(trivial) Extract some code out of pipeline executables to reusable modules

src/aliceVision/CMakeLists.txt

@@ -17,6 +17,7 @@ if(ALICEVISION_BUILD_SFM)
   add_subdirectory(geometry)
   add_subdirectory(graph)
   add_subdirectory(gpu)
+  add_subdirectory(imageMatching)
   add_subdirectory(keyframe)
   add_subdirectory(linearProgramming)
   add_subdirectory(localization)

src/aliceVision/feature/CMakeLists.txt

@@ -14,6 +14,7 @@ set(features_files_headers
   sift/SIFT.hpp
   Descriptor.hpp
   feature.hpp
+  FeatureExtractor.hpp
   FeaturesPerView.hpp
   Hamming.hpp
   ImageDescriber.hpp
@@ -34,6 +35,7 @@ set(features_files_sources
   akaze/ImageDescriber_AKAZE.cpp
   sift/SIFT.cpp
   sift/ImageDescriber_DSPSIFT_vlfeat.cpp
+  FeatureExtractor.cpp
   FeaturesPerView.cpp
   ImageDescriber.cpp
   imageDescriberCommon.cpp

src/aliceVision/feature/FeatureExtractor.cpp

@@ -0,0 +1,259 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2022 AliceVision contributors.
+// This Source Code Form is subject to the terms of the Mozilla Public License,
+// v. 2.0. If a copy of the MPL was not distributed with this file,
+// You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#include "FeatureExtractor.hpp"
+#include <aliceVision/image/io.hpp>
+#include <aliceVision/system/MemoryInfo.hpp>
+#include <aliceVision/alicevision_omp.hpp>
+#include <boost/filesystem.hpp>
+#include <iomanip>
+
+namespace fs = boost::filesystem;
+
+namespace aliceVision {
+namespace feature {
+
+FeatureExtractorViewJob::FeatureExtractorViewJob(const sfmData::View& view,
+                                                 const std::string& outputFolder) :
+    _view(view),
+    _outputBasename(fs::path(fs::path(outputFolder) / fs::path(std::to_string(view.getViewId()))).string())
+{}
+
+FeatureExtractorViewJob::~FeatureExtractorViewJob() = default;
+
+void FeatureExtractorViewJob::setImageDescribers(
+        const std::vector<std::shared_ptr<feature::ImageDescriber>>& imageDescribers)
+{
+    for (std::size_t i = 0; i < imageDescribers.size(); ++i)
+    {
+        const std::shared_ptr<feature::ImageDescriber>& imageDescriber = imageDescribers.at(i);
+        feature::EImageDescriberType imageDescriberType = imageDescriber->getDescriberType();
+
+        if (fs::exists(getFeaturesPath(imageDescriberType)) &&
+            fs::exists(getDescriptorPath(imageDescriberType)))
+        {
+            continue;
+        }
+
+        _memoryConsuption += imageDescriber->getMemoryConsumption(_view.getWidth(),
+                                                                  _view.getHeight());
+
+        if(imageDescriber->useCuda())
+            _gpuImageDescriberIndexes.push_back(i);
+        else
+            _cpuImageDescriberIndexes.push_back(i);
+    }
+}
+
+
+FeatureExtractor::FeatureExtractor(const sfmData::SfMData& sfmData) :
+    _sfmData(sfmData)
+{}
+
+FeatureExtractor::~FeatureExtractor() = default;
+
+void FeatureExtractor::process()
+{
+    // iteration on each view in the range in order
+    // to prepare viewJob stack
+    sfmData::Views::const_iterator itViewBegin = _sfmData.getViews().begin();
+    sfmData::Views::const_iterator itViewEnd = _sfmData.getViews().end();
+
+    if(_rangeStart != -1)
+    {
+        std::advance(itViewBegin, _rangeStart);
+        itViewEnd = itViewBegin;
+        std::advance(itViewEnd, _rangeSize);
+    }
+
+    std::size_t jobMaxMemoryConsuption = 0;
+
+    std::vector<FeatureExtractorViewJob> cpuJobs;
+    std::vector<FeatureExtractorViewJob> gpuJobs;
+
+    for (auto it = itViewBegin; it != itViewEnd; ++it)
+    {
+        const sfmData::View& view = *(it->second.get());
+        FeatureExtractorViewJob viewJob(view, _outputFolder);
+
+        viewJob.setImageDescribers(_imageDescribers);
+        jobMaxMemoryConsuption = std::max(jobMaxMemoryConsuption, viewJob.memoryConsuption());
+
+        if (viewJob.useCPU())
+            cpuJobs.push_back(viewJob);
