colmap/src/base/image_reader.cc

// Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
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//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
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//     * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
//       its contributors may be used to endorse or promote products derived
//       from this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)

#include "base/image_reader.h"

#include "base/camera_models.h"
#include "util/misc.h"

namespace colmap {

bool ImageReaderOptions::Check() const {
  CHECK_OPTION_GT(default_focal_length_factor, 0.0);
  CHECK_OPTION(ExistsCameraModelWithName(camera_model));
  const int model_id = CameraModelNameToId(camera_model);
  if (!camera_params.empty()) {
    CHECK_OPTION(
        CameraModelVerifyParams(model_id, CSVToVector<double>(camera_params)));
  }
  return true;
}

ImageReader::ImageReader(const ImageReaderOptions& options, Database* database)
    : options_(options), database_(database), image_index_(0) {
  CHECK(options_.Check());

  // Ensure trailing slash, so that we can build the correct image name.
  options_.image_path =
      EnsureTrailingSlash(StringReplace(options_.image_path, "\\", "/"));
  options_.mask_path =
      EnsureTrailingSlash(StringReplace(options_.mask_path, "\\", "/"));

  // Get a list of all files in the image path, sorted by image name.
  if (options_.image_list.empty()) {
    options_.image_list = GetRecursiveFileList(options_.image_path);
    std::sort(options_.image_list.begin(), options_.image_list.end());
  } else {
    if (!std::is_sorted(options_.image_list.begin(),
                        options_.image_list.end())) {
      std::sort(options_.image_list.begin(), options_.image_list.end());
    }
    for (auto& image_name : options_.image_list) {
      image_name = JoinPaths(options_.image_path, image_name);
    }
  }

  if (static_cast<camera_t>(options_.existing_camera_id) != kInvalidCameraId) {
    CHECK(database->ExistsCamera(options_.existing_camera_id));
    prev_camera_ = database->ReadCamera(options_.existing_camera_id);
  } else {
    // Set the manually specified camera parameters.
    prev_camera_.SetCameraId(kInvalidCameraId);
    prev_camera_.SetModelIdFromName(options_.camera_model);
    if (!options_.camera_params.empty()) {
      CHECK(prev_camera_.SetParamsFromString(options_.camera_params));
      prev_camera_.SetPriorFocalLength(true);
    }
  }
}

ImageReader::Status ImageReader::Next(Camera* camera, Image* image,
                                      Bitmap* bitmap, Bitmap* mask) {
  CHECK_NOTNULL(camera);
  CHECK_NOTNULL(image);
  CHECK_NOTNULL(bitmap);

  image_index_ += 1;
  CHECK_LE(image_index_, options_.image_list.size());

  const std::string image_path = options_.image_list.at(image_index_ - 1);

  DatabaseTransaction database_transaction(database_);

  //////////////////////////////////////////////////////////////////////////////
  // Set the image name.
  //////////////////////////////////////////////////////////////////////////////

  image->SetName(image_path);
  image->SetName(StringReplace(image->Name(), "\\", "/"));
  image->SetName(
      image->Name().substr(options_.image_path.size(),
                           image->Name().size() - options_.image_path.size()));

  const std::string image_folder = GetParentDir(image->Name());

  //////////////////////////////////////////////////////////////////////////////
  // Check if image already read.
  //////////////////////////////////////////////////////////////////////////////

  const bool exists_image = database_->ExistsImageWithName(image->Name());

  if (exists_image) {
    *image = database_->ReadImageWithName(image->Name());
    const bool exists_keypoints = database_->ExistsKeypoints(image->ImageId());
    const bool exists_descriptors =
        database_->ExistsDescriptors(image->ImageId());

    if (exists_keypoints && exists_descriptors) {
      return Status::IMAGE_EXISTS;
    }
  }

  //////////////////////////////////////////////////////////////////////////////
  // Read image.
  //////////////////////////////////////////////////////////////////////////////

  if (!bitmap->Read(image_path, false)) {
    return Status::BITMAP_ERROR;
  }

  //////////////////////////////////////////////////////////////////////////////
  // Read mask.
  //////////////////////////////////////////////////////////////////////////////

  if (mask && !options_.mask_path.empty()) {
    const std::string mask_path =
        JoinPaths(options_.mask_path,
                  image->Name() + ".png");
    if (ExistsFile(mask_path) && !mask->Read(mask_path, false)) {
      // NOTE: Maybe introduce a separate error type MASK_ERROR?
      return Status::BITMAP_ERROR;
    }
  }

