Wrap TwoViewMatchGeometricVerification::VerifyMatches

.gitignore

@@ -20,6 +20,8 @@ cmake_build
 
 .vscode
 
+.DS_Store
+
 *.so
 
 # Source for the following rules: https://raw.githubusercontent.com/github/gitignore/master/Python.gitignore

libraries/akaze/cimg/cmake-modules/FindOpenMP.cmake

@@ -111,4 +111,4 @@ find_package_handle_standard_args(OpenMP DEFAULT_MSG
 mark_as_advanced(
  OpenMP_C_FLAGS
  OpenMP_CXX_FLAGS
-)
+)

src/pytheia/matching/matching.cc

@@ -56,8 +56,8 @@
 #include "theia/matching/graph_match.h"
 #include "theia/sfm/feature.h"
 #include "theia/sfm/two_view_match_geometric_verification.h"
-//#include "theia/matching/rocksdb_features_and_matches_database.h"
-//#include "theia/matching/local_features_and_matches_database.h"
+// #include "theia/matching/rocksdb_features_and_matches_database.h"
+// #include "theia/matching/local_features_and_matches_database.h"
 #include "theia/matching/create_feature_matcher.h"
 #include "theia/matching/in_memory_features_and_matches_database.h"
 
@@ -208,6 +208,18 @@ void pytheia_matching_classes(py::module& m) {
  .def_readwrite("descriptors",
  &theia::KeypointsAndDescriptors::descriptors);
 
+ // Keypoint
+ py::class_<theia::Keypoint> keypoint(m, "Keypoint");
+ keypoint.def(py::init<>())
+ .def(py::init<float, float, theia::Keypoint::KeypointType>());
+
+ py::enum_<theia::Keypoint::KeypointType>(keypoint, "KeypointType")
+ .value("INVALID", theia::Keypoint::KeypointType::INVALID)
+ .value("OTHER", theia::Keypoint::KeypointType::OTHER)
+ .value("SIFT", theia::Keypoint::KeypointType::SIFT)
+ .value("AKAZE", theia::Keypoint::KeypointType::AKAZE)
+ .export_values();
+
  // IndexedFeatureMatch
  py::class_<theia::IndexedFeatureMatch>(m, "IndexedFeatureMatch")
  .def(py::init<>())
@@ -260,11 +272,11 @@ void pytheia_matching_classes(py::module& m) {
  //.def(py::init<theia::FeatureMatcherOptions,
  //&theia::FeaturesAndMatchesDatabase>())
  .def("AddImages",
- (void (theia::FeatureMatcher::*)(const std::vector<std::string>&)) &
+ (void(theia::FeatureMatcher::*)(const std::vector<std::string>&)) &
  theia::FeatureMatcher::AddImages,
  py::return_value_policy::reference_internal)
  .def("AddImage",
- (void (theia::FeatureMatcher::*)(const std::string&)) &
+ (void(theia::FeatureMatcher::*)(const std::string&)) &
  theia::FeatureMatcher::AddImage,
  py::return_value_policy::reference_internal)
  .def("MatchImages", &theia::FeatureMatcher::MatchImages)
@@ -279,7 +291,7 @@ void pytheia_matching_classes(py::module& m) {
  theia::FeaturesAndMatchesDatabase*>())
  // abstract class in the constructor
  //.def(py::init<theia::FeatureMatcherOptions,
- //theia::FeaturesAndMatchesDatabase>())
+ // theia::FeaturesAndMatchesDatabase>())
 
  ;
 
@@ -290,12 +302,12 @@ void pytheia_matching_classes(py::module& m) {
  .def(py::init<theia::FeatureMatcherOptions,
  theia::FeaturesAndMatchesDatabase*>())
  .def("AddImages",
- (void (theia::CascadeHashingFeatureMatcher::*)(
+ (void(theia::CascadeHashingFeatureMatcher::*)(
  const std::vector<std::string>&)) &
  theia::CascadeHashingFeatureMatcher::AddImages,
  py::return_value_policy::reference_internal)
  .def("AddImage",
- (void (theia::CascadeHashingFeatureMatcher::*)(const std::string&)) &
+ (void(theia::CascadeHashingFeatureMatcher::*)(const std::string&)) &
  theia::CascadeHashingFeatureMatcher::AddImage,
  py::return_value_policy::reference_internal)
 

