeres::CeresOptions options;
+  BundleAdjustmentCeres::CeresOptions options; 
   options.useParametersOrdering = false; // disable parameters ordering
 
   BundleAdjustmentCeres BA(options);
@@ -389,7 +389,7 @@ bool ReconstructionEngine_globalSfM::Adjust()
 
   // Remove outliers (max_angle, residual error)
   const size_t pointcount_initial = _sfmData.structure.size();
-  RemoveOutliers_PixelResidualError(_sfmData, 4.0);
+  RemoveOutliers_PixelResidualError(_sfmData, _featureConstraint, 4.0);
   const size_t pointcount_pixelresidual_filter = _sfmData.structure.size();
   RemoveOutliers_AngleError(_sfmData, 2.0);
   const size_t pointcount_angular_filter = _sfmData.structure.size();

src/aliceVision/sfm/pipeline/global/ReconstructionEngine_globalSfM.hpp

@@ -65,6 +65,7 @@ class ReconstructionEngine_globalSfM : public ReconstructionEngine
   ERotationAveragingMethod _eRotationAveragingMethod;
   ETranslationAveragingMethod _eTranslationAveragingMethod;
   bool _lockAllIntrinsics = false;
+  EFeatureConstraint _featureConstraint = EFeatureConstraint::BASIC;
 
   // Data provider
   feature::FeaturesPerView* _featuresPerView;

src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.cpp

@@ -689,7 +689,7 @@ bool ReconstructionEngine_sequentialSfM::bundleAdjustment(std::set<IndexT>& newR
       statistics.show();
     }
 
-    nbOutliers = removeOutliers(_params.maxReprojectionError);
+    nbOutliers = removeOutliers();
 
     std::set<IndexT> removedViewsIdIteration;
     eraseUnstablePosesAndObservations(this->_sfmData, _params.minPointsPerPose, _params.minTrackLength, &removedViewsIdIteration);
@@ -2054,9 +2054,9 @@ void ReconstructionEngine_sequentialSfM::triangulate_2Views(SfMData& scene, cons
   }
 }
 
-std::size_t ReconstructionEngine_sequentialSfM::removeOutliers(double precision)
+std::size_t ReconstructionEngine_sequentialSfM::removeOutliers()
 {
-  const std::size_t nbOutliersResidualErr = RemoveOutliers_PixelResidualError(_sfmData, precision, 2);
+  const std::size_t nbOutliersResidualErr = RemoveOutliers_PixelResidualError(_sfmData, _params.featureConstraint, _params.maxReprojectionError, 2);
   const std::size_t nbOutliersAngleErr = RemoveOutliers_AngleError(_sfmData, _params.minAngleForLandmark);
 
   ALICEVISION_LOG_INFO("Remove outliers: " << std::endl

src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.hpp

@@ -55,6 +55,7 @@ class ReconstructionEngine_sequentialSfM : public ReconstructionEngine
     double minAngleForTriangulation = 3.0;
     double minAngleForLandmark = 2.0;
     double maxReprojectionError = 4.0;
+    EFeatureConstraint featureConstraint = EFeatureConstraint::BASIC;
     float minAngleInitialPair = 5.0f;
     float maxAngleInitialPair = 40.0f;
     bool filterTrackForks = true;
@@ -355,7 +356,7 @@ class ReconstructionEngine_sequentialSfM : public ReconstructionEngine
    * @param[in] precision
    * @return number of removed outliers
    */
-  std::size_t removeOutliers(double precision);
+  std::size_t removeOutliers();
 
 private:
 

src/aliceVision/sfm/sfmFilters.cpp

@@ -9,19 +9,22 @@
 #include <aliceVision/sfmData/SfMData.hpp>
 #include <aliceVision/stl/stl.hpp>
 #include <aliceVision/system/Logger.hpp>
+#include <aliceVision/sfm/BundleAdjustment.hpp>
 
 #include <iterator>
 
 namespace aliceVision {
 namespace sfm {
 
 IndexT RemoveOutliers_PixelResidualError(sfmData::SfMData& sfmData,
+                                         EFeatureConstraint featureConstraint,
                                          const double dThresholdPixel,
                                          const unsigned int minTrackLength)
 {
   IndexT outlier_count = 0;
   sfmData::Landmarks::iterator iterTracks = sfmData.structure.begin();
 
+
   while(iterTracks != sfmData.structure.end())
   {
     sfmData::Observations & observations = iterTracks->second.observations;
@@ -34,7 +37,7 @@ IndexT RemoveOutliers_PixelResidualError(sfmData::SfMData& sfmData,
       const camera::IntrinsicBase * intrinsic = sfmData.intrinsics.at(view->getIntrinsicId()).get();
 
