master

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 project(ImageBasedModellingEdu)
-
+set(CMAKE_BUILD_TYPE Release)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_FLAGS "-fPIC")
 

README.md

@@ -1,2 +1,3 @@
 # ImageBasedModellingEduV1.0
 是专门用于深蓝学院基于图像的三维模型重建课程的代码
+a test!

core/CMakeLists.txt

@@ -1,7 +1,7 @@
 project(core)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_FLAGS "-fPIC")
-
+set(CMAKE_BUILD_TYPE Release)
 
 # find linpng
 find_package(PNG REQUIRED)
@@ -73,6 +73,6 @@ set(SOURCE_FILES
         mesh_io_smf.cc
         mesh_io_pbrt.cc
         )
-add_library(core ${HEADERS} ${SOURCE_FILES})
+add_library(core SHARED ${HEADERS} ${SOURCE_FILES})
 target_link_libraries(core util ${PNG_LIBRARIES} ${JPEG_LIBRARIES} ${TIFF_LIBRARIES})
 

examples/task1/CMakeLists.txt

@@ -1,7 +1,7 @@
 project(class1)
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_FLAGS "-fPIC")
-
+set(CMAKE_BUILD_TYPE Release)
 include_directories("../..")
 
 set(VISUAL_HEADER visualizer.h)  #${VISUAL_HEADER}

examples/task2/class2_test_fundamental_ransac.cc

@@ -12,6 +12,7 @@
 #include <fstream>
 #include <sstream>
 #include <set>
+#include <assert.h>
 #include <util/system.h>
 #include <sfm/ransac_fundamental.h>
 #include "math/functions.h"

examples/task3/class3_test_bundle_adjustment.cc

@@ -21,6 +21,7 @@
 #include "sfm/extract_focal_length.h"
 