src/theia/sfm/sfm_wrapper.cc

@@ -1,9 +1,11 @@
 
 #include "theia/sfm/sfm_wrapper.h"
+#include "theia/matching/feature_correspondence.h"
 #include "theia/sfm/reconstruction.h"
+#include "theia/sfm/two_view_match_geometric_verification.h"
 #include "theia/sfm/twoview_info.h"
 #include "theia/sfm/view_graph/view_graph.h"
-//#include "theia/image/image.h"
+// #include "theia/image/image.h"
 #include "theia/sfm/camera/camera.h"
 
 namespace theia {
@@ -24,6 +26,23 @@ std::tuple<bool, TwoViewInfo, std::vector<int>> EstimateTwoViewInfoWrapper(
  return std::make_tuple(success, twoview_info, inlier_indices);
 }
 
+std::tuple<bool, TwoViewInfo, std::vector<IndexedFeatureMatch>>
+VerifyMatchesWrapper(const TwoViewMatchGeometricVerification::Options& options,
+ const CameraIntrinsicsPrior& intrinsics1,
+ const CameraIntrinsicsPrior& intrinsics2,
+ const KeypointsAndDescriptors& features1,
+ const KeypointsAndDescriptors& features2,
+ const std::vector<IndexedFeatureMatch>& matches) {
+ TwoViewMatchGeometricVerification geometric_verification(
+ options, intrinsics1, intrinsics2, features1, features2, matches);
+ TwoViewInfo twoview_info;
+ std::vector<FeatureCorrespondence> correspondences;
+ const bool success =
+ geometric_verification.VerifyMatches(&correspondences, &twoview_info);
+ return std::make_tuple(
+ success, twoview_info, geometric_verification.matches_);
+}
+
 std::tuple<bool, std::unordered_set<TrackId>>
 SelectGoodTracksForBundleAdjustmentWrapper(
  const Reconstruction& reconstruction,

src/theia/sfm/sfm_wrapper.h

@@ -3,6 +3,7 @@
 #include "theia/sfm/colorize_reconstruction.h"
 #include "theia/sfm/estimate_twoview_info.h"
 #include "theia/sfm/extract_maximally_parallel_rigid_subgraph.h"
+#include "theia/sfm/two_view_match_geometric_verification.h"
 
 #include "theia/sfm/filter_view_graph_cycles_by_rotation.h"
 #include "theia/sfm/filter_view_pairs_from_orientation.h"
@@ -28,7 +29,15 @@ std::tuple<bool, TwoViewInfo, std::vector<int>> EstimateTwoViewInfoWrapper(
  const CameraIntrinsicsPrior& intrinsics1,
  const CameraIntrinsicsPrior& intrinsics2,
  const std::vector<FeatureCorrespondence>& correspondences);
-
+
+std::tuple<bool, TwoViewInfo, std::vector<IndexedFeatureMatch>>
+VerifyMatchesWrapper(const TwoViewMatchGeometricVerification::Options& options,
+ const CameraIntrinsicsPrior& intrinsics1,
+ const CameraIntrinsicsPrior& intrinsics2,
+ const KeypointsAndDescriptors& features1,
+ const KeypointsAndDescriptors& features2,
+ const std::vector<IndexedFeatureMatch>& matches);
+
 std::tuple<bool, std::unordered_set<TrackId>>
 SelectGoodTracksForBundleAdjustmentWrapper(
  const Reconstruction& reconstruction,
@@ -43,5 +52,4 @@ int SetOutlierTracksToUnestimatedWrapper(
  const double min_triangulation_angle_degrees,
  Reconstruction& reconstruction);
 
-
 } // namespace theia

src/theia/sfm/two_view_match_geometric_verification.h

@@ -106,6 +106,10 @@ class TwoViewMatchGeometricVerification {
  bool VerifyMatches(std::vector<FeatureCorrespondence>* verified_matches,
  TwoViewInfo* twoview_info);
 
+ // We keep a local copy of the matches so that we may add and remove matches
+ // to it.
+ std::vector<IndexedFeatureMatch> matches_;
+
  private:
  // A helper method that creates a vector of FeatureCorrespondence from the
  // matches_ vector of match indices.
@@ -130,9 +134,6 @@ class TwoViewMatchGeometricVerification {
  const KeypointsAndDescriptors &features1_, features2_;
 
  Camera camera1_, camera2_;
- // We keep a local copy of the matches so that we may add and remove matches
- // to it.
- std::vector<IndexedFeatureMatch> matches_;
 
  DISALLOW_COPY_AND_ASSIGN(TwoViewMatchGeometricVerification);
 };