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vcg/wrap/import_out.h uses easyexif lib, small typo corrected in alnP…
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…arser
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@alemuntoni
alemuntoni committed Sep 23, 2020
1 parent f381721 commit dd8c264
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Showing 2 changed files with 190 additions and 169 deletions.
26 changes: 13 additions & 13 deletions wrap/io_trimesh/alnParser.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,14 @@

struct RangeMap
{
RangeMap()
{
quality = 1.0f;
}

std::string filename;
Matrix44m trasformation;
float quality;
RangeMap()
{
quality = 1.0f;
}
std::string filename;
Matrix44m transformation;
float quality;
};

class ALNParser
Expand Down Expand Up @@ -66,7 +66,7 @@ class ALNParser
{
(*rm).filename = (*it);
(*rm).quality = 1.0f;
(*rm).trasformation.SetIdentity();
(*rm).transformation.SetIdentity();
}
files.clear();
return NoError;
Expand Down Expand Up @@ -106,10 +106,10 @@ class ALNParser
rm.quality = (float) atof(occurrence+2);
assert(rm.quality>0);

fscanf(stream,"%f %f %f %f \n",&(rm.trasformation[0][0]),&(rm.trasformation[0][1]),&(rm.trasformation[0][2]),&(rm.trasformation[0][3]));
fscanf(stream,"%f %f %f %f \n",&(rm.trasformation[1][0]),&(rm.trasformation[1][1]),&(rm.trasformation[1][2]),&(rm.trasformation[1][3]));
fscanf(stream,"%f %f %f %f \n",&(rm.trasformation[2][0]),&(rm.trasformation[2][1]),&(rm.trasformation[2][2]),&(rm.trasformation[2][3]));
fscanf(stream,"%f %f %f %f \n",&(rm.trasformation[3][0]),&(rm.trasformation[3][1]),&(rm.trasformation[3][2]),&(rm.trasformation[3][3]));
fscanf(stream,"%f %f %f %f \n",&(rm.transformation[0][0]),&(rm.transformation[0][1]),&(rm.transformation[0][2]),&(rm.transformation[0][3]));
fscanf(stream,"%f %f %f %f \n",&(rm.transformation[1][0]),&(rm.transformation[1][1]),&(rm.transformation[1][2]),&(rm.transformation[1][3]));
fscanf(stream,"%f %f %f %f \n",&(rm.transformation[2][0]),&(rm.transformation[2][1]),&(rm.transformation[2][2]),&(rm.transformation[2][3]));
fscanf(stream,"%f %f %f %f \n",&(rm.transformation[3][0]),&(rm.transformation[3][1]),&(rm.transformation[3][2]),&(rm.transformation[3][3]));

rangemaps.push_back(rm);
}
Expand Down
333 changes: 177 additions & 156 deletions wrap/io_trimesh/import_out.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,26 +31,21 @@
#include <wrap/callback.h>
#include <wrap/io_trimesh/io_mask.h>
#include <QImageReader>

extern "C"
{
#include <jhead.h>
int ReadJpegSections (FILE * infile, ReadMode_t ReadMode);
void ResetJpgfile(void);
}
#include <QFileInfo>
#include <exif.h> //external easyexif lib

namespace vcg {
namespace tri {
namespace io {

struct Correspondence{
Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
unsigned int id_img,key;
float x;
float y;
};
struct Correspondence{
Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
unsigned int id_img,key;
float x;
float y;
};

typedef std::vector<Correspondence> CorrVec;
typedef std::vector<Correspondence> CorrVec;

/**
This class encapsulate a filter for opening bundler file
Expand All @@ -59,148 +54,174 @@ template <class OpenMeshType>
class ImporterOUT
{
public:

typedef typename OpenMeshType::VertexPointer VertexPointer;
typedef typename OpenMeshType::ScalarType ScalarType;
typedef typename OpenMeshType::CoordType CoordType;
typedef typename OpenMeshType::VertexType VertexType;
typedef typename OpenMeshType::FaceType FaceType;
typedef typename OpenMeshType::VertexIterator VertexIterator;
typedef typename OpenMeshType::FaceIterator FaceIterator;
typedef typename OpenMeshType::EdgeIterator EdgeIterator;

static void readline(FILE *fp, char *line, int max=100){
fgets ( line, max, fp);
}

static bool ReadHeader(FILE *fp,unsigned int &num_cams, unsigned int &num_points){
char line[100];
readline(fp, line);
if( line[0]=='\0' ) return false;
line[18]='\0';
if(0!=strcmp("# Bundle file v0.3", line)) return false;
readline(fp, line);
if(line[0]=='\0') return false;
if (sscanf(line, "%d %d", &num_cams, &num_points) != 2) return false;
return true;
}

static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
std::vector<std::string > & image_filenames,
const char * filename,const char * filename_images, CallBackPos *cb=0)
{
unsigned int num_cams,num_points;
typedef typename vcg::Matrix44<ScalarType> Matrix44x;
typedef typename vcg::Matrix33<ScalarType> Matrix33x;
FILE *fp = fopen(filename,"r");
if(!fp) return false;
ReadHeader(fp, num_cams, num_points);
char line[100];
if(cb) cb(0,"Reading images");
ReadImagesFilenames(filename_images, image_filenames);
const QString path_im = QFileInfo(filename_images).absolutePath()+QString("/");

if(cb) cb(50,"Reading cameras");
shots.resize(num_cams);
for(uint i = 0; i < num_cams;++i)
{
float f, k1, k2;
float R[16]={0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,1};
vcg::Point3f t;

readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &f, &k1, &k2) != 3) return false;

readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])) != 3) return false; R[3] = 0;
readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])) != 3) return false; R[7] = 0;
readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])) != 3) return false; R[11] = 0;
readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2])) != 3) return false;

