From dc62dff2ed95225fbdd20a31ab0754f31ab072dc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Wed, 9 Nov 2022 14:46:53 +0100 Subject: [PATCH 1/9] [docs] update doxygen config --- docs/.gitignore | 2 + docs/doxygen/Doxyfile.in | 957 +++++++++++++++++++++++++-------------- 2 files changed, 624 insertions(+), 335 deletions(-) create mode 100644 docs/.gitignore diff --git a/docs/.gitignore b/docs/.gitignore new file mode 100644 index 0000000000..5439c05886 --- /dev/null +++ b/docs/.gitignore @@ -0,0 +1,2 @@ +#Doxygen +doxygen/build/ diff --git a/docs/doxygen/Doxyfile.in b/docs/doxygen/Doxyfile.in index 4f3e1c5c09..18a401211d 100644 --- a/docs/doxygen/Doxyfile.in +++ b/docs/doxygen/Doxyfile.in @@ -1,4 +1,4 @@ -# Doxyfile 1.8.11 +# Doxyfile 1.9.5 # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project. @@ -12,16 +12,26 @@ # For lists, items can also be appended using: # TAG += value [value, ...] # Values that contain spaces should be placed between quotes (\" \"). +# +# Note: +# +# Use doxygen to compare the used configuration file with the template +# configuration file: +# doxygen -x [configFile] +# Use doxygen to compare the used configuration file with the template +# configuration file without replacing the environment variables or CMake type +# replacement variables: +# doxygen -x_noenv [configFile] #--------------------------------------------------------------------------- # Project related configuration options #--------------------------------------------------------------------------- -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all text -# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv -# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv -# for the list of possible encodings. +# This tag specifies the encoding used for all characters in the configuration +# file that follow. The default is UTF-8 which is also the encoding used for all +# text before the first occurrence of this tag. Doxygen uses libiconv (or the +# iconv built into libc) for the transcoding. See +# https://www.gnu.org/software/libiconv/ for the list of possible encodings. # The default value is: UTF-8. DOXYFILE_ENCODING = UTF-8 @@ -38,7 +48,7 @@ PROJECT_NAME = AliceVision # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = @ALICEVISION_VERSION@ +PROJECT_NUMBER = # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a @@ -51,25 +61,37 @@ PROJECT_BRIEF = "Photogrammetric Computer Vision Framework" # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy # the logo to the output directory. -PROJECT_LOGO = @PROJECT_SOURCE_DIR@/../docs/logo/AliceVision_170.png +PROJECT_LOGO = # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path # into which the generated documentation will be written. If a relative path is # entered, it will be relative to the location where doxygen was started. If # left blank the current directory will be used. -OUTPUT_DIRECTORY = ./doc +OUTPUT_DIRECTORY = build -# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- -# directories (in 2 levels) under the output directory of each output format and -# will distribute the generated files over these directories. Enabling this +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create up to 4096 +# sub-directories (in 2 levels) under the output directory of each output format +# and will distribute the generated files over these directories. Enabling this # option can be useful when feeding doxygen a huge amount of source files, where # putting all generated files in the same directory would otherwise causes -# performance problems for the file system. +# performance problems for the file system. Adapt CREATE_SUBDIRS_LEVEL to +# control the number of sub-directories. # The default value is: NO. CREATE_SUBDIRS = NO +# Controls the number of sub-directories that will be created when +# CREATE_SUBDIRS tag is set to YES. Level 0 represents 16 directories, and every +# level increment doubles the number of directories, resulting in 4096 +# directories at level 8 which is the default and also the maximum value. The +# sub-directories are organized in 2 levels, the first level always has a fixed +# numer of 16 directories. +# Minimum value: 0, maximum value: 8, default value: 8. +# This tag requires that the tag CREATE_SUBDIRS is set to YES. + +CREATE_SUBDIRS_LEVEL = 8 + # If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII # characters to appear in the names of generated files. If set to NO, non-ASCII # characters will be escaped, for example _xE3_x81_x84 will be used for Unicode @@ -81,14 +103,14 @@ ALLOW_UNICODE_NAMES = NO # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. -# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, -# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), -# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, -# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), -# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, -# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, -# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, -# Ukrainian and Vietnamese. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Bulgarian, +# Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, English +# (United States), Esperanto, Farsi (Persian), Finnish, French, German, Greek, +# Hindi, Hungarian, Indonesian, Italian, Japanese, Japanese-en (Japanese with +# English messages), Korean, Korean-en (Korean with English messages), Latvian, +# Lithuanian, Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, +# Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, +# Swedish, Turkish, Ukrainian and Vietnamese. # The default value is: English. OUTPUT_LANGUAGE = English @@ -162,7 +184,7 @@ FULL_PATH_NAMES = YES # will be relative from the directory where doxygen is started. # This tag requires that the tag FULL_PATH_NAMES is set to YES. -STRIP_FROM_PATH = +STRIP_FROM_PATH = # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the # path mentioned in the documentation of a class, which tells the reader which @@ -171,7 +193,7 @@ STRIP_FROM_PATH = # specify the list of include paths that are normally passed to the compiler # using the -I flag. -STRIP_FROM_INC_PATH = +STRIP_FROM_INC_PATH = # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but # less readable) file names. This can be useful is your file systems doesn't @@ -189,6 +211,16 @@ SHORT_NAMES = NO JAVADOC_AUTOBRIEF = NO +# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line +# such as +# /*************** +# as being the beginning of a Javadoc-style comment "banner". If set to NO, the +# Javadoc-style will behave just like regular comments and it will not be +# interpreted by doxygen. +# The default value is: NO. + +JAVADOC_BANNER = NO + # If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first # line (until the first dot) of a Qt-style comment as the brief description. If # set to NO, the Qt-style will behave just like regular Qt-style comments (thus @@ -209,6 +241,14 @@ QT_AUTOBRIEF = NO MULTILINE_CPP_IS_BRIEF = NO +# By default Python docstrings are displayed as preformatted text and doxygen's +# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the +# doxygen's special commands can be used and the contents of the docstring +# documentation blocks is shown as doxygen documentation. +# The default value is: YES. + +PYTHON_DOCSTRING = YES + # If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the # documentation from any documented member that it re-implements. # The default value is: YES. @@ -232,19 +272,18 @@ TAB_SIZE = 4 # the documentation. An alias has the form: # name=value # For example adding -# "sideeffect=@par Side Effects:\n" +# "sideeffect=@par Side Effects:^^" # will allow you to put the command \sideeffect (or @sideeffect) in the # documentation, which will result in a user-defined paragraph with heading -# "Side Effects:". You can put \n's in the value part of an alias to insert -# newlines. - -ALIASES = - -# This tag can be used to specify a number of word-keyword mappings (TCL only). -# A mapping has the form "name=value". For example adding "class=itcl::class" -# will allow you to use the command class in the itcl::class meaning. +# "Side Effects:". Note that you cannot put \n's in the value part of an alias +# to insert newlines (in the resulting output). You can put ^^ in the value part +# of an alias to insert a newline as if a physical newline was in the original +# file. When you need a literal { or } or , in the value part of an alias you +# have to escape them by means of a backslash (\), this can lead to conflicts +# with the commands \{ and \} for these it is advised to use the version @{ and +# @} or use a double escape (\\{ and \\}) -TCL_SUBST = +ALIASES = # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources # only. Doxygen will then generate output that is more tailored for C. For @@ -274,28 +313,40 @@ OPTIMIZE_FOR_FORTRAN = NO OPTIMIZE_OUTPUT_VHDL = NO +# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice +# sources only. Doxygen will then generate output that is more tailored for that +# language. For instance, namespaces will be presented as modules, types will be +# separated into more groups, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_SLICE = NO + # Doxygen selects the parser to use depending on the extension of the files it # parses. With this tag you can assign which parser to use for a given # extension. Doxygen has a built-in mapping, but you can override or extend it # using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, Javascript, -# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: -# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: -# Fortran. In the later case the parser tries to guess whether the code is fixed -# or free formatted code, this is the default for Fortran type files), VHDL. For -# instance to make doxygen treat .inc files as Fortran files (default is PHP), -# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# language is one of the parsers supported by doxygen: IDL, Java, JavaScript, +# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice, +# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran: +# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser +# tries to guess whether the code is fixed or free formatted code, this is the +# default for Fortran type files). For instance to make doxygen treat .inc files +# as Fortran files (default is PHP), and .f files as C (default is Fortran), +# use: inc=Fortran f=C. # # Note: For files without extension you can use no_extension as a placeholder. # # Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. +# the files are not read by