[multiview] Resolve cross dependency with robustEstimation

alicevision · Apr 17, 2019 · 4ba7108 · 4ba7108
1 parent bf14eb0
commit 4ba7108
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diff --git a/.travis.yml b/.travis.yml
@@ -104,7 +104,7 @@ script:
       fi
       cd $GT_TEST_SOURCE
       git checkout 1828a5076ccca86fd523c92a768f1d518dfdbb91 # checkout a specific commit to ensure repeatability
-      python EvaluationLauncher.py -s "$ALICEVISION_BUILD/$BUILD_SYSTEM-$BUILD_PROCESSOR" -i Benchmarking_Camera_Calibration_2008/ -o ${GT_TEST_OUTPUT} -r ${GT_TEST_RESULTS} --limit 3
+      python EvaluationLauncher.py -s "$ALICEVISION_BUILD/$BUILD_SYSTEM-$BUILD_PROCESSOR" -i Benchmarking_Camera_Calibration_2008/ -o ${GT_TEST_OUTPUT} -r ${GT_TEST_RESULTS} -v --limit 3
       cat ${GT_TEST_RESULTS}
       # Return to root and remove GT huge files to avoid cache problems
       cd $TRAVIS_BUILD_DIR

diff --git a/src/aliceVision/camera/CMakeLists.txt b/src/aliceVision/camera/CMakeLists.txt
@@ -1,24 +1,23 @@
 # Headers
 set(camera_files_headers
-	camera.hpp
-	cameraCommon.hpp
-	cameraUndistortImage.hpp
-	IntrinsicBase.hpp
-	IntrinsicInitMode.hpp
-	Pinhole.hpp
-	PinholeBrown.hpp
-	PinholeFisheye.hpp
-	PinholeFisheye1.hpp
-	PinholeRadial.hpp
+    camera.hpp
+    cameraCommon.hpp
+    cameraUndistortImage.hpp
+    IntrinsicBase.hpp
+    IntrinsicInitMode.hpp
+    Pinhole.hpp
+    PinholeBrown.hpp
+    PinholeFisheye.hpp
+    PinholeFisheye1.hpp
+    PinholeRadial.hpp
 )
 
 alicevision_add_interface(aliceVision_camera
   SOURCES ${camera_files_headers}
   LINKS
+    aliceVision_numeric
     aliceVision_geometry
-    aliceVision_multiview
     aliceVision_image
-    aliceVision_numeric
     aliceVision_stl
     aliceVision_system
 )

diff --git a/src/aliceVision/camera/Pinhole.hpp b/src/aliceVision/camera/Pinhole.hpp
@@ -8,10 +8,10 @@
 #pragma once
 
 #include <aliceVision/numeric/numeric.hpp>
+#include <aliceVision/numeric/projection.hpp>
+#include <aliceVision/geometry/Pose3.hpp>
 #include <aliceVision/camera/cameraCommon.hpp>
 #include <aliceVision/camera/IntrinsicBase.hpp>
-#include <aliceVision/geometry/Pose3.hpp>
-#include <aliceVision/multiview/projection.hpp>
 
 #include <vector>
 #include <sstream>

diff --git a/src/aliceVision/geometry/frustumIntersection_test.cpp b/src/aliceVision/geometry/frustumIntersection_test.cpp
@@ -9,7 +9,7 @@
 #include "aliceVision/geometry/Frustum.hpp"
 
 #include "aliceVision/multiview/NViewDataSet.hpp"
-#include "aliceVision/multiview/projection.hpp"
+#include "aliceVision/numeric/projection.hpp"
 
 #include <iostream>
 

diff --git a/src/aliceVision/geometry/rigidTransformation3D.cpp b/src/aliceVision/geometry/rigidTransformation3D.cpp
@@ -147,7 +147,7 @@ bool ACRansac_FindRTS(const Mat& x1,
 
   const KernelT kernel = KernelT(x1, x2);
 
-  multiview::MatrixModel<Mat4> RTS;
+  robustEstimation::MatrixModel<Mat4> RTS;
 
   // robust estimation of the Projection matrix and its precision
   const std::pair<double, double> ACRansacOut = robustEstimation::ACRANSAC(kernel, vec_inliers, numIterations, &RTS, dPrecision);

diff --git a/src/aliceVision/geometry/rigidTransformation3D.hpp b/src/aliceVision/geometry/rigidTransformation3D.hpp
@@ -9,7 +9,7 @@
 