  //////////////////////////////////////////////////////////////////////////////
  // Check for well-formed data.
  //////////////////////////////////////////////////////////////////////////////

  if (exists_image) {
    const Camera current_camera = database_->ReadCamera(image->CameraId());

    if (options_.single_camera && prev_camera_.CameraId() != kInvalidCameraId &&
        (current_camera.Width() != prev_camera_.Width() ||
         current_camera.Height() != prev_camera_.Height())) {
      return Status::CAMERA_SINGLE_DIM_ERROR;
    }

    if (static_cast<size_t>(bitmap->Width()) != current_camera.Width() ||
        static_cast<size_t>(bitmap->Height()) != current_camera.Height()) {
      return Status::CAMERA_EXIST_DIM_ERROR;
    }

    prev_camera_ = current_camera;

  } else {
    //////////////////////////////////////////////////////////////////////////////
    // Check image dimensions.
    //////////////////////////////////////////////////////////////////////////////

    if (prev_camera_.CameraId() != kInvalidCameraId &&
        ((options_.single_camera && !options_.single_camera_per_folder) ||
         (options_.single_camera_per_folder &&
          image_folder == prev_image_folder_)) &&
        (prev_camera_.Width() != static_cast<size_t>(bitmap->Width()) ||
         prev_camera_.Height() != static_cast<size_t>(bitmap->Height()))) {
      return Status::CAMERA_SINGLE_DIM_ERROR;
    }

    //////////////////////////////////////////////////////////////////////////////
    // Read camera model and check for consistency if it exists
    //////////////////////////////////////////////////////////////////////////////
    std::string camera_model;
    const bool valid_camera_model = bitmap->ExifCameraModel(&camera_model);
    if (camera_model_to_id_.count(camera_model) > 0) {
      const Camera& cam =
          database_->ReadCamera(camera_model_to_id_.at(camera_model));
      if (cam.Width() != static_cast<size_t>(bitmap->Width()) ||
          cam.Height() != static_cast<size_t>(bitmap->Height())) {
        return Status::CAMERA_EXIST_DIM_ERROR;
      }
      prev_camera_ = cam;
    }

    //////////////////////////////////////////////////////////////////////////////
    // Extract camera model and focal length
    //////////////////////////////////////////////////////////////////////////////

    if (prev_camera_.CameraId() == kInvalidCameraId ||
        options_.single_camera_per_image ||
        (!options_.single_camera && !options_.single_camera_per_folder &&
         static_cast<camera_t>(options_.existing_camera_id) ==
             kInvalidCameraId &&
         camera_model_to_id_.count(camera_model) == 0) ||
        (options_.single_camera_per_folder &&
         image_folders_.count(image_folder) == 0)) {
      if (options_.camera_params.empty()) {
        // Extract focal length.
        double focal_length = 0.0;
        if (bitmap->ExifFocalLength(&focal_length)) {
          prev_camera_.SetPriorFocalLength(true);
        } else {
          focal_length = options_.default_focal_length_factor *
                         std::max(bitmap->Width(), bitmap->Height());
          prev_camera_.SetPriorFocalLength(false);
        }

        prev_camera_.InitializeWithId(prev_camera_.ModelId(), focal_length,
                                      bitmap->Width(), bitmap->Height());
      }

      prev_camera_.SetWidth(static_cast<size_t>(bitmap->Width()));
      prev_camera_.SetHeight(static_cast<size_t>(bitmap->Height()));

      if (!prev_camera_.VerifyParams()) {
        return Status::CAMERA_PARAM_ERROR;
      }

      prev_camera_.SetCameraId(database_->WriteCamera(prev_camera_));
      if (valid_camera_model) {
        camera_model_to_id_[camera_model] = prev_camera_.CameraId();
      }
    }

    image->SetCameraId(prev_camera_.CameraId());

    //////////////////////////////////////////////////////////////////////////////
    // Extract GPS data.
    //////////////////////////////////////////////////////////////////////////////

    if (!bitmap->ExifLatitude(&image->TvecPrior(0)) ||
        !bitmap->ExifLongitude(&image->TvecPrior(1)) ||
        !bitmap->ExifAltitude(&image->TvecPrior(2))) {
      image->TvecPrior().setConstant(std::numeric_limits<double>::quiet_NaN());
    }
  }

  *camera = prev_camera_;

  image_folders_.insert(image_folder);
  prev_image_folder_ = image_folder;

  return Status::SUCCESS;
}

size_t ImageReader::NextIndex() const { return image_index_; }

size_t ImageReader::NumImages() const { return options_.image_list.size(); }

}  // namespace colmap