Rig support

src/aliceVision/sfm/CMakeLists.txt

@@ -32,6 +32,8 @@ set(sfm_files_headers
   pipeline/expanding/ExpansionHistory.hpp
   pipeline/expanding/ExpansionChunk.hpp
   pipeline/expanding/ExpansionIteration.hpp
+  pipeline/expanding/ExpansionPostProcess.hpp
+  pipeline/expanding/ExpansionPostProcessRig.hpp
   pipeline/expanding/ExpansionPolicy.hpp
   pipeline/expanding/ExpansionPolicyLegacy.hpp
   pipeline/expanding/ExpansionProcess.hpp
@@ -72,6 +74,7 @@ set(sfm_files_sources
   pipeline/expanding/ExpansionChunk.cpp
   pipeline/expanding/ExpansionIteration.cpp
   pipeline/expanding/ExpansionPolicyLegacy.cpp
+  pipeline/expanding/ExpansionPostProcessRig.cpp
   pipeline/expanding/ExpansionProcess.cpp
   pipeline/expanding/ConnexityGraph.cpp
   pipeline/expanding/LbaPolicyConnexity.cpp

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

@@ -0,0 +1,45 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2024 AliceVision contributors.
+// This Source Code Form is subject to the terms of the Mozilla Public License,
+// v. 2.0. If a copy of the MPL was not distributed with this file,
+// You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include <aliceVision/types.hpp>
+#include <aliceVision/sfmData/SfMData.hpp>
+#include <aliceVision/track/TracksHandler.hpp>
+
+namespace aliceVision {
+namespace sfm {
+
+class ExpansionPostProcess
+{
+public:
+    using uptr = std::unique_ptr<ExpansionPostProcess>;
+
+public:
+
+    /**
+     * @brief Perform post process for an iteration
+     * @param sfmData the scene to process
+     * @param tracksHandler the tracks for this scene
+     * @return true if the process succeeded
+    */
+    virtual bool process(sfmData::SfMData & sfmData, track::TracksHandler & tracksHandler) = 0;
+
+    /**
+     * @brief get updated views during process
+     * @return a set of updated views
+    */
+    const std::set<IndexT> & getUpdatedViews() const
+    {
+        return _updatedViews;
+    }
+
+protected:
+    std::set<IndexT> _updatedViews;
+};
+
+}
+}

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

@@ -0,0 +1,51 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2024 AliceVision contributors.
+// This Source Code Form is subject to the terms of the Mozilla Public License,
+// v. 2.0. If a copy of the MPL was not distributed with this file,
+// You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#include <aliceVision/sfm/pipeline/expanding/ExpansionPostProcessRig.hpp>
+#include <aliceVision/sfm/pipeline/RigSequence.hpp>
+
+namespace aliceVision {
+namespace sfm {
+
+bool ExpansionPostProcessRig::process(sfmData::SfMData & sfmData, track::TracksHandler & tracksHandler)
+{
+    RigParams params;
+    params.useRigConstraint = true;
+    params.minNbCamerasForCalibration = _minNumberCameras;
+    _updatedViews.clear();
+
+    if (sfmData.getRigs().empty())
+    {
+        return false;
+    }
+
+    /*Calibrate all rigs*/
+    int countInit = 0;
+    for (const auto & [rigId, rigObject] : sfmData.getRigs())
+    {
+        if (rigObject.isInitialized())
+        {
+            continue;
+        }
+
+        RigSequence sequence(sfmData, rigId, params);
+        sequence.init(tracksHandler.getTracksPerView());
+        sequence.updateSfM(_updatedViews);
+
+        countInit++;
+    }
+
+    if (countInit == 0)
+    {
+        return false;
+    }
+
+
+    return true;
+}
+
+}
+}

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

@@ -0,0 +1,43 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2024 AliceVision contributors.
+// This Source Code Form is subject to the terms of the Mozilla Public License,
+// v. 2.0. If a copy of the MPL was not distributed with this file,
+// You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#pragma once
+
+#include <aliceVision/sfm/pipeline/expanding/ExpansionPostProcess.hpp>
+
+namespace aliceVision {
+namespace sfm {
+
+class ExpansionPostProcessRig : public ExpansionPostProcess
+{
+public:
+    using uptr = std::unique_ptr<ExpansionPostProcessRig>;
+
+public:
+
+    /**
+     * @brief Perform post process for an iteration
+     * @param sfmData the scene to process
+     * @param tracksHandler the tracks for this scene
+     * @return true if the process succeeded
+    */
+    bool process(sfmData::SfMData & sfmData, track::TracksHandler & tracksHandler) override;
+
+    /**
+     * @brief update the required number of cameras for rig resection
+     * param count the desired minimal value
+    */
+    void setMinimalNumberCameras(std::size_t count)
+    {
+        _minNumberCameras = count;
+    }
+
+private:
+    std::size_t _minNumberCameras = 20;
+};
+
+}
+}

