/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#ifndef __VCGLIB_IMPORTERBUNDLER
#define __VCGLIB_IMPORTERBUNDLER
#include <stddef.h>
#include <stdio.h>
#include <vcg/complex/allocate.h>
#include <vcg/complex/algorithms/update/bounding.h>
#include <wrap/callback.h>
#include <wrap/io_trimesh/io_mask.h>
extern "C"
{
#include <jhead.h>
int ReadJpegSections (FILE * infile, ReadMode_t ReadMode);
void ResetJpgfile(void);
}
namespace vcg {
namespace tri {
namespace io {
struct Correspondence{
Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
unsigned int id_img,key;
float x;
float y;
};
typedef std::vector<Correspondence> CorrVec;
/**
This class encapsulate a filter for opening bundler file
*/
template <class OpenMeshType>
class ImporterOUT
{
public:
typedef typename OpenMeshType::VertexPointer VertexPointer;
typedef typename OpenMeshType::ScalarType ScalarType;
typedef typename OpenMeshType::VertexType VertexType;
typedef typename OpenMeshType::FaceType FaceType;
typedef typename OpenMeshType::VertexIterator VertexIterator;
typedef typename OpenMeshType::FaceIterator FaceIterator;
typedef typename OpenMeshType::EdgeIterator EdgeIterator;
static void readline(FILE *fp, char *line, int max=100){
int i=0;
char c;
fscanf(fp, "%c", &c);
while( (c!=10) && (c!=13) && (i<max-1) ){
line[i++] = c;
fscanf(fp, "%c", &c);
}
line[i] = '\0'; //end of string
}
static bool ReadHeader(FILE *fp,unsigned int &num_cams, unsigned int &num_points){
char line[100];
readline(fp, line); if( (line[0]=='\0') || (0!=strcmp("# Bundle file v0.3", line)) ) return false;
readline(fp, line); if(line[0]=='\0') return false;
sscanf(line, "%d %d", &num_cams, &num_points);
return true;
}
static bool ReadHeader(const char * filename,unsigned int &/*num_cams*/, unsigned int &/*num_points*/){
FILE *fp = fopen(filename, "r");
if(!fp) return false;
ReadHeader(fp);
fclose(fp);
return true;
}
static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> > & shots,
std::vector<std::string > & image_filenames,
const char * filename,const char * filename_images, const char * filename_images_path = "",CallBackPos *cb=0)
{
unsigned int num_cams,num_points;
FILE *fp = fopen(filename,"r");
if(!fp) return false;
ReadHeader(fp, num_cams, num_points);
char line[100];
if(cb) cb(0,"Reading images");
ReadImagesFilenames(filename_images, image_filenames);
if(cb) cb(50,"Reading cameras");
shots.resize(num_cams);
for(uint i = 0; i < num_cams;++i)
{
float f, k1, k2;
float R[16]={0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,1};
vcg::Point3f t;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &f, &k1, &k2);
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])); R[3] = 0;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])); R[7] = 0;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])); R[11] = 0;
readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2]));
vcg::Matrix44f mat = vcg::Matrix44<vcg::Shotf::ScalarType>::Construct<float>(R);
vcg::Matrix33f Rt = vcg::Matrix33f( vcg::Matrix44f(mat), 3);
Rt.Transpose();
vcg::Point3f pos = Rt * vcg::Point3f(t[0], t[1], t[2]);
shots[i].Extrinsics.SetTra(vcg::Point3<vcg::Shotf::ScalarType>::Construct<float>(-pos[0],-pos[1],-pos[2]));
shots[i].Extrinsics.SetRot(mat);
shots[i].Intrinsics.FocalMm = f;
shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
shots[i].Intrinsics.k[1] = 0.0;//k2;
shots[i].Intrinsics.PixelSizeMm = vcg::Point2f(1,1);
AddIntrinsics(shots[i], std::string(filename_images_path).append(image_filenames[i]).c_str());
}
// load all correspondences
typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");
if(!vcg::tri::Allocator<OpenMeshType>::IsValidHandle(m,ch))
ch = vcg::tri::Allocator<OpenMeshType>::template AddPerVertexAttribute<CorrVec>(m,"correspondences");
typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
for(uint i = 0; i < num_points;++i,++vi){
float x,y,z;
unsigned int r,g,b,i_cam, key_sift,n_corr;
fscanf(fp,"%f %f %f ",&x,&y,&z);
(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
fscanf(fp,"%d %d %d ",&r,&g,&b);
(*vi).C() = vcg::Color4b(r,g,b,255);
fscanf(fp,"%d ",&n_corr);
for(uint j = 0; j < n_corr; ++j){
fscanf(fp,"%d %d %f %f ",&i_cam,&key_sift,&x,&y);
Correspondence corr(i_cam,key_sift,x,y);
ch[i].push_back(corr);
}
}
vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
fclose(fp);
return (shots.size() == 0);
}
static bool ReadImagesFilenames(const char * filename,std::vector<std::string> &image_filenames)
{
FILE * fp = fopen(filename,"r");
if (!fp) return false;
else
{
char line[1000], name[1000];
while(!feof(fp)){
readline(fp, line, 1000);
if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
sscanf(line, "%s", name);
std::string n(name);
image_filenames.push_back(n);
}
}
fclose(fp);
return true;
}
static bool AddIntrinsics(vcg::Shotf &shot, const char * image_file)
{
::ResetJpgfile();
FILE * pFile = fopen(image_file, "rb");
int ret = ::ReadJpegSections (pFile, READ_METADATA);
fclose(pFile);
if(ret==0) return false;
shot.Intrinsics.ViewportPx = vcg::Point2i(ImageInfo.Width, ImageInfo.Height);
shot.Intrinsics.CenterPx = vcg::Point2f(float(ImageInfo.Width/2.0), float(ImageInfo.Height/2.0));
return true;
}
}; // end class
} // end namespace tri
} // end namespace io
} // end namespace vcg
#endif