 #include <aliceVision/numeric/numeric.hpp>
 #include <aliceVision/numeric/LMFunctor.hpp>
-#include <aliceVision/multiview/ISolver.hpp>
+#include <aliceVision/robustEstimation/ISolver.hpp>
 
 namespace aliceVision {
 namespace geometry {
@@ -150,7 +150,7 @@ void Refine_RTS(const Mat &x1,
 /**
  * @brief the Solver to use for ACRansac
  */
-class RTSSolver : public multiview::ISolver<multiview::MatrixModel<Mat4>>
+class RTSSolver : public robustEstimation::ISolver<robustEstimation::MatrixModel<Mat4>>
 {
 public:
 
@@ -173,18 +173,18 @@ class RTSSolver : public multiview::ISolver<multiview::MatrixModel<Mat4>>
   }
 
   // solve the RTS problem
-  inline void solve(const Mat& pts1, const Mat& pts2, std::vector<multiview::MatrixModel<Mat4>>& models) const
+  inline void solve(const Mat& pts1, const Mat& pts2, std::vector<robustEstimation::MatrixModel<Mat4>>& models) const
   {
-    models.push_back( multiview::MatrixModel<Mat4>(Eigen::umeyama(pts1, pts2, true)) );
+    models.push_back( robustEstimation::MatrixModel<Mat4>(Eigen::umeyama(pts1, pts2, true)) );
   }
 
-  void solve(const Mat& x1, const Mat& x2, std::vector<multiview::MatrixModel<Mat4>>& models, const std::vector<double>& weights) const override
+  void solve(const Mat& x1, const Mat& x2, std::vector<robustEstimation::MatrixModel<Mat4>>& models, const std::vector<double>& weights) const override
   {
      throw std::logic_error("RTSSolver does not support problem solving with weights.");
   }
 
   // compute the residual of the transformation
-  inline double error(const multiview::MatrixModel<Mat4>& RTS, const Vec3& pt1, const Vec3& pt2)
+  inline double error(const robustEstimation::MatrixModel<Mat4>& RTS, const Vec3& pt1, const Vec3& pt2)
   {
     const Mat4& matrixRTS = RTS.getMatrix();
     const Mat3& RS = matrixRTS.topLeftCorner<3, 3>();
@@ -200,7 +200,7 @@ class RTSSolver : public multiview::ISolver<multiview::MatrixModel<Mat4>>
 struct RTSSquaredResidualError 
 {
   // return the squared error
-  inline double error(const multiview::MatrixModel<Mat4>& RTS, const Vec3& pt1, const Vec3& pt2) const
+  inline double error(const robustEstimation::MatrixModel<Mat4>& RTS, const Vec3& pt1, const Vec3& pt2) const
   {
     const Mat4& matrixRTS = RTS.getMatrix();
     const Mat3& RS = matrixRTS.topLeftCorner<3, 3>();
@@ -212,7 +212,7 @@ struct RTSSquaredResidualError
 /**
  * @brief The kernel to use for ACRansac
  */
-template <typename SolverT_, typename ErrorT_, typename ModelT_ = multiview::MatrixModel<Mat4>>
+template <typename SolverT_, typename ErrorT_, typename ModelT_ = robustEstimation::MatrixModel<Mat4>>
 class ACKernelAdaptor_PointsRegistrationSRT
 {
 public:

diff --git a/src/aliceVision/geometry/rigidTransformation3D_test.cpp b/src/aliceVision/geometry/rigidTransformation3D_test.cpp
@@ -166,7 +166,7 @@ BOOST_AUTO_TEST_CASE(SRT_precision_ACRANSAC_noNoise)
   Mat4 RTS;
   composeRTS(Sc, tc, Rc, RTS);
 
-  multiview::MatrixModel<Mat4> modelRTS(RTS);
+  robustEstimation::MatrixModel<Mat4> modelRTS(RTS);
   geometry::RTSSquaredResidualError errorEstimator;
 
   for(std::size_t i = 0; i < nbPoints; ++i)
@@ -237,7 +237,7 @@ BOOST_AUTO_TEST_CASE(SRT_precision_ACRANSAC_noiseByShuffling)
   Mat4 RTS;
   composeRTS(Sc, tc, Rc, RTS);
 
-  multiview::MatrixModel<Mat4> modelRTS(RTS);
+  robustEstimation::MatrixModel<Mat4> modelRTS(RTS);
   geometry::RTSSquaredResidualError errorEstimator;
 
