[software] featureMatching: rename matchFromKnownCameraPoses

src/aliceVision/matching/io.cpp

@@ -102,19 +102,19 @@ void filterTopMatches(
   const int limitNum,
   const int minNum)
 {
-  if (limitNum <= 0)
-    return;
-  if (minNum <= 0 || minNum > limitNum)
+  if (limitNum <= 0 && minNum <=0)
     return;
+  if (minNum > limitNum)
+    throw std::runtime_error("The minimum of matches is higher than the maximum of matches");
 
   for(auto& matchesPerDesc: allMatches)
   {
     for(auto& matches: matchesPerDesc.second)
     {
       IndMatches& m = matches.second;
-      if (m.size() > limitNum)
+      if (limitNum > 0 && m.size() > limitNum)
         m.erase(m.begin()+limitNum, m.end());
-      if (m.size() < minNum)
+      if (minNum > 0 && m.size() < minNum)
         m.erase(m.begin(), m.end());
     }
   }

src/aliceVision/sfm/pipeline/structureFromKnownPoses/StructureEstimationFromKnownPoses.cpp

@@ -61,11 +61,11 @@ void PointsToMat(
 void StructureEstimationFromKnownPoses::run(SfMData& sfmData,
   const PairSet& pairs,
   const feature::RegionsPerView& regionsPerView,
-  double knownPosesGeometricErrorMax)
+  double GeometricErrorMax)
 {
   sfmData.structure.clear();
 
-  match(sfmData, pairs, regionsPerView, knownPosesGeometricErrorMax);
+  match(sfmData, pairs, regionsPerView, GeometricErrorMax);
   filter(sfmData, pairs, regionsPerView);
   triangulate(sfmData, regionsPerView);
 }
@@ -76,7 +76,7 @@ void StructureEstimationFromKnownPoses::run(SfMData& sfmData,
 void StructureEstimationFromKnownPoses::match(const SfMData& sfmData,
   const PairSet& pairs,
   const feature::RegionsPerView& regionsPerView,
-  double knownPosesGeometricErrorMax)
+  double GeometricErrorMax)
 {
   boost::progress_display my_progress_bar( pairs.size(), std::cout,
     "Compute pairwise fundamental guided matching:\n" );
@@ -140,7 +140,7 @@ void StructureEstimationFromKnownPoses::match(const SfMData& sfmData,
             regionsPerView.getRegions(it->second, descType),
             iterIntrinsicR->second->w(), iterIntrinsicR->second->h(),
             //descType,
-            Square(knownPosesGeometricErrorMax), Square(0.8),
+            Square(GeometricErrorMax), Square(0.8),
             matches
           );
       #endif

src/aliceVision/sfm/pipeline/structureFromKnownPoses/StructureEstimationFromKnownPoses.hpp

@@ -22,15 +22,15 @@ class StructureEstimationFromKnownPoses
   void run(sfmData::SfMData& sfmData,
     const PairSet& pairs,
     const feature::RegionsPerView& regionsPerView,
-    double knownPosesGeometricErrorMax);
+    double GeometricErrorMax);
 
 public:
 
   /// Use guided matching to find corresponding 2-view correspondences
   void match(const sfmData::SfMData& sfmData,
     const PairSet& pairs,
     const feature::RegionsPerView& regionsPerView,
-    double knownPosesGeometricErrorMax);
+    double GeometricErrorMax);
 
   /// Filter inconsistent correspondences by using 3-view correspondences on view triplets
   void filter(

src/software/pipeline/main_computeStructureFromKnownPoses.cpp

@@ -37,7 +37,7 @@ int main(int argc, char **argv)
   std::string sfmDataFilename;
   std::string outSfMDataFilename;
   std::vector<std::string> featuresFolders;
-  double knownPosesGeometricErrorMax = 5.0;
+  double GeometricErrorMax = 5.0;
   // user optional parameters
 
   std::string describerTypesName = feature::EImageDescriberType_enumToString(feature::EImageDescriberType::SIFT);
@@ -60,8 +60,8 @@ int main(int argc, char **argv)
       feature::EImageDescriberType_informations().c_str())
     ("matchesFolders,m", po::value<std::vector<std::string>>(&matchesFolders)->multitoken()->required(),
       "Path to folder(s) in which computed matches are stored.")
-    ("knownPosesGeometricErrorMax", po::value<double>(&knownPosesGeometricErrorMax)->default_value(knownPosesGeometricErrorMax),
-        "Maximum error (in pixels) allowed for features matching during geometric verification for non camera poses known. "
+    ("GeometricErrorMax", po::value<double>(&GeometricErrorMax)->default_value(GeometricErrorMax),
+        "Maximum error (in pixels) allowed for features matching during geometric verification for known camera poses. "
         "If set to 0 it lets the ACRansac select an optimal value.");
 
   po::options_description logParams("Log parameters");
@@ -155,7 +155,7 @@ int main(int argc, char **argv)
 
   // compute Structure from known camera poses
   sfm::StructureEstimationFromKnownPoses structureEstimator;
-  structureEstimator.match(sfmData, pairs, regionsPerView, knownPosesGeometricErrorMax);
+  structureEstimator.match(sfmData, pairs, regionsPerView, GeometricErrorMax);
 
   // unload descriptors before triangulation
   regionsPerView.clearDescriptors();

src/software/pipeline/main_featureMatching.cpp

@@ -114,7 +114,7 @@ int main(int argc, char **argv)
   size_t numMatchesToKeep = 0;
   bool useGridSort = true;
   bool exportDebugFiles = false;
-  bool matchFromCameraPosesKnown=false;
+  bool matchFromKnownCameraPoses = false;
   const std::string fileExtension = "txt";
 
   po::options_description allParams(
@@ -159,7 +159,7 @@ int main(int argc, char **argv)
           "Maximum error (in pixels) allowed for features matching during geometric verification. "
           "If set to 0 it lets the ACRansac select an optimal value.")
     ("knownPosesGeometricErrorMax", po::value<double>(&knownPosesGeometricErrorMax)->default_value(knownPosesGeometricErrorMax),
-          "Maximum error (in pixels) allowed for features matching during geometric verification for non camera poses known. "
+          "Maximum error (in pixels) allowed for features matching guided by geometric information from known camera poses. "
           "If set to 0 it lets the ACRansac select an optimal value.")
     ("savePutativeMatches", po::value<bool>(&savePutativeMatches)->default_value(savePutativeMatches),
       "Save putative matches.")
@@ -181,8 +181,9 @@ int main(int argc, char **argv)
       "Range image index start.")
     ("rangeSize", po::value<int>(&rangeSize)->default_value(rangeSize),
       "Range size.")
-    ("matchFromCameraPosesKnown", po::value<bool>(&matchFromCameraPosesKnown)->default_value(matchFromCameraPosesKnown),
-      "Match from camera poses known");
+    ("matchFromKnownCameraPoses", po::value<bool>(&matchFromKnownCameraPoses)->default_value(matchFromKnownCameraPoses),
+      "Enable the usage of geometric information from known camera poses to guide the feature matching. "
+      "If some cameras have unknown poses (so there is no geometric prior), the standard feature matching will be performed.");
 
   po::options_description logParams("Log parameters");
   logParams.add_options()
@@ -316,7 +317,7 @@ int main(int argc, char **argv)
   PairSet pairsPoseKnown;
   PairSet pairsPoseUnknown;
 
-  if(matchFromCameraPosesKnown)
+  if(matchFromKnownCameraPoses)
   {
       for(const auto& p: pairs)
       {