 #include "sfm/triangulate.h"
+#include <assert.h>
 
 #define MAX_PIXELS 1000000
 

examples/task3/class3_test_jacobian.cc

@@ -1 +1 @@
-//// Created by caoqi on 2018/8/31.////3D:  1.36939, -1.17123, 7.04869//obs: 0.180123 -0.156584#include "sfm/bundle_adjustment.h"/* * This function computes the Jacobian entries for the given camera and * 3D point pair that leads to one observation. * * The camera block 'cam_x_ptr' and 'cam_y_ptr' is: * - ID 0: Derivative of focal length f * - ID 1-2: Derivative of distortion parameters k0, k1 * - ID 3-5: Derivative of translation t0, t1, t2 * - ID 6-8: Derivative of rotation w0, w1, w2 * * The 3D point block 'point_x_ptr' and 'point_y_ptr' is: * - ID 0-2: Derivative in x, y, and z direction. * * The function that leads to the observation is given as follows: * *   u = f * D(x,y) * x  (image observation x coordinate) *   v = f * D(x,y) * y  (image observation y coordinate) * * with the following definitions: * *   xc = R0 * X + t0  (homogeneous projection) *   yc = R1 * X + t1  (homogeneous projection) *   zc = R2 * X + t2  (homogeneous projection) *   x = xc / zc  (central projection) *   y = yc / zc  (central projection) *   D(x, y) = 1 + k0 (x^2 + y^2) + k1 (x^2 + y^2)^2  (distortion) */ /**  * /description 给定一个相机参数和一个三维点坐标，求解雅各比矩阵，即公式中的df(theta)/dtheta  * @param cam       相机参数  * @param point     三维点坐标  * @param cam_x_ptr 重投影坐标x 相对于相机参数的偏导数，相机有9个参数： [0] 焦距f; [1-2] 径向畸变系数k1, k2; [3-5] 平移向量 t1, t2, t3  *                                                               [6-8] 旋转矩阵（角轴向量）  * @param cam_y_ptr    重投影坐标y 相对于相机参数的偏导数，相机有9个参数  * @param point_x_ptr  重投影坐标x 相对于三维点坐标的偏导数  * @param point_y_ptr  重投影坐标y 相对于三维点坐标的偏导数  */void jacobian(sfm::ba::Camera const& cam,              sfm::ba::Point3D const& point,              double* cam_x_ptr, double* cam_y_ptr,              double* point_x_ptr, double* point_y_ptr){    const double f = cam.focal_length;    const double *R = cam.rotation;    const double *t = cam.translation;    const double *X = point.pos;    const double k0 = cam.distortion[0];    const double k1 = cam.distortion[1];    // 相机焦距的偏导数    cam_x_ptr[0] = 0.0;    cam_y_ptr[0] = 0.0;    // 相机径向畸变的偏导数    cam_x_ptr[1] = 0.0;    cam_x_ptr[2] = 0.0;    cam_y_ptr[1] = 0.0;    cam_y_ptr[2] = 0.0;    // 相机将向畸变系数的偏导数    cam_x_ptr[1] = 0.0;    cam_x_ptr[2] = 0.0;    cam_y_ptr[1] = 0.0;    cam_y_ptr[2] = 0.0;    // 相机平移向量的偏导数    cam_x_ptr[3] = 0.0;    cam_x_ptr[4] = 0.0;    cam_x_ptr[5] = 0.0;    cam_y_ptr[3] = 0.0;    cam_y_ptr[4] = 0.0;    cam_y_ptr[5] = 0.0;    // 相机旋转矩阵的偏导数    cam_x_ptr[6] = 0.0;    cam_x_ptr[7] = 0.0;    cam_x_ptr[8] = 0.0;    cam_y_ptr[6] = 0.0;    cam_y_ptr[7] = 0.0;    cam_y_ptr[8] = 0.0;    // 三维点的偏导数    point_x_ptr[0] = 0.0;    point_x_ptr[1] = 0.0;    point_x_ptr[2] = 0.0;    point_y_ptr[0] = 0.0;    point_y_ptr[1] = 0.0;    point_y_ptr[2] = 0.0;}int main(int argc, char*argv[]){    sfm::ba::Camera cam;    cam.focal_length  =  0.919654;    cam.distortion[0] = -0.108298;    cam.distortion[1] =  0.103775;    cam.rotation[0] = 0.999999;    cam.rotation[1] = -0.000676196;    cam.rotation[2] = -0.0013484;    cam.rotation[3] = 0.000663243;    cam.rotation[4] = 0.999949;    cam.rotation[5] = -0.0104095;    cam.rotation[6] = 0.00135482;    cam.rotation[7] = 0.0104087;    cam.rotation[8] = 0.999949;    cam.translation[0]=0.00278292;    cam.translation[1]=0.0587996;    cam.translation[2]=-0.127624;    sfm::ba::Point3D pt3D;    pt3D.pos[0]= 1.36939;    pt3D.pos[1]= -1.17123;    pt3D.pos[2]= 7.04869;    double cam_x_ptr[9]={0};    double cam_y_ptr[9]={0};    double point_x_ptr[3]={0};    double point_y_ptr[3]={0};    jacobian(cam, pt3D, cam_x_ptr, cam_y_ptr, point_x_ptr, point_y_ptr);   std::cout<<"Result is :"<<std::endl;    std::cout<<"cam_x_ptr: ";    for(int i=0; i<9; i++){        std::cout<<cam_x_ptr[i]<<" ";    }    std::cout<<std::endl;    std::cout<<"cam_y_ptr: ";    for(int i=0; i<9; i++){        std::cout<<cam_y_ptr[i]<<" ";    }    std::cout<<std::endl;    std::cout<<"point_x_ptr: ";    std::cout<<point_x_ptr[0]<<" "<<point_x_ptr[1]<<" "<<point_x_ptr[2]<<std::endl;    std::cout<<"point_y_ptr: ";    std::cout<<point_y_ptr[0]<<" "<<point_y_ptr[1]<<" "<<point_y_ptr[2]<<std::endl;    std::cout<<"\nResult should be :\n"       <<"cam_x_ptr: 0.195942 0.0123983 0.000847141 0.131188 0.000847456 -0.0257388 0.0260453 0.95832 0.164303\n"       <<"cam_y_ptr: -0.170272 -0.010774 -0.000736159 0.000847456 0.131426 0.0223669 -0.952795 -0.0244697 0.179883\n"       <<"point_x_ptr: 0.131153 0.000490796 -0.0259232\n"       <<"point_y_ptr: 0.000964926 0.131652 0.0209965\n";    return 0;}
+//// Created by caoqi on 2018/8/31.////3D:  1.36939, -1.17123, 7.04869//obs: 0.180123 -0.156584#include "sfm/bundle_adjustment.h"/* * This function computes the Jacobian entries for the given camera and * 3D point pair that leads to one observation. * * The camera block 'cam_x_ptr' and 'cam_y_ptr' is: * - ID 0: Derivative of focal length f * - ID 1-2: Derivative of distortion parameters k0, k1 * - ID 3-5: Derivative of translation t0, t1, t2 * - ID 6-8: Derivative of rotation w0, w1, w2 * * The 3D point block 'point_x_ptr' and 'point_y_ptr' is: * - ID 0-2: Derivative in x, y, and z direction. * * The function that leads to the observation is given as follows: * *   u = f * D(x,y) * x  (image observation x coordinate) *   v = f * D(x,y) * y  (image observation y coordinate) * * with the following definitions: * *   xc = R0 * X + t0  (homogeneous projection) *   yc = R1 * X + t1  (homogeneous projection) *   zc = R2 * X + t2  (homogeneous projection) *   x = xc / zc  (central projection) *   y = yc / zc  (central projection) *   D(x, y) = 1 + k0 (x^2 + y^2) + k1 (x^2 + y^2)^2  (distortion) */ /**  * /description 给定一个相机参数和一个三维点坐标，求解雅各比矩阵，即公式中的df(theta)/dtheta  * @param cam       相机参数  * @param point     三维点坐标  * @param cam_x_ptr 重投影坐标x 相对于相机参数的偏导数，相机有9个参数： [0] 焦距f; [1-2] 径向畸变系数k1, k2; [3-5] 平移向量 t1, t2, t3  *                                                               [6-8] 旋转矩阵（角轴向量）  * @param cam_y_ptr    重投影坐标y 相对于相机参数的偏导数，相机有9个参数  * @param point_x_ptr  重投影坐标x 相对于三维点坐标的偏导数  * @param point_y_ptr  重投影坐标y 相对于三维点坐标的偏导数  */void jacobian(sfm::ba::Camera const& cam,              sfm::ba::Point3D const& point,              double* cam_x_ptr, double* cam_y_ptr,              double* point_x_ptr, double* point_y_ptr){    const double f = cam.focal_length;    const double *R = cam.rotation;    const double *t = cam.translation;    const double *X = point.pos;    const double k0 = cam.distortion[0];    const double k1 = cam.distortion[1];    const double xc=R[0]*X[0]+R[1]*X[1]+R[2]*X[2]+t[0];    const double yc=R[3]*X[0]+R[4]*X[1]+R[5]*X[2]+t[1];    const double zc=R[6]*X[0]+R[7]*X[1]+R[8]*X[2]+t[2];    const double x=xc/zc;    const double y=yc/zc;    const double r2=x*x+y*y;    const double d=1+(k0+k1*r2)*r2;    const double u=f*d*x;    const double v=f*d*y;    const double u_d=f*x;    const double v_d=f*y;    const double d_k0=r2;    const double d_k1=r2*r2;    const double u_k0=f*x*r2;    const double u_k1=f*x*r2*r2;    const double v_k0=f*y*r2;    const double v_k1=f*y*r2*r2;    const double x_xc=1/zc;    const double x_yc=0;    const double x_zc=-x/zc;    const double y_xc=0;    const double y_yc=1/zc;    const double y_zc=-y/zc;    const double u_x=f*d;    const double v_y=f*d;    const double d_xc=(k0+2*k1*r2)*2*x/zc;    const double d_yc=(k0+2*k1*r2)*2*y/zc;    const double d_zc=-(k0+2*k1*r2)*2*r2/zc;    const double u_xc=u_d*d_xc+u_x*x_xc;    const