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

Author: almarouk

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);

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();

src/software/pipeline/main_incrementalSfM.cpp

@@ -107,93 +107,98 @@ int aliceVision_main(int argc, char **argv)
   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.")
+     "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.")
+     "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).")
+     "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.")
+     "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())
+     feature::EImageDescriberType_informations().c_str())
     ("interFileExtension", po::value<std::string>(&sfmParams.sfmStepFileExtension)->default_value(sfmParams.sfmStepFileExtension),
-      "Extension of the intermediate file export.")
+     "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.")
+     "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.")
+     "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.")
+     "Minimum track length in input of SfM.")
     ("minAngleForTriangulation", po::value<double>(&sfmParams.minAngleForTriangulation)->default_value(sfmParams.minAngleForTriangulation),
-      "Minimum angle for triangulation.")
+     "Minimum angle for triangulation.")
     ("minAngleForLandmark", po::value<double>(&sfmParams.minAngleForLandmark)->default_value(sfmParams.minAngleForLandmark),
-      "Minimum angle for landmark.")
+     "Minimum angle for landmark.")
     ("maxReprojectionError", po::value<double>(&sfmParams.maxReprojectionError)->default_value(sfmParams.maxReprojectionError),
-      "Maximum reprojection error.")
+     "Maximum reprojection error.")
     ("minAngleInitialPair", po::value<float>(&sfmParams.minAngleInitialPair)->default_value(sfmParams.minAngleInitialPair),
-      "Minimum angle for the initial pair.")
+     "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.")
+     "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.")
+     "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.")
+     "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.")
+     "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.")
+     "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).")
+     "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.")
+     "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.")
+     "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.")
+     "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.")
+     "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)")
+     "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).")
+     "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.")
+     "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.")
+     "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")
+     "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")
+     "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")
+     "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")
+     "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")
+     "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")
+     "Compute each 3D point color.\n")
     ("useAutoTransform", po::value<bool>(&useAutoTransform)->default_value(useAutoTransform),
-      "Transform the result with the alignment method 'AUTO'.\n")
+     "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.")
+     "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.")
-    ;
+     "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"