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Synthesize chained match graph for more mapper tests #2076

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Merged
ahojnnes merged 2 commits into from
Jul 29, 2023
Merged

Synthesize chained match graph for more mapper tests #2076

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3642678
Synthesize chained match graph for more mapper tests
ahojnnes Jul 29, 2023
53bfd66
Merge branch 'dev' into user/joschonb/chained-synth-matches
ahojnnes Jul 29, 2023
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31 changes: 31 additions & 0 deletions src/colmap/controllers/incremental_mapper_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -170,4 +170,35 @@ TEST(IncrementalMapperController, MultiReconstruction) {
/*num_obs_tolerance=*/0);
}

TEST(IncrementalMapperController, ChainedMatches) {
const std::string database_path = CreateTestDir() + "/database.db";

Database database(database_path);
Reconstruction gt_reconstruction;
SyntheticDatasetOptions synthetic_dataset_options;
synthetic_dataset_options.match_config =
SyntheticDatasetOptions::MatchConfig::CHAINED;
synthetic_dataset_options.num_cameras = 1;
synthetic_dataset_options.num_images = 4;
synthetic_dataset_options.num_points3D = 100;
synthetic_dataset_options.point2D_stddev = 0;
SynthesizeDataset(synthetic_dataset_options, &gt_reconstruction, &database);

auto reconstruction_manager = std::make_shared<ReconstructionManager>();
IncrementalMapperController mapper(
std::make_shared<IncrementalMapperOptions>(),
/*image_path=*/"",
database_path,
reconstruction_manager);
mapper.Start();
mapper.Wait();

ASSERT_EQ(reconstruction_manager->Size(), 1);
ExpectEqualReconstructions(gt_reconstruction,
*reconstruction_manager->Get(0),
/*max_rotation_error_deg=*/1e-2,
/*max_proj_center_error=*/1e-4,
/*num_obs_tolerance=*/0);
}

} // namespace colmap
124 changes: 90 additions & 34 deletions src/colmap/scene/synthetic.cc
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Expand Up @@ -39,6 +39,87 @@
#include <Eigen/Geometry>

namespace colmap {
namespace {

void SynthesizeExhaustiveMatches(Reconstruction* reconstruction,
Database* database) {
const std::vector<image_t>& reg_image_ids = reconstruction->RegImageIds();
for (size_t image_idx1 = 0; image_idx1 < reg_image_ids.size(); ++image_idx1) {
const auto& image1 = reconstruction->Image(reg_image_ids[image_idx1]);
const auto num_points2D1 = image1.NumPoints2D();
for (size_t image_idx2 = 0; image_idx2 < image_idx1; ++image_idx2) {
const auto& image2 = reconstruction->Image(reg_image_ids[image_idx2]);
const auto num_points2D2 = image2.NumPoints2D();

TwoViewGeometry two_view_geometry;
two_view_geometry.config = TwoViewGeometry::CALIBRATED;
const Rigid3d cam2_from_cam1 =
image2.CamFromWorld() * Inverse(image1.CamFromWorld());
two_view_geometry.E = EssentialMatrixFromPose(cam2_from_cam1);

for (point2D_t point2D_idx1 = 0; point2D_idx1 < num_points2D1;
++point2D_idx1) {
const auto& point2D1 = image1.Point2D(point2D_idx1);
if (!point2D1.HasPoint3D()) {
continue;
}
for (point2D_t point2D_idx2 = 0; point2D_idx2 < num_points2D2;
++point2D_idx2) {
const auto& point2D2 = image2.Point2D(point2D_idx2);
if (point2D1.point3D_id == point2D2.point3D_id) {
two_view_geometry.inlier_matches.emplace_back(point2D_idx1,
point2D_idx2);
break;
}
}
}

database->WriteTwoViewGeometry(
image1.ImageId(), image2.ImageId(), two_view_geometry);
}
}
}

void SynthesizeChainedMatches(Reconstruction* reconstruction,
Database* database) {
std::unordered_map<image_pair_t, TwoViewGeometry> two_view_geometries;
for (const auto& point3D : reconstruction->Points3D()) {
std::vector<TrackElement> track_elements =
point3D.second.Track().Elements();
std::shuffle(track_elements.begin(), track_elements.end(), *PRNG);
for (size_t i = 1; i < track_elements.size(); ++i) {
const auto& prev_track_el = track_elements[i - 1];
const auto& curr_track_el = track_elements[i];
const image_pair_t pair_id = Database::ImagePairToPairId(
prev_track_el.image_id, curr_track_el.image_id);
if (Database::SwapImagePair(prev_track_el.image_id,
curr_track_el.image_id)) {
two_view_geometries[pair_id].inlier_matches.emplace_back(
curr_track_el.point2D_idx, prev_track_el.point2D_idx);
} else {
two_view_geometries[pair_id].inlier_matches.emplace_back(
prev_track_el.point2D_idx, curr_track_el.point2D_idx);
}
}
}

for (auto& two_view_geometry : two_view_geometries) {
image_t image_id1;
image_t image_id2;
Database::PairIdToImagePair(
two_view_geometry.first, &image_id1, &image_id2);
const auto& image1 = reconstruction->Image(image_id1);
const auto& image2 = reconstruction->Image(image_id2);
two_view_geometry.second.config = TwoViewGeometry::CALIBRATED;
const Rigid3d cam2_from_cam1 =
image2.CamFromWorld() * Inverse(image1.CamFromWorld());
two_view_geometry.second.E = EssentialMatrixFromPose(cam2_from_cam1);
database->WriteTwoViewGeometry(
image1.ImageId(), image2.ImageId(), two_view_geometry.second);
}
}

