common: various small fixes and added asserts

CMakeLists.txt

@@ -109,6 +109,9 @@ if(OpenMVS_USE_OPENGL)
 endif()
 
 if(OpenMVS_USE_CUDA)
+	if(POLICY CMP0146)
+		cmake_policy(SET CMP0146 NEW)
+	endif()
 	FIND_PACKAGE(CUDA)
 	if(CUDA_FOUND)
 		ENABLE_LANGUAGE(CUDA)

apps/DensifyPointCloud/DensifyPointCloud.cpp

@@ -160,12 +160,12 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 		("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(7), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-filter)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
-        ("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
-        ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
-        ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
-        ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
+		("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
+		("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
+		("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
+		("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
 		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(4), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors & append, <0 - force tower mode)")
-        ;
+		;
 
 	// hidden options, allowed both on command line and
 	// in config file, but will not be shown to the user

apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp

@@ -294,6 +294,7 @@ struct Camera {
 		in >> ID >> model >> width >> height;
 		if (in.fail())
 			return false;
+		ASSERT(ID > 0);
 		--ID;
 		if (model != _T("PINHOLE"))
 			return false;
@@ -313,10 +314,12 @@ struct Camera {
 			numCameras = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
-		ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
+		ID = ReadBinaryLittleEndian<camera_t>(&stream);
 		model = mapCameraModel[ReadBinaryLittleEndian<int>(&stream)];
 		width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
 		height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
+		ASSERT(ID > 0);
+		--ID;
 		if (model != _T("PINHOLE"))
 			return false;
 		params.resize(4);
@@ -398,6 +401,7 @@ struct Image {
 			>> idCamera >> name;
 		if (in.fail())
 			return false;
+		ASSERT(ID > 0 && idCamera > 0);
 		--ID; --idCamera;
 		Util::ensureValidPath(name);
 		if (!NextLine(stream, in, false))
@@ -408,6 +412,7 @@ struct Image {
 			in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
 			if (in.fail())
 				break;
+			ASSERT(proj.idPoint > 0);
 			--proj.idPoint;
 			projs.emplace_back(proj);
 		}
@@ -425,15 +430,17 @@ struct Image {
 			numRegImages = ReadBinaryLittleEndian<uint64_t>(&stream);
 		}
 
-		ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
+		ID = ReadBinaryLittleEndian<image_t>(&stream);
 		q.w() = ReadBinaryLittleEndian<double>(&stream);
 		q.x() = ReadBinaryLittleEndian<double>(&stream);
 		q.y() = ReadBinaryLittleEndian<double>(&stream);
 		q.z() = ReadBinaryLittleEndian<double>(&stream);
 		t(0) = ReadBinaryLittleEndian<double>(&stream);
 		t(1) = ReadBinaryLittleEndian<double>(&stream);
 		t(2) = ReadBinaryLittleEndian<double>(&stream);
-		idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
+		idCamera = ReadBinaryLittleEndian<camera_t>(&stream);
+		ASSERT(ID > 0 && idCamera > 0);
+		--ID; --idCamera;
 
 		name = "";
 		while (true) {
@@ -451,7 +458,9 @@ struct Image {
 			Proj proj;
 			proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
 			proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
-			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
+			proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
+			ASSERT(proj.idPoint > 0);
+			--proj.idPoint;
 			projs.emplace_back(proj);
 		}
 		return true;
@@ -549,13 +558,15 @@ struct Point {
 		c.z = CLAMP(r,0,255);
 		if (in.fail())
 			return false;
+		ASSERT(ID > 0);
 		--ID;
 		tracks.clear();
 		while (true) {
 			Track track;
 			in >> track.idImage >> track.idProj;
 			if (in.fail())
 				break;
+			ASSERT(track.idImage > 0 && track.idProj > 0);
 			--track.idImage; --track.idProj;
 			tracks.emplace_back(track);
 		}
@@ -574,7 +585,7 @@ struct Point {
 		}
 
 		int r,g,b;
-		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
+		ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream);
 		p.x = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.y = (float)ReadBinaryLittleEndian<double>(&stream);
 		p.z = (float)ReadBinaryLittleEndian<double>(&stream);
@@ -585,15 +596,19 @@ struct Point {
 		c.x = CLAMP(b,0,255);
 		c.y = CLAMP(g,0,255);
 		c.z = CLAMP(r,0,255);
-
+		ASSERT(ID > 0);
+		--ID;
+
 		const size_t trackLength = ReadBinaryLittleEndian<uint64_t>(&stream);
 		tracks.clear();
 		for (size_t j = 0; j < trackLength; ++j) {
 			Track track;
-			track.idImage = ReadBinaryLittleEndian<image_t>(&stream)-1;
-			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream)-1;
+			track.idImage = ReadBinaryLittleEndian<image_t>(&stream);
+			track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream);
+			ASSERT(track.idImage > 0 && track.idProj > 0);
+			--track.idImage; --track.idProj;
 			tracks.emplace_back(track);
-    	}
+		}
 		return !tracks.empty();
 	}
 

libs/Common/Config.h

@@ -92,11 +92,11 @@
 /*----------------------------------------------------------------*/
 #ifdef _USRDLL
   #ifdef Common_EXPORTS
-    #define GENERAL_API EXPORT_API
-    #define GENERAL_TPL
+	#define GENERAL_API EXPORT_API
+	#define GENERAL_TPL
   #else
-    #define GENERAL_API IMPORT_API
-    #define GENERAL_TPL extern
+	#define GENERAL_API IMPORT_API
+	#define GENERAL_TPL extern
   #endif
 #else
   #define GENERAL_API

libs/MVS/Camera.cpp

@@ -73,6 +73,10 @@ Camera& Camera::operator= (const CameraIntern& camera)
 	C = camera.C;
 	return *this;
 }
+Camera Camera::GetScaled(REAL s) const
+{
+	return Camera(GetScaledK(s), R, C);
+}
 /*----------------------------------------------------------------*/
 