       Vec2 residual = intrinsic->residual(pose, iterTracks->second.X, itObs->second.x);
-      if(itObs->second.scale > 0) // TODO-SCALE: add an option to use the scale optionally
+      if(featureConstraint == EFeatureConstraint::SCALE)
       {
           // Apply the scale of the feature to get a residual value
           // relative to the feature precision.

src/aliceVision/sfm/sfmFilters.hpp

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <aliceVision/types.hpp>
+#include <aliceVision/sfm/BundleAdjustment.hpp>
 
 namespace aliceVision {
 
@@ -33,6 +34,7 @@ inline PairSet Pair_filter(const IterablePairs& pairs, const IterableIndex& inde
 /// Remove observations with too large reprojection error.
 /// Return the number of removed tracks.
 IndexT RemoveOutliers_PixelResidualError(sfmData::SfMData& sfmData,
+                                         EFeatureConstraint featureConstraint,
                                          const double dThresholdPixel,
                                          const unsigned int minTrackLength = 2);
 

src/software/pipeline/main_imageMatching.cpp

@@ -681,15 +681,16 @@ int main(int argc, char** argv)
   // load SfMData
   sfmData::SfMData sfmDataA, sfmDataB;
 
-  if(!sfmDataIO::Load(sfmDataA, sfmDataFilenameA, sfmDataIO::ESfMData::ALL))
+  using namespace sfmDataIO;
+  if(!sfmDataIO::Load(sfmDataA, sfmDataFilenameA, ESfMData(ESfMData::VIEWS|ESfMData::EXTRINSICS|ESfMData::INTRINSICS)))
   {
     ALICEVISION_LOG_ERROR("The input SfMData file '" + sfmDataFilenameA + "' cannot be read.");
     return EXIT_FAILURE;
   }
 
   if(useMultiSfM)
   {
-    if(!sfmDataIO::Load(sfmDataB, sfmDataFilenameB, sfmDataIO::ESfMData::ALL))
+    if(!sfmDataIO::Load(sfmDataB, sfmDataFilenameB, ESfMData(ESfMData::VIEWS|ESfMData::EXTRINSICS|ESfMData::INTRINSICS)))
     {
       ALICEVISION_LOG_ERROR("The input SfMData file '" + sfmDataFilenameB + "' cannot be read.");
       return EXIT_FAILURE;

src/software/pipeline/main_incrementalSfM.cpp

@@ -16,6 +16,7 @@
 #include <aliceVision/types.hpp>
 #include <aliceVision/config.hpp>
 #include <aliceVision/track/Track.hpp>
+#include <aliceVision/sfm/BundleAdjustment.hpp>
 
 #include <boost/program_options.hpp>
 #include <boost/filesystem.hpp>
@@ -32,6 +33,8 @@ using namespace aliceVision;
 namespace po = boost::program_options;
 namespace fs = boost::filesystem;
 using namespace aliceVision::track;
+using namespace aliceVision::sfm;
+
 
 /**
  * @brief Retrieve the view id in the sfmData from the image filename.
@@ -78,7 +81,7 @@ int main(int argc, char **argv)
   std::string outputSfM;
 
   // user optional parameters
-
+  // user optional parameters
   std::string outputSfMViewsAndPoses;
   std::string extraInfoFolder;
   std::string describerTypesName = feature::EImageDescriberType_enumToString(feature::EImageDescriberType::SIFT);
@@ -100,14 +103,14 @@ int main(int argc, char **argv)
     ("input,i", po::value<std::string>(&sfmDataFilename)->required(),
       "SfMData file.")
     ("output,o", po::value<std::string>(&outputSfM)->required(),
-      "Path to the output SfMData file.")
-    ("featuresFolders,f", po::value<std::vector<std::string>>(&featuresFolders)->multitoken()->required(),
-      "Path to folder(s) containing the extracted features.")
-    ("matchesFolders,m", po::value<std::vector<std::string>>(&matchesFolders)->multitoken()->required(),
-      "Path to folder(s) in which computed matches are stored.");
+      "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()->required(),
+      "Path to folder(s) containing the extracted features.")
+    ("matchesFolders,m", po::value<std::vector<std::string>>(&matchesFolders)->multitoken()->required(),
+      "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),
@@ -163,7 +166,9 @@ int main(int argc, char **argv)
     ("useRigConstraint", po::value<bool>(&sfmParams.useRigConstraint)->default_value(sfmParams.useRigConstraint),
       "Enable/Disable rig constraint.\n")
     ("lockScenePreviouslyReconstructed", po::value<bool>(&lockScenePreviouslyReconstructed)->default_value(lockScenePreviouslyReconstructed),
-      "Lock/Unlock scene previously reconstructed.\n");
+      "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");
 
   po::options_description logParams("Log parameters");
   logParams.add_options()