Matrix44x mat = Matrix44x::Construct(Matrix44f(R));

Matrix33x Rt = Matrix33x( Matrix44x(mat), 3);
Rt.Transpose();

CoordType pos = Rt * CoordType(t[0], t[1], t[2]);

shots[i].Extrinsics.SetTra(CoordType(-pos[0],-pos[1],-pos[2]));
shots[i].Extrinsics.SetRot(mat);

shots[i].Intrinsics.FocalMm = f;
shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
shots[i].Intrinsics.k[1] = 0.0;//k2;
shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(1,1);
QSize size;
QImageReader sizeImg(QString::fromStdString(image_filenames[i]));
if(sizeImg.size()==QSize(-1,-1))
{
QImageReader sizeImg(QString::fromStdString(qPrintable(path_im)+image_filenames[i]));
size=sizeImg.size();
}
else
size=sizeImg.size();
shots[i].Intrinsics.ViewportPx = vcg::Point2i(size.width(),size.height());
shots[i].Intrinsics.CenterPx[0] = (int)((double)shots[i].Intrinsics.ViewportPx[0]/2.0f);
shots[i].Intrinsics.CenterPx[1] = (int)((double)shots[i].Intrinsics.ViewportPx[1]/2.0f);
//AddIntrinsics(shots[i], std::string(filename_images_path).append(image_filenames[i]).c_str());
}

// load all correspondences
typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");

typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
for(uint i = 0; i < num_points;++i,++vi){
double x,y,z;
unsigned int r,g,b,i_cam, key_sift,n_corr;
if (fscanf(fp,"%lf %lf %lf ",&x,&y,&z) != 3) return false;
(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
if (fscanf(fp,"%d %d %d ",&r,&g,&b) != 3) return false;
(*vi).C() = vcg::Color4b(r,g,b,255);

if (fscanf(fp,"%d ",&n_corr) != 1) return false;
for(uint j = 0; j < n_corr; ++j){
if (fscanf(fp,"%d %d %lf %lf ",&i_cam,&key_sift,&x,&y) != 4) return false;
Correspondence corr(i_cam,key_sift,x,y);
ch[i].push_back(corr);
}
}
vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
fclose(fp);

return (shots.size() == 0);
}


static bool ReadImagesFilenames(const char * filename,std::vector<std::string> &image_filenames)
{
FILE * fp = fopen(filename,"r");
if (!fp) return false;
else
{
char line[1000], name[1000];
while(!feof(fp)){
readline(fp, line, 1000);
if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
if (sscanf(line, "%s", name) != 1) return false;
std::string n(name);
image_filenames.push_back(n);
}
}
fclose(fp);
return true;
}

static bool AddIntrinsics(vcg::Shotf &shot, const char * image_file)
{
::ResetJpgfile();
FILE * pFile = fopen(image_file, "rb");
int ret = ::ReadJpegSections (pFile, READ_METADATA);
fclose(pFile);
if(ret==0) return false;
shot.Intrinsics.ViewportPx = vcg::Point2i(ImageInfo.Width, ImageInfo.Height);
shot.Intrinsics.CenterPx = vcg::Point2f(float(ImageInfo.Width/2.0), float(ImageInfo.Height/2.0));

return true;
}

typedef typename OpenMeshType::VertexPointer VertexPointer;
typedef typename OpenMeshType::ScalarType ScalarType;
typedef typename OpenMeshType::CoordType CoordType;
typedef typename OpenMeshType::VertexType VertexType;
typedef typename OpenMeshType::FaceType FaceType;
typedef typename OpenMeshType::VertexIterator VertexIterator;
typedef typename OpenMeshType::FaceIterator FaceIterator;
typedef typename OpenMeshType::EdgeIterator EdgeIterator;

static void readline(FILE *fp, char *line, int max=100){
fgets ( line, max, fp);
}

static bool ReadHeader(FILE *fp,unsigned int &num_cams, unsigned int &num_points){
char line[100];
readline(fp, line);
if( line[0]=='\0' ) return false;
line[18]='\0';
if(0!=strcmp("# Bundle file v0.3", line)) return false;
readline(fp, line);
if(line[0]=='\0') return false;
if (sscanf(line, "%d %d", &num_cams, &num_points) != 2) return false;
return true;
}