 

libs/MVS/Camera.h

@@ -272,6 +272,8 @@ class MVS_API Camera : public CameraIntern
 
 	Camera& operator= (const CameraIntern& camera);
 
+	Camera GetScaled(REAL s) const; // return a scaled camera
+
 	void ComposeP_RC(); // compose P from R and C only
 	void ComposeP(); // compose P from K, R and C
 	void DecomposeP_RC(); // decompose P in R and C, keep K unchanged

libs/MVS/DepthMap.cpp

@@ -299,7 +299,7 @@ unsigned DepthData::DecRef()
 //  - pMask: optional output mask; if defined, the mask is returned in this image instead of the BitMatrix
 bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size& size, uint16_t nIgnoreMaskLabel, BitMatrix& bmask, Image8U* pMask)
 {
-	ASSERT(image0.IsValid() && !image0.image.empty());
+	ASSERT(image0.IsValid());
 	const String maskFileName(image0.maskName.empty() ? Util::getFileFullName(image0.name)+".mask.png" : image0.maskName);
 	Image16U mask;
 	if (!mask.Load(maskFileName)) {

libs/MVS/Image.h

@@ -64,7 +64,7 @@ class MVS_API Image
 	Camera camera; // view's pose
 	uint32_t width, height; // image size
 	Image8U3 image; // image color pixels
-	ViewScoreArr neighbors; // scored neighbor images
+	ViewScoreArr neighbors; // scored neighbor images (image indices ordered by score)
 	float scale; // image scale relative to the original size
 	float avgDepth; // average depth of the points seen by this camera
 

libs/MVS/Scene.cpp

@@ -448,7 +448,7 @@ bool Scene::LoadViewNeighbors(const String& fileName)
 		FOREACH(i, imageData.neighbors) {
 			const IIndex nID(String::FromString<IIndex>(argv[i+1], NO_ID));
 			ASSERT(nID != NO_ID);
-			imageData.neighbors[i] = ViewScore{nID, 0, 1.f, FD2R(15.f), 0.5f, 3.f};
+			imageData.neighbors[i] = ViewScore{nID, 0, 1.f, FD2R(15.f), 0.5f, 2.f+(argc-i)*0.5f};
 		}
 	}
 

libs/MVS/SceneDensify.cpp

@@ -285,7 +285,8 @@ bool DepthMapsData::SelectViews(DepthData& depthData)
 	const float fMinScale(0.2f), fMaxScale(3.2f);
 	const float fMinAngle(FD2R(OPTDENSE::fMinAngle));
 	const float fMaxAngle(FD2R(OPTDENSE::fMaxAngle));
-	if (!Scene::FilterNeighborViews(depthData.neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, OPTDENSE::nMaxViews)) {
+	const unsigned nMaxViews(MAXF(OPTDENSE::nMaxViews, OPTDENSE::nNumViews));
+	if (!Scene::FilterNeighborViews(depthData.neighbors, fMinArea, fMinScale, fMaxScale, fMinAngle, fMaxAngle, nMaxViews)) {
 		DEBUG_EXTRA("error: reference image %3u has no good images in view", idxImage);
 		return false;
 	}
@@ -332,8 +333,7 @@ bool DepthMapsData::InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex n
 	} else {
 		// initialize all neighbor views too (global reconstruction is used)
 		const float fMinScore(MAXF(depthData.neighbors.First().score*OPTDENSE::fViewMinScoreRatio, OPTDENSE::fViewMinScore));
-		FOREACH(idx, depthData.neighbors) {
-			const ViewScore& neighbor = depthData.neighbors[idx];
+		for (const ViewScore& neighbor: depthData.neighbors) {
 			if ((numNeighbors && depthData.images.GetSize() > numNeighbors) ||
 				(neighbor.score < fMinScore))
 				break;

scripts/python/MvgMvsPipeline.py

@@ -256,7 +256,7 @@ def __init__(self):
              ["mapper", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%", "--output_path", "%reconstruction_dir%"]],
             ["Model Aligner",                # 15
              COLMAP_BIN,
-             ["model_aligner", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--ref_is_gps=1", "--robust_alignment_max_error=2.0", "--alignment_type=enu", "--transform_path", "%reconstruction_dir%"+FOLDER_DELIM+"transform.txt"]],
+             ["model_aligner", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--ref_is_gps=1", "--alignment_max_error=2.0", "--alignment_type=enu", "--transform_path", "%reconstruction_dir%"+FOLDER_DELIM+"transform.txt"]],
             ["Image Undistorter",            # 16
              COLMAP_BIN,
              ["image_undistorter", "--image_path", "%input_dir%", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "--output_type", "COLMAP"]],