- debugged importer from Bundler format
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653866c814
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@ -8,7 +8,7 @@
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* \ *
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* All rights reserved. *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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@ -36,16 +36,16 @@ namespace vcg {
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namespace tri {
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namespace io {
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struct Correspondence{
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struct Correspondence{
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Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
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unsigned int id_img,key;
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float x;
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float y;
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};
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unsigned int id_img,key;
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float x;
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float y;
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};
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typedef std::vector<Correspondence> CorrVec;
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/**
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/**
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This class encapsulate a filter for opening bundler file
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*/
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template <class OpenMeshType>
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@ -61,30 +61,27 @@ typedef typename OpenMeshType::VertexIterator VertexIterator;
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typedef typename OpenMeshType::FaceIterator FaceIterator;
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typedef typename OpenMeshType::EdgeIterator EdgeIterator;
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static char *readline(FILE *fp, int max=100){
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static void readline(FILE *fp, char *line, int max=100){
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int i=0;
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char c, *str = new char[max];
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char c;
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fscanf(fp, "%c", &c);
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while( (c!=10) && (c!=13) && (i<max) ){
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str[i++] = c;
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while( (c!=10) && (c!=13) && (i<max-1) ){
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line[i++] = c;
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fscanf(fp, "%c", &c);
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}
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str[i] = '\0'; //end of string
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return str;
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line[i] = '\0'; //end of string
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}
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;
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static bool ReadHeader(FILE *fp,unsigned int &num_cams, unsigned int &num_points){
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char *line;
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line = readline(fp); if( (!line) || (0!=strcmp("# Bundle file v0.3", line)) ) return false;
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line = readline(fp); if(!line) return false;
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char line[100];
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readline(fp, line); if( (line[0]=='\0') || (0!=strcmp("# Bundle file v0.3", line)) ) return false;
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readline(fp, line); if(line[0]=='\0') return false;
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sscanf(line, "%d %d", &num_cams, &num_points);
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return true;
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return true;
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}
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static bool ReadHeader(const char * filename,unsigned int &num_cams, unsigned int &num_points){
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FILE *fp = fopen(filename, "r");
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FILE *fp = fopen(filename, "r");
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if(!fp) return false;
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ReadHeader(fp);
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fclose(fp);
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@ -92,33 +89,33 @@ static bool ReadHeader(const char * filename,unsigned int &num_cams, unsigned in
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}
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static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
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std::vector<std::string > & image_filenames,
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static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
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std::vector<std::string > & image_filenames,
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const char * filename,const char * filename_images, CallBackPos *cb=0)
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{
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unsigned int num_cams,num_points;
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FILE *fp = fopen(filename,"r");
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if(!fp) return false;
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ReadHeader(fp, num_cams, num_points);
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char *line;
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char line[100];
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ReadImagesFilenames(filename_images,image_filenames);
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ReadImagesFilenames(filename_images, image_filenames);
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shots.resize(num_cams);
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for(int i = 0; i < num_cams;++i)
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{
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float f, k1, k2;
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float f, k1, k2;
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float R[16]={0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,1};
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vcg::Point3f t;
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line = readline(fp); if(!line) return false; sscanf(line, "%f %f %f", &f, &k1, &k2);
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vcg::Point3f t;
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line = readline(fp); if(!line) return false; sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])); R[3] = 0;
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line = readline(fp); if(!line) return false; sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])); R[7] = 0;
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line = readline(fp); if(!line) return false; sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])); R[11] = 0;
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &f, &k1, &k2);
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line = readline(fp); if(!line) return false; sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2]));
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])); R[3] = 0;
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])); R[7] = 0;
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])); R[11] = 0;
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readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2]));
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vcg::Matrix44f mat = vcg::Matrix44<vcg::Shotf::ScalarType>::Construct<float>(R);
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@ -136,17 +133,17 @@ static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
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AddIntrinsics(shots[i],image_filenames[i].c_str());
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}
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// load all correspondences
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// load all correspondences
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typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");
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if(!vcg::tri::Allocator<OpenMeshType>::IsValidHandle(m,ch))
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if(!vcg::tri::Allocator<OpenMeshType>::IsValidHandle(m,ch))
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ch = vcg::tri::Allocator<OpenMeshType>::template AddPerVertexAttribute<CorrVec>(m,"correspondences");
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typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
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typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
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for(int i = 0; i < num_points;++i,++vi){
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float x,y,z;
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float x,y,z;
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unsigned int r,g,b,i_cam, key_sift,n_corr;
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fscanf(fp,"%f %f %f ",&x,&y,&z);
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(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
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(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
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fscanf(fp,"%d %d %d ",&r,&g,&b);
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(*vi).C() = vcg::Color4b(r,g,b,255);
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@ -158,13 +155,13 @@ static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
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}
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}
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vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
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fclose(fp);
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fclose(fp);
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return (shots.size() == 0);
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return (shots.size() == 0);
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}
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static int Open( OpenMeshType &m, std::vector<Shot<typename OpenMeshType::ScalarType> > shots, const char * filename_out,const char * filename_list, CallBackPos *cb=0){
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ReadHeader(filename_out);
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ReadHeader(filename_out);
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std::vector<std::string> image_filenames;
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ReadImagesFilenames(filename_list,image_filenames);
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return Open( m, shots,filename_out, image_filenames, cb);
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@ -173,21 +170,21 @@ static int Open( OpenMeshType &m, std::vector<Shot<typename OpenMeshType::Scalar
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static bool ReadImagesFilenames(const char * filename,std::vector<std::string> &image_filenames)
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{
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char line[1000],name[1000];
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FILE * fi = fopen(filename,"r");
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if (!fi) return false;
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else
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{
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while(!feof(fi)){
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fgets (line , 1000, fi);
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sscanf(line,"%s",&name[0]);
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FILE * fp = fopen(filename,"r");
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if (!fp) return false;
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else
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{
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char line[1000], name[1000];
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while(!feof(fp)){
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readline(fp, line, 1000);
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if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
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sscanf(line, "%s", name);
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std::string n(name);
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image_filenames.push_back(n);
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}
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}
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fclose(fi);
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return true;
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fclose(fp);
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return true;
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}
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static bool AddIntrinsics(vcg::Shotf &shot, const char * image_file)
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