+
+        if (viewJob.useGPU())
+            gpuJobs.push_back(viewJob);
+    }
+
+    if (!cpuJobs.empty())
+    {
+        system::MemoryInfo memoryInformation = system::getMemoryInfo();
+
+        ALICEVISION_LOG_INFO("Job max memory consumption for one image: "
+                             << jobMaxMemoryConsuption / (1024*1024) << " MB");
+        ALICEVISION_LOG_INFO("Memory information: " << std::endl << memoryInformation);
+
+        if (jobMaxMemoryConsuption == 0)
+            throw std::runtime_error("Cannot compute feature extraction job max memory consumption.");
+
+        // How many buffers can fit in 90% of the available RAM?
+        // This is used to estimate how many jobs can be computed in parallel without SWAP.
+        const std::size_t memoryImageCapacity =
+                std::size_t((0.9 * memoryInformation.availableRam) / jobMaxMemoryConsuption);
+
+        std::size_t nbThreads = std::max(std::size_t(1), memoryImageCapacity);
+        ALICEVISION_LOG_INFO("Max number of threads regarding memory usage: " << nbThreads);
+        const double oneGB = 1024.0 * 1024.0 * 1024.0;
+        if (jobMaxMemoryConsuption > memoryInformation.availableRam)
+        {
+            ALICEVISION_LOG_WARNING("The amount of RAM available is critical to extract features.");
+            if (jobMaxMemoryConsuption <= memoryInformation.totalRam)
+            {
+                ALICEVISION_LOG_WARNING("But the total amount of RAM is enough to extract features, "
+                                        << "so you should close other running applications.");
+                ALICEVISION_LOG_WARNING(" => " << std::size_t(std::round((double(memoryInformation.totalRam - memoryInformation.availableRam) / oneGB)))
+                                        << " GB are used by other applications for a total RAM capacity of "
+                                        << std::size_t(std::round(double(memoryInformation.totalRam) / oneGB))
+                                        << " GB.");
+            }
+        }
+        else
+        {
+            if (memoryInformation.availableRam < 0.5 * memoryInformation.totalRam)
+            {
+                ALICEVISION_LOG_WARNING("More than half of the RAM is used by other applications. It would be more efficient to close them.");
+                ALICEVISION_LOG_WARNING(" => "
+                                        << std::size_t(std::round(double(memoryInformation.totalRam - memoryInformation.availableRam) / oneGB))
+                                        << " GB are used by other applications for a total RAM capacity of "
+                                        << std::size_t(std::round(double(memoryInformation.totalRam) / oneGB))
+                                        << " GB.");
+            }
+        }
+
+        if(memoryInformation.availableRam == 0)
+        {
+          ALICEVISION_LOG_WARNING("Cannot find available system memory, this can be due to OS limitation.\n"
+                                  "Use only one thread for CPU feature extraction.");
+          nbThreads = 1;
+        }
+
+        // nbThreads should not be higher than user maxThreads param
+        if(_maxThreads > 0)
+          nbThreads = std::min(static_cast<std::size_t>(_maxThreads), nbThreads);
+
+        // nbThreads should not be higher than the core number
+        nbThreads = std::min(static_cast<std::size_t>(omp_get_num_procs()), nbThreads);
+
+        // nbThreads should not be higher than the number of jobs
+        nbThreads = std::min(cpuJobs.size(), nbThreads);
+
+        ALICEVISION_LOG_INFO("# threads for extraction: " << nbThreads);
+        omp_set_nested(1);
+
+#pragma omp parallel for num_threads(nbThreads)
+        for (int i = 0; i < cpuJobs.size(); ++i)
+            computeViewJob(cpuJobs.at(i), false);
+    }
+
+    if (!gpuJobs.empty())
+    {
+        for (const auto& job : gpuJobs)