doxygen. When specifying no_extension you should add +# * to the FILE_PATTERNS. +# +# Note see also the list of default file extension mappings. -EXTENSION_MAPPING = +EXTENSION_MAPPING = # If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments # according to the Markdown format, which allows for more readable -# documentation. See http://daringfireball.net/projects/markdown/ for details. +# documentation. See https://daringfireball.net/projects/markdown/ for details. # The output of markdown processing is further processed by doxygen, so you can # mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in # case of backward compatibilities issues. @@ -303,6 +354,15 @@ EXTENSION_MAPPING = MARKDOWN_SUPPORT = YES +# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up +# to that level are automatically included in the table of contents, even if +# they do not have an id attribute. +# Note: This feature currently applies only to Markdown headings. +# Minimum value: 0, maximum value: 99, default value: 5. +# This tag requires that the tag MARKDOWN_SUPPORT is set to YES. + +TOC_INCLUDE_HEADINGS = 5 + # When enabled doxygen tries to link words that correspond to documented # classes, or namespaces to their corresponding documentation. Such a link can # be prevented in individual cases by putting a % sign in front of the word or @@ -328,7 +388,7 @@ BUILTIN_STL_SUPPORT = NO CPP_CLI_SUPPORT = NO # Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen # will parse them like normal C++ but will assume all classes use public instead # of private inheritance when no explicit protection keyword is present. # The default value is: NO. @@ -414,6 +474,19 @@ TYPEDEF_HIDES_STRUCT = NO LOOKUP_CACHE_SIZE = 0 +# The NUM_PROC_THREADS specifies the number of threads doxygen is allowed to use +# during processing. When set to 0 doxygen will based this on the number of +# cores available in the system. You can set it explicitly to a value larger +# than 0 to get more control over the balance between CPU load and processing +# speed. At this moment only the input processing can be done using multiple +# threads. Since this is still an experimental feature the default is set to 1, +# which effectively disables parallel processing. Please report any issues you +# encounter. Generating dot graphs in parallel is controlled by the +# DOT_NUM_THREADS setting. +# Minimum value: 0, maximum value: 32, default value: 1. + +NUM_PROC_THREADS = 1 + #--------------------------------------------------------------------------- # Build related configuration options #--------------------------------------------------------------------------- @@ -426,7 +499,7 @@ LOOKUP_CACHE_SIZE = 0 # normally produced when WARNINGS is set to YES. # The default value is: NO. -EXTRACT_ALL = YES +EXTRACT_ALL = NO # If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will # be included in the documentation. @@ -434,6 +507,12 @@ EXTRACT_ALL = YES EXTRACT_PRIVATE = NO +# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual +# methods of a class will be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIV_VIRTUAL = NO + # If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal # scope will be included in the documentation. # The default value is: NO. @@ -444,7 +523,7 @@ EXTRACT_PACKAGE = NO # included in the documentation. # The default value is: NO. -EXTRACT_STATIC = YES +EXTRACT_STATIC = NO # If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined # locally in source files will be included in the documentation. If set to NO, @@ -471,6 +550,13 @@ EXTRACT_LOCAL_METHODS = NO EXTRACT_ANON_NSPACES = NO +# If this flag is set to YES, the name of an unnamed parameter in a declaration +# will be determined by the corresponding definition. By default unnamed +# parameters remain unnamed in the output. +# The default value is: YES. + +RESOLVE_UNNAMED_PARAMS = YES + # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all # undocumented members inside documented classes or files. If set to NO these # members will be included in the various overviews, but no documentation @@ -488,8 +574,8 @@ HIDE_UNDOC_MEMBERS = NO HIDE_UNDOC_CLASSES = NO # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO, these declarations will be -# included in the documentation. +# declarations. If set to NO, these declarations will be included in the +# documentation. # The default value is: NO. HIDE_FRIEND_COMPOUNDS = NO @@ -508,14 +594,22 @@ HIDE_IN_BODY_DOCS = NO INTERNAL_DOCS = NO -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES, upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = NO +# With the correct setting of option CASE_SENSE_NAMES doxygen will better be +# able to match the capabilities of the underlying filesystem. In case the +# filesystem is case sensitive (i.e. it supports files in the same directory +# whose names only differ in casing), the option must be set to YES to properly +# deal with such files in case they appear in the input. For filesystems that +# are not case sensitive the option should be set to NO to properly deal with +# output files written for symbols that only differ in casing, such as for two +# classes, one named CLASS and the other named Class, and to also support +# references to files without having to specify the exact matching casing. On +# Windows (including Cygwin) and MacOS, users should typically set this option +# to NO, whereas on Linux or other Unix flavors it should typically be set to +# YES. +# Possible values are: SYSTEM, NO and YES. +# The default value is: SYSTEM. + +CASE_SENSE_NAMES = SYSTEM # If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with # their full class and namespace scopes in the documentation. If set to YES, the @@ -531,6 +625,12 @@ HIDE_SCOPE_NAMES = NO HIDE_COMPOUND_REFERENCE= NO +# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class +# will show which file needs to be included to use the class. +# The default value is: YES. + +SHOW_HEADERFILE = YES + # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of # the files that are included by a file in the documentation of that file. # The default value is: YES. @@ -639,7 +739,7 @@ GENERATE_DEPRECATEDLIST= YES # sections, marked by \if ... \endif and \cond # ... \endcond blocks. -ENABLED_SECTIONS = +ENABLED_SECTIONS = # The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the # initial value of a variable or macro / define can have for it to appear in the @@ -671,7 +771,7 @@ SHOW_FILES = YES # Folder Tree View (if specified). # The default value is: YES. -SHOW_NAMESPACES = YES +SHOW_NAMESPACES = NO # The FILE_VERSION_FILTER tag can be used to specify a program or script that # doxygen should invoke to get the current version for each file (typically from @@ -681,30 +781,31 @@ SHOW_NAMESPACES = YES # by doxygen. Whatever the program writes to standard output is used as the file # version. For an example see the documentation. -FILE_VERSION_FILTER = +FILE_VERSION_FILTER = # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed # by doxygen. The layout file controls the global structure of the generated # output files in an output format independent way. To create the layout file # that represents doxygen's defaults, run doxygen with the -l option. You can # optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. +# will be used as the name of the layout file. See also section "Changing the +# layout of pages" for information. # # Note that if you run doxygen from a directory containing a file called # DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE # tag is left empty. -LAYOUT_FILE = +LAYOUT_FILE = # The CITE_BIB_FILES tag can be used to specify one or more bib files containing # the reference definitions. This must be a list of .bib files. The .bib # extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info. # For LaTeX the style of the bibliography can be controlled using # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the # search path. See also \cite for info how to create references. -CITE_BIB_FILES = +CITE_BIB_FILES = #--------------------------------------------------------------------------- # Configuration options related to warning and progress messages @@ -734,23 +835,35 @@ WARNINGS = YES WARN_IF_UNDOCUMENTED = YES # If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. +# potential errors in the documentation, such as documenting some parameters in +# a documented function twice, or documenting parameters that don't exist or +# using markup commands wrongly. # The default value is: YES. WARN_IF_DOC_ERROR = YES +# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete +# function parameter documentation. If set to NO, doxygen will accept that some +# parameters have no documentation without warning. +# The default value is: YES. + +WARN_IF_INCOMPLETE_DOC = YES + # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that # are documented, but have no documentation for their parameters or return -# value. If set to NO, doxygen will only warn about wrong or incomplete -# parameter documentation, but not about the absence of documentation. +# value. If set to NO, doxygen will only warn about wrong parameter +# documentation, but not about the absence of documentation. If EXTRACT_ALL is +# set to YES then this flag will automatically be disabled. See also +# WARN_IF_INCOMPLETE_DOC # The default value is: NO. WARN_NO_PARAMDOC = NO # If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. +# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS +# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but +# at the end of the doxygen process doxygen will return with a non-zero status. +# Possible values are: NO, YES and FAIL_ON_WARNINGS. # The default value is: NO. WARN_AS_ERROR = NO @@ -761,15 +874,29 @@ WARN_AS_ERROR = NO # and the warning text. Optionally the format may contain $version, which will # be replaced by the version of the file (if it could be obtained via # FILE_VERSION_FILTER) +# See also: WARN_LINE_FORMAT # The default value is: $file:$line: $text. WARN_FORMAT = "$file:$line: $text" +# In the $text part of the WARN_FORMAT command it is possible that a reference +# to a more specific place is given. To make it easier to jump to this place +# (outside of doxygen) the user can define a custom "cut" / "paste" string. +# Example: +# WARN_LINE_FORMAT = "'vi $file +$line'" +# See also: WARN_FORMAT +# The default value is: at line $line of file $file. + +WARN_LINE_FORMAT = "at line $line of file $file" + # The WARN_LOGFILE tag can be used to specify a file to which warning and error # messages should be written. If left blank the output is written to standard -# error (stderr). +# error (stderr). In case the file specified cannot be opened for writing the +# warning and error messages are written to standard error. When as file - is +# specified the warning and error messages are written to standard output +# (stdout). -WARN_LOGFILE = +WARN_LOGFILE = #--------------------------------------------------------------------------- # Configuration options related to the input files @@ -781,23 +908,34 @@ WARN_LOGFILE = # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING # Note: If this tag is empty the current directory is searched. -INPUT = @PROJECT_SOURCE_DIR@/../README.md @PROJECT_SOURCE_DIR@ \ - @generatedDir@ \ - @PROJECT_SOURCE_DIR@/../COPYING.md \ - @PROJECT_SOURCE_DIR@/../INSTALL.md \ - @PROJECT_SOURCE_DIR@/../CODE_OF_CONDUCT.md \ - @PROJECT_SOURCE_DIR@/../CONTRIBUTING.md \ - @PROJECT_SOURCE_DIR@/../CONTRIBUTORS.md +INPUT = ../../src +INPUT += ../../README.md +INPUT += ../../COPYING.md +INPUT += ../../INSTALL.md +INPUT += ../../CONTRIBUTING.md +INPUT += ../../CONTRIBUTORS.md +INPUT += ../../CODE_OF_CONDUCT.md # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses # libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: http://www.gnu.org/software/libiconv) for the list of -# possible encodings. +# documentation (see: +# https://www.gnu.org/software/libiconv/) for the list of possible encodings. +# See also: INPUT_FILE_ENCODING # The default value is: UTF-8. INPUT_ENCODING = UTF-8 +# This tag can be used to specify the character encoding of the source files +# that doxygen parses The INPUT_FILE_ENCODING tag can be used to specify +# character encoding on a per file pattern basis. Doxygen will compare the file +# name with each pattern and apply the encoding instead of the default +# INPUT_ENCODING) if there is a match. The character encodings are a list of the +# form: pattern=encoding (like *.php=ISO-8859-1). See cfg_input_encoding +# "INPUT_ENCODING" for further information on supported encodings. + +INPUT_FILE_ENCODING = + # If the value of the INPUT tag contains directories, you can use the # FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and # *.h) to filter out the source-files in the directories. @@ -806,11 +944,15 @@ INPUT_ENCODING = UTF-8 # need to set EXTENSION_MAPPING for the extension otherwise the files are not # read by doxygen. # +# Note the list of default checked file patterns might differ from the list of +# default file extension mappings. +# # If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, # *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, -# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, -# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, -# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. +# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, +# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C +# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, +# *.vhdl, *.ucf, *.qsf and *.ice. FILE_PATTERNS = *.c \ *.cc \ @@ -831,6 +973,7 @@ FILE_PATTERNS = *.c \ *.hxx \ *.hpp \ *.h++ \ + *.l \ *.cs \ *.d \ *.php \ @@ -846,15 +989,17 @@ FILE_PATTERNS = *.c \ *.py \ *.pyw \ *.f90 \ + *.f95 \ + *.f03 \ + *.f08 \ + *.f18 \ *.f \ *.for \ - *.tcl \ *.vhd \ *.vhdl \ *.ucf \ *.qsf \ - *.as \ - *.js + *.ice # The RECURSIVE tag can be used to specify whether or not subdirectories should # be searched for input files as well. @@ -869,7 +1014,8 @@ RECURSIVE = YES # Note that relative paths are relative to the directory from which doxygen is # run. -EXCLUDE = @PROJECT_SOURCE_DIR@/dependencies @PROJECT_SOURCE_DIR@/nonFree +EXCLUDE = ../../src/dependencies +EXCLUDE += ../../src/nonFree # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or # directories that are symbolic links (a Unix file system feature) are excluded @@ -885,24 +1031,24 @@ EXCLUDE_SYMLINKS = NO # Note that the wildcards are matched against the file with absolute path, so to # exclude all test directories for example use the pattern */test/* -EXCLUDE_PATTERNS = +EXCLUDE_PATTERNS = # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names # (namespaces, classes, functions, etc.) that should be excluded from the # output. The symbol name can be a fully qualified name, a word, or if the # wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test +# ANamespace::AClass, ANamespace::*Test # # Note that the wildcards are matched against the file with absolute path, so to # exclude all test directories use the pattern */test/* -EXCLUDE_SYMBOLS = +EXCLUDE_SYMBOLS = # The EXAMPLE_PATH tag can be used to specify one or more files or directories # that contain example code fragments that are included (see the \include # command). -EXAMPLE_PATH = +EXAMPLE_PATH = # If the value of the EXAMPLE_PATH tag contains directories, you can use the # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and @@ -922,7 +1068,7 @@ EXAMPLE_RECURSIVE = NO # that contain images that are to be included in the documentation (see the # \image command). -IMAGE_PATH = +IMAGE_PATH = # The INPUT_FILTER tag can be used to specify a program that doxygen should # invoke to filter for each input file. Doxygen will invoke the filter program @@ -939,11 +1085,16 @@ IMAGE_PATH = # code is scanned, but not when the output code is generated. If lines are added # or removed, the anchors will not be placed correctly. # +# Note that doxygen will use the data processed and written to standard output +# for further processing, therefore nothing else, like debug statements or used +# commands (so in case of a Windows batch file always use @echo OFF), should be +# written to standard output. +# # Note that for custom extensions or not directly supported extensions you also # need to set EXTENSION_MAPPING for the extension otherwise the files are not # properly processed by doxygen. -INPUT_FILTER = +INPUT_FILTER = # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern # basis. Doxygen will compare the file name with each pattern and apply the @@ -956,7 +1107,7 @@ INPUT_FILTER = # need to set EXTENSION_MAPPING for the extension otherwise the files are not # properly processed by doxygen. -FILTER_PATTERNS = +FILTER_PATTERNS = # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using # INPUT_FILTER) will also be used to filter the input files that are used for @@ -971,14 +1122,23 @@ FILTER_SOURCE_FILES = NO # *.ext= (so without naming a filter). # This tag requires that the tag FILTER_SOURCE_FILES is set to YES. -FILTER_SOURCE_PATTERNS = +FILTER_SOURCE_PATTERNS = # If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that # is part of the input, its contents will be placed on the main page # (index.html). This can be useful if you have a project on for instance GitHub # and want to reuse the introduction page also for the doxygen output. -USE_MDFILE_AS_MAINPAGE = @PROJECT_SOURCE_DIR@/../README.md +USE_MDFILE_AS_MAINPAGE = ../../README.md + +# The Fortran standard specifies that for fixed formatted Fortran code all +# characters from position 72 are to be considered as comment. A common +# extension is to allow longer lines before the automatic comment starts. The +# setting FORTRAN_COMMENT_AFTER will also make it possible that longer lines can +# be processed before the automatic comment starts. +# Minimum value: 7, maximum value: 10000, default value: 72. + +FORTRAN_COMMENT_AFTER = 72 #--------------------------------------------------------------------------- # Configuration options related to source browsing @@ -1007,7 +1167,7 @@ INLINE_SOURCES = NO STRIP_CODE_COMMENTS = YES # If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# function all documented functions referencing it will be listed. +# entity all documented functions referencing it will be listed. # The default value is: NO. REFERENCED_BY_RELATION = NO @@ -1039,12 +1199,12 @@ SOURCE_TOOLTIPS = YES # If the USE_HTAGS tag is set to YES then the references to source code will # point to the HTML generated by the htags(1) tool instead of doxygen built-in # source browser. The htags tool is part of GNU's global source tagging system -# (see http://www.gnu.org/software/global/global.html). You will need version +# (see https://www.gnu.org/software/global/global.html). You will need version # 4.8.6 or higher. # # To use it do the following: # - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file # - Make sure the INPUT points to the root of the source tree # - Run doxygen as normal # @@ -1067,23 +1227,44 @@ USE_HTAGS = NO VERBATIM_HEADERS = YES # If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the -# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the -# cost of reduced performance. This can be particularly helpful with template -# rich C++ code for which doxygen's built-in parser lacks the necessary type -# information. +# clang parser (see: +# http://clang.llvm.org/) for more accurate parsing at the cost of reduced +# performance. This can be particularly helpful with template rich C++ code for +# which doxygen's built-in parser lacks the necessary type information. # Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse-libclang=ON option for CMake. +# generated with the -Duse_libclang=ON option for CMake. # The default value is: NO. CLANG_ASSISTED_PARSING = NO +# If the CLANG_ASSISTED_PARSING tag is set to YES and the CLANG_ADD_INC_PATHS +# tag is set to YES then doxygen will add the directory of each input to the +# include path. +# The default value is: YES. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_ADD_INC_PATHS = YES + # If clang assisted parsing is enabled you can provide the compiler with command # line options that you would normally use when invoking the compiler. Note that # the include paths will already be set by doxygen for the files and directories # specified with INPUT and INCLUDE_PATH. # This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. -CLANG_OPTIONS = +CLANG_OPTIONS = + +# If clang assisted parsing is enabled you can provide the clang parser with the +# path to the directory containing a file called compile_commands.json. This +# file is the compilation database (see: +# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the +# options used when the source files were built. This is equivalent to +# specifying the -p option to a clang tool, such as clang-check. These options +# will then be passed to the parser. Any options specified with CLANG_OPTIONS +# will be added as well. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse_libclang=ON option for CMake. + +CLANG_DATABASE_PATH = #--------------------------------------------------------------------------- # Configuration options related to the alphabetical class index @@ -1096,20 +1277,13 @@ CLANG_OPTIONS = ALPHABETICAL_INDEX = YES -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - # In case all classes in a project start with a common prefix, all classes will # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag # can be used to specify a prefix (or a list of prefixes) that should be ignored # while generating the index headers. # This tag requires that the tag ALPHABETICAL_INDEX is set to YES. -IGNORE_PREFIX = +IGNORE_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the HTML output @@ -1153,7 +1327,7 @@ HTML_FILE_EXTENSION = .html # of the possible markers and block names see the documentation. # This tag requires that the tag GENERATE_HTML is set to YES. -HTML_HEADER = +HTML_HEADER = # The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each # generated HTML page. If the tag is left blank doxygen will generate a standard @@ -1163,7 +1337,7 @@ HTML_HEADER = # that doxygen normally uses. # This tag requires that the tag GENERATE_HTML is set to YES. -HTML_FOOTER = +HTML_FOOTER = # The HTML_STYLESHEET tag can be used to specify a user-defined cascading style # sheet that is used by each HTML page. It can be used to fine-tune the look of @@ -1175,7 +1349,7 @@ HTML_FOOTER = # obsolete. # This tag requires that the tag GENERATE_HTML is set to YES. -HTML_STYLESHEET = +HTML_STYLESHEET = # The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined # cascading style sheets that are included after the standard style sheets @@ -1188,7 +1362,7 @@ HTML_STYLESHEET = # list). For an example see the documentation. # This tag requires that the tag GENERATE_HTML is set to YES. -HTML_EXTRA_STYLESHEET = +HTML_EXTRA_STYLESHEET = # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or # other source files which should be copied to the HTML output directory. Note @@ -1198,12 +1372,29 @@ HTML_EXTRA_STYLESHEET = # files will be copied as-is; there are no commands or markers available. # This tag requires that the tag GENERATE_HTML is set to YES. -HTML_EXTRA_FILES = +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE tag can be used to specify if the generated HTML output +# should be rendered with a dark or light theme. Default setting AUTO_LIGHT +# enables light output unless the user preference is dark output. Other options +# are DARK to always use dark mode, LIGHT to always use light mode, AUTO_DARK to +# default to dark mode unless the user prefers light mode, and TOGGLE to let the +# user toggle between dark and light mode via a button. +# Possible values are: LIGHT Always generate light output., DARK Always generate +# dark output., AUTO_LIGHT Automatically set the mode according to the user +# preference, use light mode if no preference is set (the default)., AUTO_DARK +# Automatically set the mode according to the user preference, use dark mode if +# no preference is set. and TOGGLE Allow to user to switch between light and +# dark mode via a button.. +# The default value is: AUTO_LIGHT. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE = AUTO_LIGHT # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen # will adjust the colors in the style sheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# this color. Hue is specified as an angle on a color-wheel, see +# https://en.wikipedia.org/wiki/Hue for more information. For instance the value # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 # purple, and 360 is red again. # Minimum value: 0, maximum value: 359, default value: 220. @@ -1212,7 +1403,7 @@ HTML_EXTRA_FILES = HTML_COLORSTYLE_HUE = 220 # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A +# in the HTML output. For a value of 0 the output will use gray-scales only. A # value of 255 will produce the most vivid colors. # Minimum value: 0, maximum value: 255, default value: 100. # This tag requires that the tag GENERATE_HTML is set to YES. @@ -1239,6 +1430,17 @@ HTML_COLORSTYLE_GAMMA = 80 HTML_TIMESTAMP = YES +# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML +# documentation will contain a main index with vertical navigation menus that +# are dynamically created via JavaScript. If disabled, the navigation index will +# consists of multiple levels of tabs that are statically embedded in every HTML +# page. Disable this option to support browsers that do not have JavaScript, +# like the Qt help browser. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_MENUS = YES + # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML # documentation will contain sections that can be hidden and shown after the # page has loaded. @@ -1262,13 +1464,14 @@ HTML_INDEX_NUM_ENTRIES = 100 # If the GENERATE_DOCSET tag is set to YES, additional index files will be # generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: http://developer.apple.com/tools/xcode/), introduced with -# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in +# environment (see: +# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To +# create a documentation set, doxygen will generate a Makefile in the HTML +# output directory. Running make will produce the docset in that directory and +# running make install will install the docset in # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. +# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy +# genXcode/_index.html for more information. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. @@ -1282,6 +1485,13 @@ GENERATE_DOCSET = NO DOCSET_FEEDNAME = "Doxygen generated docs" +# This tag determines the URL of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDURL = + # This tag specifies a string that should uniquely identify the documentation # set bundle. This should be a reverse domain-name style string, e.g. # com.mycompany.MyDocSet. Doxygen will append .docset to the name. @@ -1307,8 +1517,12 @@ DOCSET_PUBLISHER_NAME = Publisher # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three # additional HTML index files: index.hhp, index.hhc, and index.hhk. The # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. +# on Windows. In the beginning of 2021 Microsoft took the original page, with +# a.o. the download links, offline the HTML help workshop was already many years +# in maintenance mode). You can download the HTML help workshop from the web +# archives at Installation executable (see: +# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo +# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe). # # The HTML Help Workshop contains a compiler that can convert all HTML output # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML @@ -1327,7 +1541,7 @@ GENERATE_HTMLHELP = NO # written to the html output directory. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. -CHM_FILE = +CHM_FILE = # The HHC_LOCATION tag can be used to specify the location (absolute path # including file name) of the HTML help compiler (hhc.exe). If non-empty, @@ -1335,10 +1549,10 @@ CHM_FILE = # The file has to be specified with full path. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. -HHC_LOCATION = +HHC_LOCATION = # The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the master .chm file (NO). +# (YES) or that it should be included in the main .chm file (NO). # The default value is: NO. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. @@ -1348,7 +1562,7 @@ GENERATE_CHI = NO # and project file content. # This tag requires that the tag GENERATE_HTMLHELP is set to YES. -CHM_INDEX_ENCODING = +CHM_INDEX_ENCODING = # The BINARY_TOC flag controls whether a binary table of contents is generated # (YES) or a normal table of contents (NO) in the .chm file. Furthermore it @@ -1379,11 +1593,12 @@ GENERATE_QHP = NO # the HTML output folder. # This tag requires that the tag GENERATE_QHP is set to YES. -QCH_FILE = +QCH_FILE = # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help # Project output. For more information please see Qt Help Project / Namespace -# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace). # The default value is: org.doxygen.Project. # This tag requires that the tag GENERATE_QHP is set to YES. @@ -1391,8 +1606,8 @@ QHP_NAMESPACE = org.doxygen.Project # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt # Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- -# folders). +# Folders (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders). # The default value is: doc. # This tag requires that the tag GENERATE_QHP is set to YES. @@ -1400,33 +1615,33 @@ QHP_VIRTUAL_FOLDER = doc # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom # filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). # This tag requires that the tag GENERATE_QHP is set to YES. -QHP_CUST_FILTER_NAME = +QHP_CUST_FILTER_NAME = # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the # custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). +# Filters (see: +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters). # This tag requires that the tag GENERATE_QHP is set to YES. -QHP_CUST_FILTER_ATTRS = +QHP_CUST_FILTER_ATTRS = # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this # project's filter section matches. Qt Help Project / Filter Attributes (see: -# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes). # This tag requires that the tag GENERATE_QHP is set to YES. -QHP_SECT_FILTER_ATTRS = +QHP_SECT_FILTER_ATTRS = -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. +# The QHG_LOCATION tag can be used to specify the location (absolute path +# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to +# run qhelpgenerator on the generated .qhp file. # This tag requires that the tag GENERATE_QHP is set to YES. -QHG_LOCATION = +QHG_LOCATION = # If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be # generated, together with the HTML files, they form an Eclipse help plugin. To @@ -1466,16 +1681,28 @@ DISABLE_INDEX = NO # to work a browser that supports JavaScript, DHTML, CSS and frames is required # (i.e. any modern browser). Windows users are probably better off using the # HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. +# further fine tune the look of the index (see "Fine-tuning the output"). As an +# example, the default style sheet generated by doxygen has an example that +# shows how to put an image at the root of the tree instead of the PROJECT_NAME. +# Since the tree basically has the same information as the tab index, you could +# consider setting DISABLE_INDEX to YES when enabling this option. # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. GENERATE_TREEVIEW = NO +# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the +# FULL_SIDEBAR option determines if the side bar is limited to only the treeview +# area (value NO) or if it should extend to the full height of the window (value +# YES). Setting this to YES gives a layout similar to +# https://docs.readthedocs.io with more room for contents, but less room for the +# project logo, title, and description. If either GENERATE_TREEVIEW or +# DISABLE_INDEX is set to NO, this option has no effect. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FULL_SIDEBAR = NO + # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that # doxygen will group on one line in the generated HTML documentation. # @@ -1500,6 +1727,24 @@ TREEVIEW_WIDTH = 250 EXT_LINKS_IN_WINDOW = NO +# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email +# addresses. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +OBFUSCATE_EMAILS = YES + +# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg +# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see +# https://inkscape.org) to generate formulas as SVG images instead of PNGs for +# the HTML output. These images will generally look nicer at scaled resolutions. +# Possible values are: png (the default) and svg (looks nicer but requires the +# pdf2svg or inkscape tool). +# The default value is: png. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FORMULA_FORMAT = png + # Use this tag to change the font size of LaTeX formulas included as images in # the HTML documentation. When you change the font size after a successful # doxygen run you need to manually remove any form_*.png images from the HTML @@ -1509,19 +1754,14 @@ EXT_LINKS_IN_WINDOW = NO FORMULA_FONTSIZE = 10 -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. +# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands +# to create new LaTeX commands to be used in formulas as building blocks. See +# the section "Including formulas" for details. -FORMULA_TRANSPARENT = YES +FORMULA_MACROFILE = # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# http://www.mathjax.org) which uses client side Javascript for the rendering +# https://www.mathjax.org) which uses client side JavaScript for the rendering # instead of using pre-rendered bitmaps. Use this if you do not have LaTeX # installed or if you want to formulas look prettier in the HTML output. When # enabled you may also need to install MathJax separately and configure the path @@ -1531,11 +1771,29 @@ FORMULA_TRANSPARENT = YES USE_MATHJAX = NO +# With MATHJAX_VERSION it is possible to specify the MathJax version to be used. +# Note that the different versions of MathJax have different requirements with +# regards to the different settings, so it is possible that also other MathJax +# settings have to be changed when switching between the different MathJax +# versions. +# Possible values are: MathJax_2 and MathJax_3. +# The default value is: MathJax_2. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_VERSION = MathJax_2 + # When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. +# the MathJax output. For more details about the output format see MathJax +# version 2 (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3 +# (see: +# http://docs.mathjax.org/en/latest/web/components/output.html). # Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. +# compatibility. This is the name for Mathjax version 2, for MathJax version 3 +# this will be translated into chtml), NativeMML (i.e. MathML. Only supported +# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This +# is the name for Mathjax version 3, for MathJax version 2 this will be +# translated into HTML-CSS) and SVG. # The default value is: HTML-CSS. # This tag requires that the tag USE_MATHJAX is set to YES. @@ -1548,26 +1806,33 @@ MATHJAX_FORMAT = HTML-CSS # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax # Content Delivery Network so you can quickly see the result without installing # MathJax. However, it is strongly recommended to install a local copy of -# MathJax from http://www.mathjax.org before deployment. -# The default value is: http://cdn.mathjax.org/mathjax/latest. +# MathJax from https://www.mathjax.org before deployment. The default value is: +# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2 +# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3 # This tag requires that the tag USE_MATHJAX is set to YES. -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest +MATHJAX_RELPATH = # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax # extension names that should be enabled during MathJax rendering. For example +# for MathJax version 2 (see +# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions): # MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# For example for MathJax version 3 (see +# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html): +# MATHJAX_EXTENSIONS = ams # This tag requires that the tag USE_MATHJAX is set to YES. -MATHJAX_EXTENSIONS = +MATHJAX_EXTENSIONS = # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces # of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# (see: +# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an # example see the documentation. # This tag requires that the tag USE_MATHJAX is set to YES. -MATHJAX_CODEFILE = +MATHJAX_CODEFILE = # When the SEARCHENGINE tag is enabled doxygen will generate a search box for # the HTML output. The underlying search engine uses javascript and DHTML and @@ -1591,7 +1856,7 @@ MATHJAX_CODEFILE = SEARCHENGINE = YES # When the SERVER_BASED_SEARCH tag is enabled the search engine will be -# implemented using a web server instead of a web client using Javascript. There +# implemented using a web server instead of a web client using JavaScript. There # are two flavors of web server based searching depending on the EXTERNAL_SEARCH # setting. When disabled, doxygen will generate a PHP script for searching and # an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing @@ -1610,7 +1875,8 @@ SERVER_BASED_SEARCH = NO # # Doxygen ships with an example indexer (doxyindexer) and search engine # (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: http://xapian.org/). +# Xapian (see: +# https://xapian.org/). # # See the section "External Indexing and Searching" for details. # The default value is: NO. @@ -1623,11 +1889,12 @@ EXTERNAL_SEARCH = NO # # Doxygen ships with an example indexer (doxyindexer) and search engine # (doxysearch.cgi) which are based on the open source search engine library -# Xapian (see: http://xapian.org/). See the section "External Indexing and -# Searching" for details. +# Xapian (see: +# https://xapian.org/). See the section "External Indexing and Searching" for +# details. # This tag requires that the tag SEARCHENGINE is set to YES. -SEARCHENGINE_URL = +SEARCHENGINE_URL = # When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed # search data is written to a file for indexing by an external tool. With the @@ -1643,7 +1910,7 @@ SEARCHDATA_FILE = searchdata.xml # projects and redirect the results back to the right project. # This tag requires that the tag SEARCHENGINE is set to YES. -EXTERNAL_SEARCH_ID = +EXTERNAL_SEARCH_ID = # The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen # projects other than the one defined by this configuration file, but that are @@ -1653,7 +1920,7 @@ EXTERNAL_SEARCH_ID = # EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ... # This tag requires that the tag SEARCHENGINE is set to YES. -EXTRA_SEARCH_MAPPINGS = +EXTRA_SEARCH_MAPPINGS = #--------------------------------------------------------------------------- # Configuration options related to the LaTeX output @@ -1675,21 +1942,35 @@ LATEX_OUTPUT = latex # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be # invoked. # -# Note that when enabling USE_PDFLATEX this option is only used for generating -# bitmaps for formulas in the HTML output, but not in the Makefile that is -# written to the output directory. -# The default file is: latex. +# Note that when not enabling USE_PDFLATEX the default is latex when enabling +# USE_PDFLATEX the default is pdflatex and when in the later case latex is +# chosen this is overwritten by pdflatex. For specific output languages the +# default can have been set differently, this depends on the implementation of +# the output language. # This tag requires that the tag GENERATE_LATEX is set to YES. -LATEX_CMD_NAME = latex +LATEX_CMD_NAME = # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate # index for LaTeX. +# Note: This tag is used in the Makefile / make.bat. +# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file +# (.tex). # The default file is: makeindex. # This tag requires that the tag GENERATE_LATEX is set to YES. MAKEINDEX_CMD_NAME = makeindex +# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to +# generate index for LaTeX. In case there is no backslash (\) as first character +# it will be automatically added in the LaTeX code. +# Note: This tag is used in the generated output file (.tex). +# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat. +# The default value is: makeindex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_MAKEINDEX_CMD = makeindex + # If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX # documents. This may be useful for small projects and may help to save some # trees in general. @@ -1717,34 +1998,36 @@ PAPER_TYPE = a4 # If left blank no extra packages will be included. # This tag requires that the tag GENERATE_LATEX is set to YES. -EXTRA_PACKAGES = +EXTRA_PACKAGES = -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the -# generated LaTeX document. The header should contain everything until the first -# chapter. If it is left blank doxygen will generate a standard header. See -# section "Doxygen usage" for information on how to let doxygen write the -# default header to a separate file. +# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for +# the generated LaTeX document. The header should contain everything until the +# first chapter. If it is left blank doxygen will generate a standard header. It +# is highly recommended to start with a default header using +# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty +# and then modify the file new_header.tex. See also section "Doxygen usage" for +# information on how to generate the default header that doxygen normally uses. # -# Note: Only use a user-defined header if you know what you are doing! The -# following commands have a special meaning inside the header: $title, -# $datetime, $date, $doxygenversion, $projectname, $projectnumber, -# $projectbrief, $projectlogo. Doxygen will replace $title with the empty -# string, for the replacement values of the other commands the user is referred -# to HTML_HEADER. +# Note: Only use a user-defined