   // check the residuals for the inliers

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_resection_robust_test.cpp b/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_resection_robust_test.cpp
@@ -10,7 +10,7 @@
 #include "aliceVision/linearProgramming/lInfinityCV/resection_kernel.hpp"
 #include "aliceVision/robustEstimation/maxConsensus.hpp"
 #include "aliceVision/robustEstimation/ScoreEvaluator.hpp"
-#include "aliceVision/multiview/projection.hpp"
+#include "aliceVision/numeric/projection.hpp"
 
 #include <iostream>
 #include <vector>
@@ -45,7 +45,7 @@ BOOST_AUTO_TEST_CASE(Resection_L_Infinity_Robust_OutlierFree) {
 
     KernelType kernel(pt2D, pt3D);
     ScoreEvaluator<KernelType> scorer(2*Square(0.6));
-    multiview::Mat34Model P = maxConsensus(kernel, scorer, nullptr, 128);
+    robustEstimation::Mat34Model P = maxConsensus(kernel, scorer, nullptr, 128);
 
     // Check that Projection matrix is near to the GT :
     Mat34 GT_ProjectionMatrix = d.P(nResectionCameraIndex).array()
@@ -98,7 +98,7 @@ BOOST_AUTO_TEST_CASE(Resection_L_Infinity_Robust_OneOutlier)
     const Mat & pt3D = d2._X;
     KernelType kernel(pt2D, pt3D);
     ScoreEvaluator<KernelType> scorer(Square(0.1)); //Highly intolerant for the test
-    multiview::Mat34Model P = maxConsensus(kernel, scorer, nullptr, 128);
+    robustEstimation::Mat34Model P = maxConsensus(kernel, scorer, nullptr, 128);
 
     // Check that Projection matrix is near to the GT :
     Mat34 GT_ProjectionMatrix = d.P(nResectionCameraIndex).array()

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_resection_test.cpp b/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_resection_test.cpp
@@ -9,7 +9,7 @@
 #include <vector>
 
 #include "aliceVision/multiview/NViewDataSet.hpp"
-#include "aliceVision/multiview/projection.hpp"
+#include "aliceVision/numeric/projection.hpp"
 #include <aliceVision/config.hpp>
 
 #include "aliceVision/linearProgramming/ISolver.hpp"

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_tijsAndXis_outlier_test.cpp b/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_tijsAndXis_outlier_test.cpp
@@ -10,7 +10,7 @@
 #include "aliceVision/numeric/numeric.hpp"
 #include <aliceVision/config.hpp>
 
-#include "aliceVision/multiview/projection.hpp"
+#include "aliceVision/numeric/projection.hpp"
 
 #include "aliceVision/linearProgramming/ISolver.hpp"
 #include "aliceVision/linearProgramming/OSIXSolver.hpp"

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_tijsAndXis_test.cpp b/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_tijsAndXis_test.cpp
@@ -8,7 +8,7 @@
 #include "aliceVision/multiview/NViewDataSet.hpp"
 #include "aliceVision/numeric/numeric.hpp"
 #include <aliceVision/config.hpp>
-#include "aliceVision/multiview/projection.hpp"
+#include "aliceVision/numeric/projection.hpp"
 #include "aliceVision/linearProgramming/ISolver.hpp"
 #include "aliceVision/linearProgramming/OSIXSolver.hpp"
 #if ALICEVISION_IS_DEFINED(ALICEVISION_HAVE_MOSEK)

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_triangulation_test.cpp b/src/aliceVision/linearProgramming/lInfinityCV/lInftyCV_triangulation_test.cpp
@@ -12,7 +12,7 @@
 #include "aliceVision/numeric/numeric.hpp"
 #include <aliceVision/config.hpp>
 
-#include "aliceVision/multiview/projection.hpp"
+#include "aliceVision/numeric/projection.hpp"
 
 #include "aliceVision/linearProgramming/ISolver.hpp"
 #include "aliceVision/linearProgramming/OSIXSolver.hpp"

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/resection_kernel.cpp b/src/aliceVision/linearProgramming/lInfinityCV/resection_kernel.cpp
@@ -28,7 +28,7 @@ void translate(const Mat3X & X, const Vec3 & vecTranslation,
   }
 }
 
-void l1SixPointResectionSolver::solve(const Mat &pt2D, const Mat &pt3d, std::vector<multiview::Mat34Model>& Ps) const
+void l1SixPointResectionSolver::solve(const Mat &pt2D, const Mat &pt3d, std::vector<robustEstimation::Mat34Model>& Ps) const
 {
   assert(2 == pt2D.rows());
   assert(3 == pt3d.rows());