+            computeViewJob(job, true);
+    }
+}
+
+void FeatureExtractor::computeViewJob(const FeatureExtractorViewJob& job, bool useGPU)
+{
+    image::Image<float> imageGrayFloat;
+    image::Image<unsigned char> imageGrayUChar;
+    image::Image<unsigned char> mask;
+
+    image::readImage(job.view().getImagePath(), imageGrayFloat, image::EImageColorSpace::SRGB);
+
+    if (!_masksFolder.empty() && fs::exists(_masksFolder))
+    {
+        const auto masksFolder = fs::path(_masksFolder);
+        const auto idMaskPath = masksFolder /
+                fs::path(std::to_string(job.view().getViewId())).replace_extension("png");
+        const auto nameMaskPath = masksFolder /
+                fs::path(job.view().getImagePath()).filename().replace_extension("png");
+
+        if (fs::exists(idMaskPath))
+        {
+            image::readImage(idMaskPath.string(), mask, image::EImageColorSpace::LINEAR);
+        }
+        else if (fs::exists(nameMaskPath))
+        {
+            image::readImage(nameMaskPath.string(), mask, image::EImageColorSpace::LINEAR);
+        }
+    }
+
+    for (const auto & imageDescriberIndex : job.imageDescriberIndexes(useGPU))
+    {
+        const auto& imageDescriber = _imageDescribers.at(imageDescriberIndex);
+        const feature::EImageDescriberType imageDescriberType = imageDescriber->getDescriberType();
+        const std::string imageDescriberTypeName =
+                feature::EImageDescriberType_enumToString(imageDescriberType);
+
+        // Compute features and descriptors and export them to files
+        ALICEVISION_LOG_INFO("Extracting " << imageDescriberTypeName  << " features from view '"
+                             << job.view().getImagePath() << "' " << (useGPU ? "[gpu]" : "[cpu]"));
+
+        std::unique_ptr<feature::Regions> regions;
+        if (imageDescriber->useFloatImage())
+        {
+            // image buffer use float image, use the read buffer
+            imageDescriber->describe(imageGrayFloat, regions);
+        }
+        else
+        {
+            // image buffer can't use float image
+            if (imageGrayUChar.Width() == 0) // the first time, convert the float buffer to uchar
+                imageGrayUChar = (imageGrayFloat.GetMat() * 255.f).cast<unsigned char>();
+            imageDescriber->describe(imageGrayUChar, regions);
+        }
+
+        if (mask.Height() > 0)
+        {
+            std::vector<feature::FeatureInImage> selectedIndices;
+            for (size_t i=0, n=regions->RegionCount(); i != n; ++i)
+            {
+                const Vec2 position = regions->GetRegionPosition(i);
+                const int x = int(position.x());
+                const int y = int(position.y());
+
+                bool masked = false;
+                if (x < mask.Width() && y < mask.Height())
+                {
+                    if (mask(y, x) == 0)
+                    {
+                        masked = true;
+                    }
+                }
+
+                if (!masked)
+                {
+                    selectedIndices.push_back({IndexT(i), 0});
+                }
+            }
+
+            std::vector<IndexT> out_associated3dPoint;
+            std::map<IndexT, IndexT> out_mapFullToLocal;
+            regions = regions->createFilteredRegions(selectedIndices, out_associated3dPoint,
+                                                     out_mapFullToLocal);
+        }
+
+        imageDescriber->Save(regions.get(), job.getFeaturesPath(imageDescriberType),
+                             job.getDescriptorPath(imageDescriberType));
+        ALICEVISION_LOG_INFO(std::left << std::setw(6) << " " << regions->RegionCount() << " "
+                             << imageDescriberTypeName  << " features extracted from view '"
+                             << job.view().getImagePath() << "'");
+    }
+}
+
+} // namespace feature
+} // namespace aliceVision