header if you know what you are doing! +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. The following +# commands have a special meaning inside the header (and footer): For a +# description of the possible markers and block names see the documentation. # This tag requires that the tag GENERATE_LATEX is set to YES. -LATEX_HEADER = +LATEX_HEADER = -# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the -# generated LaTeX document. The footer should contain everything after the last -# chapter. If it is left blank doxygen will generate a standard footer. See +# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for +# the generated LaTeX document. The footer should contain everything after the +# last chapter. If it is left blank doxygen will generate a standard footer. See # LATEX_HEADER for more information on how to generate a default footer and what -# special commands can be used inside the footer. -# -# Note: Only use a user-defined footer if you know what you are doing! +# special commands can be used inside the footer. See also section "Doxygen +# usage" for information on how to generate the default footer that doxygen +# normally uses. Note: Only use a user-defined footer if you know what you are +# doing! # This tag requires that the tag GENERATE_LATEX is set to YES. -LATEX_FOOTER = +LATEX_FOOTER = # The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined # LaTeX style sheets that are included after the standard style sheets created @@ -1755,7 +2038,7 @@ LATEX_FOOTER = # list). # This tag requires that the tag GENERATE_LATEX is set to YES. -LATEX_EXTRA_STYLESHEET = +LATEX_EXTRA_STYLESHEET = # The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or # other source files which should be copied to the LATEX_OUTPUT output @@ -1763,7 +2046,7 @@ LATEX_EXTRA_STYLESHEET = # markers available. # This tag requires that the tag GENERATE_LATEX is set to YES. -LATEX_EXTRA_FILES = +LATEX_EXTRA_FILES = # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is # prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will @@ -1774,9 +2057,11 @@ LATEX_EXTRA_FILES = PDF_HYPERLINKS = YES -# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate -# the PDF file directly from the LaTeX files. Set this option to YES, to get a -# higher quality PDF documentation. +# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as +# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX +# files. Set this option to YES, to get a higher quality PDF documentation. +# +# See also section LATEX_CMD_NAME for selecting the engine. # The default value is: YES. # This tag requires that the tag GENERATE_LATEX is set to YES. @@ -1784,8 +2069,7 @@ USE_PDFLATEX = YES # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode # command to the generated LaTeX files. This will instruct LaTeX to keep running -# if errors occur, instead of asking the user for help. This option is also used -# when generating formulas in HTML. +# if errors occur, instead of asking the user for help. # The default value is: NO. # This tag requires that the tag GENERATE_LATEX is set to YES. @@ -1798,19 +2082,9 @@ LATEX_BATCHMODE = NO LATEX_HIDE_INDICES = NO -# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source -# code with syntax highlighting in the LaTeX output. -# -# Note that which sources are shown also depends on other settings such as -# SOURCE_BROWSER. -# The default value is: NO. -# This tag requires that the tag GENERATE_LATEX is set to YES. - -LATEX_SOURCE_CODE = NO - # The LATEX_BIB_STYLE tag can be used to specify the style to use for the # bibliography, e.g. plainnat, or ieeetr. See -# http://en.wikipedia.org/wiki/BibTeX and \cite for more info. +# https://en.wikipedia.org/wiki/BibTeX and \cite for more info. # The default value is: plain. # This tag requires that the tag GENERATE_LATEX is set to YES. @@ -1824,6 +2098,14 @@ LATEX_BIB_STYLE = plain LATEX_TIMESTAMP = NO +# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute) +# path from which the emoji images will be read. If a relative path is entered, +# it will be relative to the LATEX_OUTPUT directory. If left blank the +# LATEX_OUTPUT directory will be used. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_EMOJI_DIRECTORY = + #--------------------------------------------------------------------------- # Configuration options related to the RTF output #--------------------------------------------------------------------------- @@ -1863,32 +2145,22 @@ COMPACT_RTF = NO RTF_HYPERLINKS = NO -# Load stylesheet definitions from file. Syntax is similar to doxygen's config -# file, i.e. a series of assignments. You only have to provide replacements, -# missing definitions are set to their default value. +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# configuration file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. # # See also section "Doxygen usage" for information on how to generate the # default style sheet that doxygen normally uses. # This tag requires that the tag GENERATE_RTF is set to YES. -RTF_STYLESHEET_FILE = +RTF_STYLESHEET_FILE = # Set optional variables used in the generation of an RTF document. Syntax is -# similar to doxygen's config file. A template extensions file can be generated -# using doxygen -e rtf extensionFile. +# similar to doxygen's configuration file. A template extensions file can be +# generated using doxygen -e rtf extensionFile. # This tag requires that the tag GENERATE_RTF is set to YES. -RTF_EXTENSIONS_FILE = - -# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code -# with syntax highlighting in the RTF output. -# -# Note that which sources are shown also depends on other settings such as -# SOURCE_BROWSER. -# The default value is: NO. -# This tag requires that the tag GENERATE_RTF is set to YES. - -RTF_SOURCE_CODE = NO +RTF_EXTENSIONS_FILE = #--------------------------------------------------------------------------- # Configuration options related to the man page output @@ -1923,7 +2195,7 @@ MAN_EXTENSION = .3 # MAN_EXTENSION with the initial . removed. # This tag requires that the tag GENERATE_MAN is set to YES. -MAN_SUBDIR = +MAN_SUBDIR = # If the MAN_LINKS tag is set to YES and doxygen generates man output, then it # will generate one additional man file for each entity documented in the real @@ -1961,6 +2233,13 @@ XML_OUTPUT = xml XML_PROGRAMLISTING = YES +# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include +# namespace members in file scope as well, matching the HTML output. +# The default value is: NO. +# This tag requires that the tag GENERATE_XML is set to YES. + +XML_NS_MEMB_FILE_SCOPE = NO + #--------------------------------------------------------------------------- # Configuration options related to the DOCBOOK output #--------------------------------------------------------------------------- @@ -1979,23 +2258,14 @@ GENERATE_DOCBOOK = NO DOCBOOK_OUTPUT = docbook -# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the -# program listings (including syntax highlighting and cross-referencing -# information) to the DOCBOOK output. Note that enabling this will significantly -# increase the size of the DOCBOOK output. -# The default value is: NO. -# This tag requires that the tag GENERATE_DOCBOOK is set to YES. - -DOCBOOK_PROGRAMLISTING = NO - #--------------------------------------------------------------------------- # Configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- # If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an -# AutoGen Definitions (see http://autogen.sf.net) file that captures the -# structure of the code including all documentation. Note that this feature is -# still experimental and incomplete at the moment. +# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures +# the structure of the code including all documentation. Note that this feature +# is still experimental and incomplete at the moment. # The default value is: NO. GENERATE_AUTOGEN_DEF = NO @@ -2036,7 +2306,7 @@ PERLMOD_PRETTY = YES # overwrite each other's variables. # This tag requires that the tag GENERATE_PERLMOD is set to YES. -PERLMOD_MAKEVAR_PREFIX = +PERLMOD_MAKEVAR_PREFIX = #--------------------------------------------------------------------------- # Configuration options related to the preprocessor @@ -2074,10 +2344,11 @@ SEARCH_INCLUDES = YES # The INCLUDE_PATH tag can be used to specify one or more directories that # contain include files that are not input files but should be processed by the -# preprocessor. +# preprocessor. Note that the INCLUDE_PATH is not recursive, so the setting of +# RECURSIVE has no effect here. # This tag requires that the tag SEARCH_INCLUDES is set to YES. -INCLUDE_PATH = +INCLUDE_PATH = # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard # patterns (like *.h and *.hpp) to filter out the header-files in the @@ -2085,7 +2356,7 @@ INCLUDE_PATH = # used. # This tag requires that the tag ENABLE_PREPROCESSING is set to YES. -INCLUDE_FILE_PATTERNS = +INCLUDE_FILE_PATTERNS = # The PREDEFINED tag can be used to specify one or more macro names that are # defined before the preprocessor is started (similar to the -D option of e.g. @@ -2095,7 +2366,7 @@ INCLUDE_FILE_PATTERNS = # recursively expanded use the := operator instead of the = operator. # This tag requires that the tag ENABLE_PREPROCESSING is set to YES. -PREDEFINED = +PREDEFINED = # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this # tag can be used to specify a list of macro names that should be expanded. The @@ -2104,7 +2375,7 @@ PREDEFINED = # definition found in the source code. # This tag requires that the tag ENABLE_PREPROCESSING is set to YES. -EXPAND_AS_DEFINED = +EXPAND_AS_DEFINED = # If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will # remove all references to function-like macros that are alone on a line, have @@ -2133,13 +2404,13 @@ SKIP_FUNCTION_MACROS = YES # the path). If a tag file is not located in the directory in which doxygen is # run, you must also specify the path to the tagfile here. -TAGFILES = +TAGFILES = # When a file name is specified after GENERATE_TAGFILE, doxygen will create a # tag file that is based on the input files it reads. See section "Linking to # external documentation" for more information about the usage of tag files. -GENERATE_TAGFILE = +GENERATE_TAGFILE = # If the ALLEXTERNALS tag is set to YES, all external class will be listed in # the class index. If set to NO, only the inherited external classes will be @@ -2162,40 +2433,16 @@ EXTERNAL_GROUPS = YES EXTERNAL_PAGES = YES -# The PERL_PATH should be the absolute path and name of the perl script -# interpreter (i.e. the result of 'which perl'). -# The