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/resection_kernel.hpp b/src/aliceVision/linearProgramming/lInfinityCV/resection_kernel.hpp
@@ -7,8 +7,8 @@
 
 #pragma once
 
-#include <aliceVision/multiview/ISolver.hpp>
-#include <aliceVision/multiview/TwoViewKernel.hpp>
+#include <aliceVision/robustEstimation/ISolver.hpp>
+#include <aliceVision/robustEstimation/FittingKernel.hpp>
 #include <aliceVision/multiview/resection/ProjectionDistanceError.hpp>
 #include <aliceVision/numeric/numeric.hpp>
 
@@ -24,7 +24,7 @@ namespace kernel {
  * Rely on L1 Resection algorithm.
  * Work from 6 to N points.
  */
-struct l1SixPointResectionSolver : public multiview::ISolver<multiview::Mat34Model>
+struct l1SixPointResectionSolver : public robustEstimation::ISolver<robustEstimation::Mat34Model>
 {
   /**
   * @brief Return the minimum number of required samples
@@ -48,7 +48,7 @@ struct l1SixPointResectionSolver : public multiview::ISolver<multiview::Mat34Mod
    * @brief Solve the problem of camera pose.
    * @note First 3d point will be translated in order to have X0 = (0,0,0,1)
    */
-  void solve(const Mat& pt2D, const Mat& pt3D, std::vector<multiview::Mat34Model>& P) const;
+  void solve(const Mat& pt2D, const Mat& pt3D, std::vector<robustEstimation::Mat34Model>& P) const;
 
   /**
    * @brief Solve the problem.
@@ -57,7 +57,7 @@ struct l1SixPointResectionSolver : public multiview::ISolver<multiview::Mat34Mod
    * @param[out] models A vector into which the computed models are stored.
    * @param[in]  weights.
    */
-   void solve(const Mat& x1, const Mat& x2, std::vector<multiview::Mat34Model>& models, const std::vector<double>& weights) const override
+   void solve(const Mat& x1, const Mat& x2, std::vector<robustEstimation::Mat34Model>& models, const std::vector<double>& weights) const override
    {
       throw std::logic_error("l1SixPointResectionSolver does not support problem solving with weights.");
    }
@@ -67,7 +67,7 @@ struct l1SixPointResectionSolver : public multiview::ISolver<multiview::Mat34Mod
 /**
  * @brief Usable solver for the l1 6pt Resection Estimation
  */
-typedef multiview::TwoViewKernel<l1SixPointResectionSolver, multiview::resection::ProjectionDistanceError, multiview::Mat34Model>  l1PoseResectionKernel;
+typedef robustEstimation::FittingKernel<l1SixPointResectionSolver, multiview::resection::ProjectionDistanceError, robustEstimation::Mat34Model>  l1PoseResectionKernel;
 
 }  // namespace kernel
 }  // namespace lInfinityCV

diff --git a/src/aliceVision/linearProgramming/lInfinityCV/triplet_tijsAndXis_kernel.hpp b/src/aliceVision/linearProgramming/lInfinityCV/triplet_tijsAndXis_kernel.hpp
@@ -10,8 +10,8 @@
 #include "aliceVision/numeric/numeric.hpp"
 #include "aliceVision/config.hpp"
 
-#include "aliceVision/multiview/projection.hpp"
-#include "aliceVision/multiview/conditioning.hpp"
+#include "aliceVision/numeric/projection.hpp"
+#include "aliceVision/robustEstimation/conditioning.hpp"
 #include "aliceVision/multiview/triangulation/Triangulation.hpp"
 
 // Linear programming solver(s)

diff --git a/src/aliceVision/localization/VoctreeLocalizer.cpp b/src/aliceVision/localization/VoctreeLocalizer.cpp
@@ -1135,9 +1135,9 @@ bool VoctreeLocalizer::robustMatching(matching::RegionsDatabaseMatcherPerDesc &
   // So we ignore the previous matches and recompute all matches.
   out_featureMatches.clear();
 
-  multiview::Mat3Model model(geometricFilter.m_F);
+  robustEstimation::Mat3Model model(geometricFilter.m_F);
 
-  robustEstimation::guidedMatching<multiview::Mat3Model, multiview::relativePose::FundamentalEpipolarDistanceError>(
+  robustEstimation::guidedMatching<robustEstimation::Mat3Model, multiview::relativePose::FundamentalEpipolarDistanceError>(
         model,
         queryIntrinsicsBase,                  // camera::IntrinsicBase of the matched image
         matchers.getDatabaseRegionsPerDesc(), // feature::Regions

diff --git a/src/aliceVision/localization/rigResection.cpp b/src/aliceVision/localization/rigResection.cpp
@@ -6,7 +6,6 @@
 
