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Odd Kiva
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May 25, 2024
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| // ========================================================================== // | ||
| // This file is part of Sara, a basic set of libraries in C++ for computer | ||
| // vision. | ||
| // | ||
| // Copyright (C) 2024-present David Ok <[email protected]> | ||
| // | ||
| // 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 http://mozilla.org/MPL/2.0/. | ||
| // ========================================================================== // | ||
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| #include <DO/Sara/SfM/Helpers/Utilities.hpp> | ||
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| #include <DO/Sara/Graphics/ImageDraw.hpp> | ||
| #include <DO/Sara/Visualization/Features/Draw.hpp> | ||
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| #include <fmt/format.h> | ||
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| #include <fstream> | ||
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| namespace DO::Sara { | ||
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| auto draw_feature_tracks( | ||
| DO::Sara::ImageView<Rgb8>& display, // | ||
| const CameraPoseGraph& pgraph, // | ||
| const FeatureGraph& fgraph, // | ||
| const CameraPoseGraph::Vertex pose_u, | ||
| const std::vector<FeatureTracker::Track>& tracks_alive, | ||
| [[maybe_unused]] const std::vector<std::size_t>& track_visibility_count, | ||
| const float scale) -> void | ||
| { | ||
| for (auto t = 0u; t < tracks_alive.size(); ++t) | ||
| { | ||
| const auto& track = tracks_alive[t]; | ||
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| // Just to double check. | ||
| // if (track_visibility_count[t] < 3u) | ||
| // continue; | ||
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| auto p = std::array<Eigen::Vector2f, 2>{}; | ||
| auto r = std::array<float, 2>{}; | ||
| { | ||
| const auto& [pose_v0, k] = fgraph[track[0]]; | ||
| const auto& f0 = features(pgraph[pose_v0].keypoints)[k]; | ||
| p[0] = f0.center(); | ||
| r[0] = std::max(f0.radius() * scale, 1.f); | ||
| const auto color = | ||
| pose_v0 == pose_u ? Rgb8{0, 255, 255} : Rgb8{0, 127, 127}; | ||
| draw_circle(display, p[0], r[0], color, 3); | ||
| } | ||
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| for (auto v1 = 1u; v1 < track.size(); ++v1) | ||
| { | ||
| const auto& [pose_v1, k] = fgraph[track[v1]]; | ||
| const auto& f1 = features(pgraph[pose_v1].keypoints)[k]; | ||
| p[1] = f1.center(); | ||
| r[1] = std::max(f1.radius() * scale, 1.f); | ||
| const auto color = | ||
| pose_v1 == pose_u ? Rgb8{255, 0, 0} : Rgb8{0, 127, 127}; | ||
| draw_circle(display, p[1], r[1], color, 3); | ||
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| draw_arrow(display, p[0], p[1], color, 3); | ||
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| p[0] = p[1]; | ||
| r[0] = r[1]; | ||
| } | ||
| } | ||
| } | ||
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| auto write_point_correspondences( | ||
| const CameraPoseGraph& pgraph, // | ||
| const FeatureGraph& fgraph, // | ||
| const std::vector<FeatureTracker::Track>& tracks_alive, | ||
| const std::filesystem::path& out_csv_fp) -> void | ||
| { | ||
| std::ofstream out{out_csv_fp.string()}; | ||
| if (!out) | ||
| throw std::runtime_error{"Cannot create output CSV!"}; | ||
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| for (auto t = 0u; t < tracks_alive.size(); ++t) | ||
| { | ||
| const auto& track = tracks_alive[t]; | ||
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| auto p = std::array<Eigen::Vector2f, 2>{}; | ||
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| const auto& [pose_v0, k0] = fgraph[track.front()]; | ||
| const auto& f0 = features(pgraph[pose_v0].keypoints)[k0]; | ||
| p[0] = f0.center(); | ||
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| const auto& [pose_v1, k1] = fgraph[track.back()]; | ||
| const auto& f1 = features(pgraph[pose_v1].keypoints)[k1]; | ||
| p[1] = f1.center(); | ||
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| out << fmt::format("{},{},{},{}\n", p[0].x(), p[0].y(), p[1].x(), | ||
| p[1].y()); | ||
| } | ||
| } | ||
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| } // namespace DO::Sara |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| // ========================================================================== // | ||
| // This file is part of Sara, a basic set of libraries in C++ for computer | ||
| // vision. | ||
| // | ||
| // Copyright (C) 2024-present David Ok <[email protected]> | ||
| // | ||
| // 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 http://mozilla.org/MPL/2.0/. | ||
| // ========================================================================== // | ||
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| #pragma once | ||
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| #include <DO/Sara/SfM/Graph/FeatureTracker.hpp> | ||
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| #include <filesystem> | ||
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| namespace DO::Sara { | ||
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| auto | ||
| draw_feature_tracks(ImageView<Rgb8>&, // | ||
| const CameraPoseGraph&, // | ||
| const FeatureGraph&, // | ||
| const CameraPoseGraph::Vertex pose_vertex, | ||
| const std::vector<FeatureTracker::Track>& tracks, | ||
| const std::vector<std::size_t>& track_visibility_count, | ||
| const float scale = 1.f) -> void; | ||
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| auto | ||
| write_point_correspondences(const CameraPoseGraph&, const FeatureGraph&, | ||
| const std::vector<FeatureTracker::Track>& tracks, | ||
| const std::filesystem::path& out_csv_fp) -> void; | ||
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| } // namespace DO::Sara |
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