} // namespace

void SynthesizeDataset(const SyntheticDatasetOptions& options,
Reconstruction* reconstruction,
Expand Down Expand Up @@ -147,40 +228,15 @@ void SynthesizeDataset(const SyntheticDatasetOptions& options,
reconstruction->RegisterImage(image_id);
}

const std::vector<image_t>& reg_image_ids = reconstruction->RegImageIds();
for (size_t image_idx1 = 0; image_idx1 < reg_image_ids.size(); ++image_idx1) {
const auto& image1 = reconstruction->Image(reg_image_ids[image_idx1]);
const auto num_points2D1 = image1.NumPoints2D();
for (size_t image_idx2 = 0; image_idx2 < image_idx1; ++image_idx2) {
const auto& image2 = reconstruction->Image(reg_image_ids[image_idx2]);
const auto num_points2D2 = image2.NumPoints2D();

TwoViewGeometry two_view_geometry;
two_view_geometry.config = TwoViewGeometry::CALIBRATED;
const Rigid3d cam2_from_cam1 =
image2.CamFromWorld() * Inverse(image1.CamFromWorld());
two_view_geometry.E = EssentialMatrixFromPose(cam2_from_cam1);

for (point2D_t point2D_idx1 = 0; point2D_idx1 < num_points2D1;
++point2D_idx1) {
const auto& point2D1 = image1.Point2D(point2D_idx1);
if (!point2D1.HasPoint3D()) {
continue;
}
for (point2D_t point2D_idx2 = 0; point2D_idx2 < num_points2D2;
++point2D_idx2) {
const auto& point2D2 = image2.Point2D(point2D_idx2);
if (point2D1.point3D_id == point2D2.point3D_id) {
two_view_geometry.inlier_matches.emplace_back(point2D_idx1,
point2D_idx2);
break;
}
}
}

database->WriteTwoViewGeometry(
image1.ImageId(), image2.ImageId(), two_view_geometry);
}
switch (options.match_config) {
case SyntheticDatasetOptions::MatchConfig::EXHAUSTIVE:
SynthesizeExhaustiveMatches(reconstruction, database);
break;
case SyntheticDatasetOptions::MatchConfig::CHAINED:
SynthesizeChainedMatches(reconstruction, database);
break;
default:
LOG(FATAL) << "Invalid MatchConfig specified";
}

reconstruction->UpdatePoint3DErrors();
Expand Down
8 changes: 8 additions & 0 deletions src/colmap/scene/synthetic.h
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Expand Up @@ -50,6 +50,14 @@ struct SyntheticDatasetOptions {

int num_points2D_without_point3D = 10;
double point2D_stddev = 0.0;

enum class MatchConfig {
// Exhaustive matches between all pairs of observations of a 3D point.
EXHAUSTIVE = 1,
// Chain of matches with random start/end observations.
CHAINED = 2,
};
MatchConfig match_config = MatchConfig::EXHAUSTIVE;
};

void SynthesizeDataset(const SyntheticDatasetOptions& options,
Expand Down
26 changes: 26 additions & 0 deletions src/colmap/scene/synthetic_test.cc
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Expand Up @@ -121,4 +121,30 @@ TEST(SynthesizeDataset, MultiReconstruction) {
2 * num_image_pairs * options.num_points3D);
}

TEST(SynthesizeDataset, ExhaustiveMatches) {
Database database(Database::kInMemoryDatabasePath);
Reconstruction reconstruction;
SyntheticDatasetOptions options;
options.match_config = SyntheticDatasetOptions::MatchConfig::EXHAUSTIVE;
SynthesizeDataset(options, &reconstruction, &database);

const int num_image_pairs = options.num_images * (options.num_images - 1) / 2;
EXPECT_EQ(database.NumVerifiedImagePairs(), num_image_pairs);
EXPECT_EQ(database.NumInlierMatches(),
num_image_pairs * options.num_points3D);
}

TEST(SynthesizeDataset, ChainedMatches) {
Database database(Database::kInMemoryDatabasePath);
Reconstruction reconstruction;
SyntheticDatasetOptions options;
options.match_config = SyntheticDatasetOptions::MatchConfig::CHAINED;
SynthesizeDataset(options, &reconstruction, &database);

const int num_image_pairs = options.num_images * (options.num_images - 1) / 2;
EXPECT_EQ(database.NumVerifiedImagePairs(), num_image_pairs);
EXPECT_EQ(database.NumInlierMatches(),
(options.num_images - 1) * options.num_points3D);
}

} // namespace colmap