static int Open(
OpenMeshType &m,
std::vector<Shot<ScalarType> > & shots,
std::vector<std::string > & image_filenames,
const char * filename,
const char * filename_images,
CallBackPos *cb=0)
{
unsigned int num_cams,num_points;
typedef typename vcg::Matrix44<ScalarType> Matrix44x;
typedef typename vcg::Matrix33<ScalarType> Matrix33x;
FILE *fp = fopen(filename,"r");
if(!fp) return false;
ReadHeader(fp, num_cams, num_points);
char line[100];
if(cb) cb(0,"Reading images");
ReadImagesFilenames(filename_images, image_filenames);
const QString path_im = QFileInfo(filename_images).absolutePath()+QString("/");

if(cb) cb(50,"Reading cameras");
shots.resize(num_cams);
for(uint i = 0; i < num_cams;++i)
{
float f, k1, k2;
float R[16]={0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,1};
vcg::Point3f t;

readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &f, &k1, &k2) != 3) return false;

readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])) != 3) return false; R[3] = 0;
readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])) != 3) return false; R[7] = 0;
readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])) != 3) return false; R[11] = 0;
readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2])) != 3) return false;

Matrix44x mat = Matrix44x::Construct(Matrix44f(R));

Matrix33x Rt = Matrix33x( Matrix44x(mat), 3);
Rt.Transpose();

CoordType pos = Rt * CoordType(t[0], t[1], t[2]);

shots[i].Extrinsics.SetTra(CoordType(-pos[0],-pos[1],-pos[2]));
shots[i].Extrinsics.SetRot(mat);

shots[i].Intrinsics.FocalMm = f;
shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
shots[i].Intrinsics.k[1] = 0.0;//k2;
shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(1,1);
QSize size;
QImageReader sizeImg(QString::fromStdString(image_filenames[i]));
if(sizeImg.size()==QSize(-1,-1))
{
QImageReader sizeImg(QString::fromStdString(qPrintable(path_im)+image_filenames[i]));
size=sizeImg.size();
}
else
size=sizeImg.size();
shots[i].Intrinsics.ViewportPx = vcg::Point2i(size.width(),size.height());
shots[i].Intrinsics.CenterPx[0] = (int)((double)shots[i].Intrinsics.ViewportPx[0]/2.0f);
shots[i].Intrinsics.CenterPx[1] = (int)((double)shots[i].Intrinsics.ViewportPx[1]/2.0f);
//AddIntrinsics(shots[i], std::string(filename_images_path).append(image_filenames[i]).c_str());
}

// load all correspondences
typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");

typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
for(uint i = 0; i < num_points;++i,++vi){
double x,y,z;
unsigned int r,g,b,i_cam, key_sift,n_corr;
if (fscanf(fp,"%lf %lf %lf ",&x,&y,&z) != 3) return false;
(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
if (fscanf(fp,"%d %d %d ",&r,&g,&b) != 3) return false;
(*vi).C() = vcg::Color4b(r,g,b,255);

if (fscanf(fp,"%d ",&n_corr) != 1) return false;
for(uint j = 0; j < n_corr; ++j){
if (fscanf(fp,"%d %d %lf %lf ",&i_cam,&key_sift,&x,&y) != 4) return false;
Correspondence corr(i_cam,key_sift,x,y);
ch[i].push_back(corr);
}
}
vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
fclose(fp);

return (shots.size() == 0);
}


static bool ReadImagesFilenames(const char * filename,std::vector<std::string> &image_filenames)
{
FILE * fp = fopen(filename,"r");
if (!fp) return false;
else
{
char line[1000], name[1000];
while(!feof(fp)){
readline(fp, line, 1000);
if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
if (sscanf(line, "%s", name) != 1) return false;
std::string n(name);
image_filenames.push_back(n);
}
}
fclose(fp);
return true;
}

static bool AddIntrinsics(vcg::Shotf &shot, const char * image_file)
{
// Read the JPEG file into a buffer
FILE *fp = fopen(qUtf8Printable(image_file), "rb");
if (!fp) {
std::cerr << "Exif Parsing: Unable to open file:\n\"%1\"\n\nError details: file %1 is not readable.";
return false;
}
fseek(fp, 0, SEEK_END);
unsigned long fsize = ftell(fp);
rewind(fp);
unsigned char *buf = new unsigned char[fsize];
if (fread(buf, 1, fsize, fp) != fsize) {
std::cerr << "Exif Parsing: Unable to read the content of the opened file:\n\"%1\"\n\nError details: file %1 is not readable.";
delete[] buf;
fclose(fp);
return false;
}
fclose(fp);

// Parse EXIF
easyexif::EXIFInfo ImageInfo;
int ret = ImageInfo.parseFrom(buf, fsize);
delete[] buf;
if (ret == 0) {
std::cerr << "Warning unable to parse exif for file %s" << qPrintable(image_file);
return false;
}

shot.Intrinsics.ViewportPx = vcg::Point2i(ImageInfo.ImageWidth, ImageInfo.ImageHeight);
shot.Intrinsics.CenterPx = vcg::Point2f(float(ImageInfo.ImageWidth/2.0), float(ImageInfo.ImageHeight/2.0));

return true;
}
}; // end class


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