 #include "rigResection.hpp"
 #include <aliceVision/system/Logger.hpp>
-#include <aliceVision/robustEstimation/RansacKernel.hpp>
 #include <aliceVision/robustEstimation/supportEstimation.hpp>
 
 #if ALICEVISION_IS_DEFINED(ALICEVISION_HAVE_OPENGV)

diff --git a/src/aliceVision/matchingImageCollection/GeometricFilterMatrix_E_AC.hpp b/src/aliceVision/matchingImageCollection/GeometricFilterMatrix_E_AC.hpp
@@ -10,12 +10,12 @@
 #include <aliceVision/types.hpp>
 #include <aliceVision/matching/IndMatch.hpp>
 #include <aliceVision/matchingImageCollection/GeometricFilterMatrix.hpp>
-#include <aliceVision/multiview/essential.hpp>
-#include <aliceVision/multiview/relativePose/Essential5PSolver.hpp>
-#include <aliceVision/multiview/relativePose/FundamentalError.hpp>
 #include <aliceVision/robustEstimation/ACRansac.hpp>
-#include <aliceVision/robustEstimation/RansacKernel.hpp>
 #include <aliceVision/robustEstimation/guidedMatching.hpp>
+#include <aliceVision/multiview/relativePose/Essential5PSolver.hpp>
+#include <aliceVision/multiview/relativePose/FundamentalError.hpp>
+#include <aliceVision/multiview/essential.hpp>
+#include <aliceVision/multiview/RelativePoseKernel.hpp>
 #include <aliceVision/feature/RegionsPerView.hpp>
 #include <aliceVision/sfmData/SfMData.hpp>
 
@@ -46,9 +46,6 @@ struct GeometricFilterMatrix_E_AC : public GeometricFilterMatrix
                                        const matching::MatchesPerDescType& putativeMatchesPerType,
                                        matching::MatchesPerDescType& out_geometricInliersPerType)
   {
-    using namespace aliceVision;
-    using namespace aliceVision::robustEstimation;
-
     out_geometricInliersPerType.clear();
 
     // get back corresponding view index
@@ -79,10 +76,10 @@ struct GeometricFilterMatrix_E_AC : public GeometricFilterMatrix
     fillMatricesWithUndistortFeaturesMatches(pairIndex, putativeMatchesPerType, sfmData, regionsPerView, descTypes, xI, xJ);
 
     // define the AContrario adapted Essential matrix solver
-    typedef RelativePoseKernel_K<
+    typedef multiview::RelativePoseKernel_K<
         multiview::relativePose::Essential5PSolver,
         multiview::relativePose::FundamentalEpipolarDistanceError,
-        multiview::Mat3Model>
+        robustEstimation::Mat3Model>
         KernelT;
 
     const camera::Pinhole* ptrPinholeI = (const camera::Pinhole*)(camI);
@@ -95,8 +92,8 @@ struct GeometricFilterMatrix_E_AC : public GeometricFilterMatrix
     const double upperBoundPrecision = Square(m_dPrecision);
 
     std::vector<std::size_t> inliers;
-    multiview::Mat3Model model;
-    const std::pair<double,double> ACRansacOut = ACRANSAC(kernel, inliers, m_stIteration, &model, upperBoundPrecision);
+    robustEstimation::Mat3Model model;
+    const std::pair<double,double> ACRansacOut = robustEstimation::ACRANSAC(kernel, inliers, m_stIteration, &model, upperBoundPrecision);
     m_E = model.getMatrix();
 
     if (inliers.empty())
@@ -157,9 +154,9 @@ struct GeometricFilterMatrix_E_AC : public GeometricFilterMatrix
       Mat3 F;
       fundamentalFromEssential(m_E, ptrPinholeI->K(), ptrPinholeJ->K(), &F);
 
-      multiview::Mat3Model model(F);
+      robustEstimation::Mat3Model model(F);
       // multiview::relativePose::FundamentalSymmetricEpipolarDistanceError
-      robustEstimation::guidedMatching<multiview::Mat3Model, multiview::relativePose::FundamentalEpipolarDistanceError>(
+      robustEstimation::guidedMatching<robustEstimation::Mat3Model, multiview::relativePose::FundamentalEpipolarDistanceError>(
             model,
             camI, regionsPerView.getAllRegions(I),
             camJ, regionsPerView.getAllRegions(J),