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

@@ -39,6 +39,25 @@ bool ExpansionProcess::process(sfmData::SfMData & sfmData, track::TracksHandler
         {
             return false;
         }
+
+        if (_postProcessHandler)
+        {
+            if (_postProcessHandler->process(sfmData, tracksHandler))
+            {
+                return true;
+
+                if (_iterationHandler->getChunkHandler() == nullptr)
+                {
+                    return false;
+                }
+
+                // Perform a new estimation step on modified views
+                if (!_iterationHandler->getChunkHandler()->process(sfmData, tracksHandler, _postProcessHandler->getUpdatedViews()))
+                {
+                    return false;
+                }
+            }
+        }
     }
     while (sfmData.getPoses().size() != nbPoses);
 

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

@@ -12,6 +12,7 @@
 #include <aliceVision/feature/FeaturesPerView.hpp>
 #include <aliceVision/sfm/pipeline/expanding/ExpansionIteration.hpp>
 #include <aliceVision/sfm/pipeline/expanding/ExpansionHistory.hpp>
+#include <aliceVision/sfm/pipeline/expanding/ExpansionPostProcess.hpp>
 
 namespace aliceVision {
 namespace sfm {
@@ -46,6 +47,7 @@ class ExpansionProcess{
     {
         _historyHandler = expansionHistory;
     }
+
     /**
      * brief setup the expansion iteration handler
      * @param expansionIteration a unique ptr. Ownership will be taken
@@ -55,6 +57,15 @@ class ExpansionProcess{
         _iterationHandler = std::move(expansionIteration);
     }
 
+    /**
+     * brief setup the expansion iteration post process handler
+     * @param expansionPostProcess a unique ptr. Ownership will be taken
+     */
+    void setExpansionIterationPostProcessHandler(ExpansionPostProcess::uptr & expansionPostProcess)
+    {
+        _postProcessHandler = std::move(expansionPostProcess);
+    }
+
 private:
 
     /**
@@ -81,6 +92,11 @@ class ExpansionProcess{
      * Handle iteration prcess
     */
     std::unique_ptr<ExpansionIteration> _iterationHandler;
+
+    /**
+     * Postprocess step
+    */
+    ExpansionPostProcess::uptr _postProcessHandler;
 };
 
 } // namespace sfm

src/software/pipeline/main_sfmExpanding.cpp

@@ -18,6 +18,7 @@
 #include <aliceVision/sfm/pipeline/expanding/ExpansionIteration.hpp>
 #include <aliceVision/sfm/pipeline/expanding/ExpansionProcess.hpp>
 #include <aliceVision/sfm/pipeline/expanding/LbaPolicyConnexity.hpp>
+#include <aliceVision/sfm/pipeline/expanding/ExpansionPostProcessRig.hpp>
 
 #include <boost/program_options.hpp>
 
@@ -51,6 +52,8 @@ int aliceVision_main(int argc, char** argv)
     double maxReprojectionError = 4.0;
     bool lockAllIntrinsics = false;
     int minNbCamerasToRefinePrincipalPoint = 3;
+    bool useRigConstraint = true;
+    int minNbCamerasForRigCalibration = 20;
 
     int randomSeed = std::mt19937::default_seed;
 
@@ -88,6 +91,8 @@ int aliceVision_main(int argc, char** argv)
          "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.")
+    ("useRigConstraint", po::value<bool>(&useRigConstraint)->default_value(useRigConstraint), "Enable/Disable rig constraint.")
+    ("rigMinNbCamerasForCalibration", po::value<int>(&minNbCamerasForRigCalibration)->default_value(minNbCamerasForRigCalibration),"Minimal number of cameras to start the calibration of the rig.")
     ;
      // clang-format on
 
@@ -189,9 +194,19 @@ int aliceVision_main(int argc, char** argv)
     expansionIteration->setExpansionPolicyHandler(expansionPolicy);
     expansionIteration->setExpansionChunkHandler(expansionChunk);
 
+    /*sfm::ExpansionPostProcess::uptr expansionPostProcess;
+    if (useRigConstraint)
+    {
+        sfm::ExpansionPostProcessRig::uptr expansionPostProcessTyped = std::make_unique<sfm::ExpansionPostProcessRig>();
+        expansionPostProcessTyped->setMinimalNumberCameras(minNbCamerasForRigCalibration);
+        expansionPostProcess = std::move(expansionPostProcessTyped);
+    }*/
+
+
     sfm::ExpansionProcess::uptr expansionProcess = std::make_unique<sfm::ExpansionProcess>();
     expansionProcess->setExpansionHistoryHandler(expansionHistory);
     expansionProcess->setExpansionIterationHandler(expansionIteration);
+    /*expansionProcess->setExpansionIterationPostProcessHandler(expansionPostProcess);*/
 
     if (!expansionProcess->process(sfmData, tracksHandler))
     {