double u_yc=u_d*d_yc+u_x*x_yc;    const double u_zc=u_d*d_zc+u_x*x_zc;    const double v_xc=v_d*d_xc+v_y*y_xc;    const double v_yc=v_d*d_yc+v_y*y_yc;    const double v_zc=v_d*d_zc+v_y*y_zc;    const double u_t0=u_xc;    const double u_t1=u_yc;    const double u_t2=u_zc;    const double v_t0=v_xc;    const double v_t1=v_yc;    const double v_t2=v_zc;    const double xc_w0=0;    const double xc_w1=R[6]*X[0]+R[7]*X[1]+R[8]*X[2];    const double xc_w2=-(R[3]*X[0]+R[4]*X[1]+R[5]*X[2]);    const double yc_w0=-(R[6]*X[0]+R[7]*X[1]+R[8]*X[2]);    const double yc_w1=0;    const double yc_w2=R[0]*X[1]+R[1]*X[1]+R[2]*X[2];    const double zc_w0=R[3]*X[0]+R[4]*X[1]+R[5]*X[2];    const double zc_w1=-(R[0]*X[1]+R[1]*X[1]+R[2]*X[2]);    const double zc_w2=0;    const double u_w0=u_yc*yc_w0+u_zc*zc_w0;    const double u_w1=u_xc*xc_w1+u_zc*zc_w1;    const double u_w2=u_xc*xc_w2+u_yc*yc_w2;    const double v_w0=v_yc*yc_w0+v_zc*zc_w0;    const double v_w1=v_xc*xc_w1+v_zc*zc_w1;    const double v_w2=v_xc*xc_w2+v_yc*yc_w2;    const double u_X=u_xc*R[0]+u_yc*R[3]+u_zc*R[6];    const double u_Y=u_xc*R[1]+u_yc*R[4]+u_zc*R[7];    const double u_Z=u_xc*R[2]+u_yc*R[5]+u_zc*R[8];    const double v_X=v_xc*R[0]+v_yc*R[3]+v_zc*R[6];    const double v_Y=v_xc*R[1]+v_yc*R[4]+v_zc*R[7];    const double v_Z=v_xc*R[2]+v_yc*R[5]+v_zc*R[8];    // 相机焦距的偏导数    cam_x_ptr[0] = d*x;    cam_y_ptr[0] = d*y;    // 相机径向畸变的偏导数    cam_x_ptr[1] = u_k0;    cam_x_ptr[2] = u_k1;    cam_y_ptr[1] = v_k0;    cam_y_ptr[2] = v_k1;    // 相机平移向量的偏导数    cam_x_ptr[3] = u_t0;    cam_x_ptr[4] = u_t1;    cam_x_ptr[5] = u_t2;    cam_y_ptr[3] = v_t0;    cam_y_ptr[4] = v_t1;    cam_y_ptr[5] = v_t2;    // 相机旋转矩阵的偏导数    cam_x_ptr[6] = u_w0;    cam_x_ptr[7] = u_w1;    cam_x_ptr[8] = u_w2;    cam_y_ptr[6] = v_w0;    cam_y_ptr[7] = v_w1;    cam_y_ptr[8] = v_w2;    // 三维点的偏导数    point_x_ptr[0] = u_X;    point_x_ptr[1] = u_Y;    point_x_ptr[2] = u_Z;    point_y_ptr[0] = v_X;    point_y_ptr[1] = v_Y;    point_y_ptr[2] = v_Z;}int main(int argc, char*argv[]){    sfm::ba::Camera cam;    cam.focal_length  =  0.919654;    cam.distortion[0] = -0.108298;    cam.distortion[1] =  0.103775;    cam.rotation[0] = 0.999999;    cam.rotation[1] = -0.000676196;    cam.rotation[2] = -0.0013484;    cam.rotation[3] = 0.000663243;    cam.rotation[4] = 0.999949;    cam.rotation[5] = -0.0104095;    cam.rotation[6] = 0.00135482;    cam.rotation[7] = 0.0104087;    cam.rotation[8] = 0.999949;    cam.translation[0]=0.00278292;    cam.translation[1]=0.0587996;    cam.translation[2]=-0.127624;    sfm::ba::Point3D pt3D;    pt3D.pos[0]= 1.36939;    pt3D.pos[1]= -1.17123;    pt3D.pos[2]= 7.04869;    double cam_x_ptr[9]={0};    double cam_y_ptr[9]={0};    double point_x_ptr[3]={0};    double point_y_ptr[3]={0};    jacobian(cam, pt3D, cam_x_ptr, cam_y_ptr, point_x_ptr, point_y_ptr);    //Test for change    std::cout<<"Result is :"<<std::endl;    std::cout<<"cam_x_ptr: ";    for(int i=0; i<9; i++){        std::cout<<cam_x_ptr[i]<<" ";    }    std::cout<<std::endl;    std::cout<<"cam_y_ptr: ";    for(int i=0; i<9; i++){        std::cout<<cam_y_ptr[i]<<" ";    }    std::cout<<std::endl;    std::cout<<"point_x_ptr: ";    std::cout<<point_x_ptr[0]<<" "<<point_x_ptr[1]<<" "<<point_x_ptr[2]<<std::endl;    std::cout<<"point_y_ptr: ";    std::cout<<point_y_ptr[0]<<" "<<point_y_ptr[1]<<" "<<point_y_ptr[2]<<std::endl;    std::cout<<"\nResult should be :\n"       <<"cam_x_ptr: 0.195942 0.0123983 0.000847141 0.131188 0.000847456 -0.0257388 0.0260453 0.95832 0.164303\n"       <<"cam_y_ptr: -0.170272 -0.010774 -0.000736159 0.000847456 0.131426 0.0223669 -0.952795 -0.0244697 0.179883\n"       <<"point_x_ptr: 0.131153 0.000490796 -0.0259232\n"       <<"point_y_ptr: 0.000964926 0.131652 0.0209965\n";    return 0;}