default file (with absolute path) is: /usr/bin/perl. - -PERL_PATH = /usr/bin/perl - #--------------------------------------------------------------------------- # Configuration options related to the dot tool #--------------------------------------------------------------------------- -# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram -# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to -# NO turns the diagrams off. Note that this option also works with HAVE_DOT -# disabled, but it is recommended to install and use dot, since it yields more -# powerful graphs. -# The default value is: YES. - -CLASS_DIAGRAMS = YES - -# You can define message sequence charts within doxygen comments using the \msc -# command. Doxygen will then run the mscgen tool (see: -# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the -# documentation. The MSCGEN_PATH tag allows you to specify the directory where -# the mscgen tool resides. If left empty the tool is assumed to be found in the -# default search path. - -MSCGEN_PATH = - # You can include diagrams made with dia in doxygen documentation. Doxygen will # then run dia to produce the diagram and insert it in the documentation. The # DIA_PATH tag allows you to specify the directory where the dia binary resides. # If left empty dia is assumed to be found in the default search path. -DIA_PATH = +DIA_PATH = # If set to YES the inheritance and collaboration graphs will hide inheritance # and usage relations if the target is undocumented or is not a class. @@ -2208,7 +2455,7 @@ HIDE_UNDOC_RELATIONS = YES # http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent # Bell Labs. The other options in this section have no effect if this option is # set to NO -# The default value is: YES. +# The default value is: NO. HAVE_DOT = NO @@ -2222,36 +2469,51 @@ HAVE_DOT = NO DOT_NUM_THREADS = 0 -# When you want a differently looking font in the dot files that doxygen -# generates you can specify the font name using DOT_FONTNAME. You need to make -# sure dot is able to find the font, which can be done by putting it in a -# standard location or by setting the DOTFONTPATH environment variable or by -# setting DOT_FONTPATH to the directory containing the font. -# The default value is: Helvetica. +# DOT_COMMON_ATTR is common attributes for nodes, edges and labels of +# subgraphs. When you want a differently looking font in the dot files that +# doxygen generates you can specify fontname, fontcolor and fontsize attributes. +# For details please see Node, +# Edge and Graph Attributes specification You need to make sure dot is able +# to find the font, which can be done by putting it in a standard location or by +# setting the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the +# directory containing the font. Default graphviz fontsize is 14. +# The default value is: fontname=Helvetica,fontsize=10. # This tag requires that the tag HAVE_DOT is set to YES. -DOT_FONTNAME = Helvetica +DOT_COMMON_ATTR = "fontname=Helvetica,fontsize=10" -# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of -# dot graphs. -# Minimum value: 4, maximum value: 24, default value: 10. +# DOT_EDGE_ATTR is concatenated with DOT_COMMON_ATTR. For elegant style you can +# add 'arrowhead=open, arrowtail=open, arrowsize=0.5'. Complete documentation about +# arrows shapes. +# The default value is: labelfontname=Helvetica,labelfontsize=10. # This tag requires that the tag HAVE_DOT is set to YES. -DOT_FONTSIZE = 10 +DOT_EDGE_ATTR = "labelfontname=Helvetica,labelfontsize=10" -# By default doxygen will tell dot to use the default font as specified with -# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set -# the path where dot can find it using this tag. +# DOT_NODE_ATTR is concatenated with DOT_COMMON_ATTR. For view without boxes +# around nodes set 'shape=plain' or 'shape=plaintext' Shapes specification +# The default value is: shape=box,height=0.2,width=0.4. # This tag requires that the tag HAVE_DOT is set to YES. -DOT_FONTPATH = +DOT_NODE_ATTR = "shape=box,height=0.2,width=0.4" -# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for -# each documented class showing the direct and indirect inheritance relations. -# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO. -# The default value is: YES. +# You can set the path where dot can find font specified with fontname in +# DOT_COMMON_ATTR and others dot attributes. # This tag requires that the tag HAVE_DOT is set to YES. +DOT_FONTPATH = + +# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a +# graph for each documented class showing the direct and indirect inheritance +# relations. In case HAVE_DOT is set as well dot will be used to draw the graph, +# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set +# to TEXT the direct and indirect inheritance relations will be shown as texts / +# links. +# Possible values are: NO, YES, TEXT and GRAPH. +# The default value is: YES. + CLASS_GRAPH = YES # If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a @@ -2264,7 +2526,8 @@ CLASS_GRAPH = YES COLLABORATION_GRAPH = YES # If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for -# groups, showing the direct groups dependencies. +# groups, showing the direct groups dependencies. See also the chapter Grouping +# in the manual. # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. @@ -2287,10 +2550,32 @@ UML_LOOK = NO # but if the number exceeds 15, the total amount of fields shown is limited to # 10. # Minimum value: 0, maximum value: 100, default value: 10. -# This tag requires that the tag HAVE_DOT is set to YES. +# This tag requires that the tag UML_LOOK is set to YES. UML_LIMIT_NUM_FIELDS = 10 +# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and +# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS +# tag is set to YES, doxygen will add type and arguments for attributes and +# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen +# will not generate fields with class member information in the UML graphs. The +# class diagrams will look similar to the default class diagrams but using UML +# notation for the relationships. +# Possible values are: NO, YES and NONE. +# The default value is: NO. +# This tag requires that the tag UML_LOOK is set to YES. + +DOT_UML_DETAILS = NO + +# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters +# to display on a single line. If the actual line length exceeds this threshold +# significantly it will wrapped across multiple lines. Some heuristics are apply +# to avoid ugly line breaks. +# Minimum value: 0, maximum value: 1000, default value: 17. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_WRAP_THRESHOLD = 17 + # If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and # collaboration graphs will show the relations between templates and their # instances. @@ -2357,6 +2642,13 @@ GRAPHICAL_HIERARCHY = YES DIRECTORY_GRAPH = YES +# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels +# of child directories generated in directory dependency graphs by dot. +# Minimum value: 1, maximum value: 25, default value: 1. +# This tag requires that the tag DIRECTORY_GRAPH is set to YES. + +DIR_GRAPH_MAX_DEPTH = 1 + # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. For an explanation of the image formats see the section # output formats in the documentation of the dot tool (Graphviz (see: @@ -2364,9 +2656,7 @@ DIRECTORY_GRAPH = YES # Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order # to make the SVG files visible in IE 9+ (other browsers do not have this # requirement). -# Possible values are: png, png:cairo, png:cairo:cairo, png:cairo:gd, png:gd, -# png:gd:gd, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd, gif, gif:cairo, -# gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd, png:cairo, +# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo, # png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and # png:gdiplus:gdiplus. # The default value is: png. @@ -2390,39 +2680,44 @@ INTERACTIVE_SVG = NO # found. If left blank, it is assumed the dot tool can be found in the path. # This tag requires that the tag HAVE_DOT is set to YES. -DOT_PATH = +DOT_PATH = # The DOTFILE_DIRS tag can be used to specify one or more directories that # contain dot files that are included in the documentation (see the \dotfile # command). # This tag requires that the tag HAVE_DOT is set to YES. -DOTFILE_DIRS = +DOTFILE_DIRS = # The MSCFILE_DIRS tag can be used to specify one or more directories that # contain msc files that are included in the documentation (see the \mscfile # command). -MSCFILE_DIRS = +MSCFILE_DIRS = # The DIAFILE_DIRS tag can be used to specify one or more directories that # contain dia files that are included in the documentation (see the \diafile # command). -DIAFILE_DIRS = +DIAFILE_DIRS = # When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the -# path where java can find the plantuml.jar file. If left blank, it is assumed -# PlantUML is not used or called during a preprocessing step. Doxygen will -# generate a warning when it encounters a \startuml command in this case and -# will not generate output for the diagram. +# path where java can find the plantuml.jar file or to the filename of jar file +# to be used. If left blank, it is assumed PlantUML is not used or called during +# a preprocessing step. Doxygen will generate a warning when it encounters a +# \startuml command in this case and will not generate output for the diagram. + +PLANTUML_JAR_PATH = + +# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a +# configuration file for plantuml. -PLANTUML_JAR_PATH = +PLANTUML_CFG_FILE = # When using plantuml, the specified paths are searched for files specified by # the !include statement in a plantuml block. -PLANTUML_INCLUDE_PATH = +PLANTUML_INCLUDE_PATH = # The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes # that will be shown in the graph. If the number of nodes in a graph becomes @@ -2448,18 +2743,6 @@ DOT_GRAPH_MAX_NODES = 50 MAX_DOT_GRAPH_DEPTH = 0 -# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent -# background. This is disabled by default, because dot on Windows does not seem -# to support this out of the box. -# -# Warning: Depending on the platform used, enabling this option may lead to -# badly anti-aliased labels on the edges of a graph (i.e. they become hard to -# read). -# The default value is: NO. -# This tag requires that the tag HAVE_DOT is set to YES. - -DOT_TRANSPARENT = NO - # Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output # files in one run (i.e. multiple -o and -T options on the command line). This # makes dot run faster, but since only newer versions of dot (>1.8.10) support @@ -2472,14 +2755,18 @@ DOT_MULTI_TARGETS = NO # If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page # explaining the meaning of the various boxes and arrows in the dot generated # graphs. +# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal +# graphical representation for inheritance and collaboration diagrams is used. # The default value is: YES. # This tag requires that the tag HAVE_DOT is set to YES. GENERATE_LEGEND = YES -# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot +# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate # files that are used to generate the various graphs. +# +# Note: This setting is not only used for dot files but also for msc temporary +# files. # The default value is: YES. -# This tag requires that the tag HAVE_DOT is set to YES. DOT_CLEANUP = YES From e0a7ee444e3cc3b7cd8b00ac61e452994070a967 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Wed, 9 Nov 2022 17:08:32 +0100 Subject: [PATCH 2/9] [docs] handle leftover docs in the wrong place --- docs/doxygen/Doxyfile.in | 2 +- .../multiview/AngularRadianErrorKernel.hpp | 10 ----- src/aliceVision/numeric/Accumulator.hpp | 2 +- src/aliceVision/robustEstimation/ACRansac.hpp | 45 +++++++++---------- src/aliceVision/robustEstimation/Ransac.hpp | 27 ++++++----- .../robustEstimation/conditioning.hpp | 9 +--- 6 files changed, 39 insertions(+), 56 deletions(-) diff --git a/docs/doxygen/Doxyfile.in b/docs/doxygen/Doxyfile.in index 18a401211d..68a8a2ce5c 100644 --- a/docs/doxygen/Doxyfile.in +++ b/docs/doxygen/Doxyfile.in @@ -61,7 +61,7 @@ PROJECT_BRIEF = "Photogrammetric Computer Vision Framework" # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy # the logo to the output directory. -PROJECT_LOGO = +PROJECT_LOGO = ../logo/AliceVision_170.png # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path # into which the generated documentation will be written. If a relative path is diff --git a/src/aliceVision/multiview/AngularRadianErrorKernel.hpp b/src/aliceVision/multiview/AngularRadianErrorKernel.hpp index 528d2a1e65..56e1da0c4b 100644 --- a/src/aliceVision/multiview/AngularRadianErrorKernel.hpp +++ b/src/aliceVision/multiview/AngularRadianErrorKernel.hpp @@ -12,16 +12,6 @@ #include #include -/** - * @brief Collection of kernel. - * @ref [1] "Robust and accurate calibration of camera networks". PhD. Pierre MOULON - * - * - AngularRadianErrorKernel: essential matrix estimation between spherical camera - * - * Mainly it add correct data normalization and define the function required - * by the generic ACRANSAC / LORANSAC routine. - */ - namespace aliceVision { namespace multiview { diff --git a/src/aliceVision/numeric/Accumulator.hpp b/src/aliceVision/numeric/Accumulator.hpp index ea55004771..e4e139e39d 100644 --- a/src/aliceVision/numeric/Accumulator.hpp +++ b/src/aliceVision/numeric/Accumulator.hpp @@ -7,7 +7,7 @@ #pragma once -/// Accumulator trait to perform safe summation over a specified type +// Accumulator trait to perform safe summation over a specified type namespace aliceVision { template diff --git a/src/aliceVision/robustEstimation/ACRansac.hpp b/src/aliceVision/robustEstimation/ACRansac.hpp index 76e16bbd6e..7b9217f2ff 100644 --- a/src/aliceVision/robustEstimation/ACRansac.hpp +++ b/src/aliceVision/robustEstimation/ACRansac.hpp @@ -20,29 +20,6 @@ #include #include -/** - * @brief Generic implementation of ACRANSAC - * - * The A contrario parametrization have been first explained in [1] and - * later extended to generic model estimation in [2] (with a demonstration for - * the homography) and extended and use at large scale for Structure from Motion in [3]. - * - * @ref [1] Lionel Moisan, Berenger Stival. - * A probalistic criterion to detect rigid point matches between - * two images and estimate the fundamental matrix. - * IJCV 04. - * - * @ref [2] Lionel Moisan, Pierre Moulon, Pascal Monasse. - * Automatic Homographic Registration of a Pair of Images, - * with A Contrario Elimination of Outliers - * Image Processing On Line (IPOL), 2012. - * http://dx.doi.org/10.5201/ipol.2012.mmm-oh - * - * @ref [3] Pierre Moulon, Pascal Monasse and Renaud Marlet. - * Adaptive Structure from Motion with a contrario mode estimation. - * In 11th Asian Conference on Computer Vision (ACCV 2012) - */ - namespace aliceVision { namespace robustEstimation{ @@ -131,7 +108,27 @@ inline ErrorIndex bestNFA(int startIndex, //number of point required for estimat /** - * @brief ACRANSAC routine (ErrorThreshold, NFA) + * @brief An implementation of the "Random Sample Consensus" algorithm based on a-contrario estimator + * to automatically estimate the error threshold. + * + * The A contrario parametrization have been first explained in [1] and + * later extended to generic model estimation in [2] (with a demonstration for + * the homography) and extended and use at large scale for Structure from Motion in [3]. + * + * @ref [1] Lionel Moisan, Berenger Stival. + * A probalistic criterion to detect rigid point matches between + * two images and estimate the fundamental matrix. + * IJCV 04. + * + * @ref [2] Lionel Moisan, Pierre Moulon, Pascal Monasse. + * Automatic Homographic Registration of a Pair of Images, + * with A Contrario Elimination of Outliers + * Image Processing On Line (IPOL), 2012. + * http://dx.doi.org/10.5201/ipol.2012.mmm-oh + * + * @ref [3] Pierre Moulon, Pascal Monasse and Renaud Marlet. + * Adaptive Structure from Motion with a contrario mode estimation. + * In 11th Asian Conference on Computer Vision (ACCV 2012) * * @param[in] kernel model and metric object * @param[out] vec_inliers points that fit the estimated model diff --git a/src/aliceVision/robustEstimation/Ransac.hpp b/src/aliceVision/robustEstimation/Ransac.hpp index e3bb50791e..0c05bba2f9 100644 --- a/src/aliceVision/robustEstimation/Ransac.hpp +++ b/src/aliceVision/robustEstimation/Ransac.hpp @@ -19,18 +19,21 @@ namespace aliceVision { namespace robustEstimation{ -/// \brief The famous Random Sample Consensus algorithm (Fischler&Bolles 1981). -/// \details The number of tests is reevaluated down as soon as more inliers are -/// found. Return the found model. -// 1. The model. -// 2. The minimum number of samples needed to fit. -// 3. A way to convert samples to a model. -// 4. A way to convert samples and a model to an error. -// -// 1. Kernel::ModelT -// 2. Kernel::getMinimumNbRequiredSamples() -// 3. Kernel::fit(vector, vector *) -// 4. Kernel::error(Model, int) -> error +/** + * @brief Implementation of the "Random Sample Consensus" algorithm (Fischler&Bolles 1981). + * + * @details The number of tests is reevaluated down as soon as more inliers are + * found. Return the found model. + * 1. The model. + * 2. The minimum number of samples needed to fit. + * 3. A way to convert samples to a model. + * 4. A way to convert samples and a model to an error. + * + * 1. Kernel::ModelT + * 2. Kernel::getMinimumNbRequiredSamples() + * 3. Kernel::fit(vector, vector *) + * 4. Kernel::error(Model, int) -> error + */ template typename Kernel::ModelT RANSAC( const Kernel& kernel, diff --git a/src/aliceVision/robustEstimation/conditioning.hpp b/src/aliceVision/robustEstimation/conditioning.hpp index 053da3ccd8..cefcf23557 100644 --- a/src/aliceVision/robustEstimation/conditioning.hpp +++ b/src/aliceVision/robustEstimation/conditioning.hpp @@ -10,13 +10,6 @@ #include -/** - * @brief Implementation of normalized coordinates. - * Normalization improve accuracy of results and provide benefits - * that make scale and coordinate origin invariant. - * The implementation follows @see Algorithm 4.2 from HZ page 109. - */ - namespace aliceVision { namespace robustEstimation { @@ -41,7 +34,7 @@ void normalizePoints(const Mat& points, Mat* normalized_points, Mat3* T); void preconditionerFromImageSize(int width, int height, Mat3 *T); /** - * @brief Normalize point rom image coordinates to [-.5, .5] + * @brief Normalize point from image coordinates to [-.5, .5] */ void normalizePointsFromImageSize(const Mat& points, Mat* normalized_points, Mat3* T, int width, int height); From 0ec4db812f900be2b649e7b5444a567f93ad592b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Mon, 14 Nov 2022 10:39:06 +0100 Subject: [PATCH 3/9] [docs] add bibliography --- BIBLIOGRAPHY.md | 104 +++++++++++++++++++++++++++++++++++++++ README.md | 5 ++ docs/doxygen/Doxyfile.in | 1 + 3 files changed, 110 insertions(+) create mode 100644 BIBLIOGRAPHY.md diff --git a/BIBLIOGRAPHY.md b/BIBLIOGRAPHY.md new file mode 100644 index 0000000000..9418a51281 --- /dev/null +++ b/BIBLIOGRAPHY.md @@ -0,0 +1,104 @@ +# Bibliography + +[Kneip] **A Novel Parametrization of the P3P-Problem for a Direct Computation of Absolute Camera Position and Orientation.** + Kneip, L.; Scaramuzza, D. ; Siegwart, R. + CVPR 2011 + +[EPnP] **EPnP: An Accurate O(n) Solution to the PnP Problem.** + V. Lepetit and F. Moreno-Noguer and P. Fua, IJCV 2009. vol. 81, no. 2. + +[HZ] **Multiple view geometry in computer vision.** + Hartley, Richard, and Andrew Zisserman. + Vol. 2. Cambridge, 2000. + +[Stewenius] **Recent Developments on Direct Relative Orientation.** + H. Stewenius, C. Engels and D. Nister. + ISPRS 2006 + +[Nister] **An Efficient Solution to the Five-Point Relative Pose.** + D. Nister + PAMI 2004 + +[Longuet] **A computer algorithm for reconstructing a scene from two projections.** + Longuet-Higgins, H. C. + Readings in Computer Vision: Issues, Problems, Principles, and Paradigms, MA Fischler and O. Firschein, eds (1987): 61-62. + +[Chatterjee] **Efficient and Robust Large-Scale Rotation Averaging.** + Avishek Chatterjee and Venu Madhav Govindu, ICCV 2013. + +[Kyle2014] **Robust Global Translations with 1DSfM.** + Kyle Wilson and Noah Snavely, ECCV 2014. + +[Martinec] **Robust Multiview Reconstruction.** + Daniel Martinec, 2008. + +[ACSfM] **Adaptive structure from motion with a contrario model estimation.** + Pierre Moulon, Pascal Monasse, and Renaud Marlet. + In ACCV, 2012. + +[GlobalACSfM] **Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion.** + Pierre Moulon, Pascal Monasse and Renaud Marlet. + In ICCV, 2013. + +[TracksCVMP12] **Unordered feature tracking made fast and easy** + Pierre Moulon and Pascal Monasse, CVMP 2012. + +[KVLD12] **Virtual Line Descriptor and Semi-Local Graph Matching Method for Reliable Feature Correspondence.** + Zhe LIU and Renaud MARLET, BMVC 2012. + +[Moulon13] **Global Multiple-View Color Consistency.** + Pierre Moulon, Bruno Duisit and Pascal Monasse, CVMP 2013. + +[PMVS] **Accurate, dense, and robust multi-view stereopsis.** + Yasutaka Furukawa and Jean Ponce. + IEEE Trans. on Pattern Analysis and Machine Intelligence, 32(8):1362-1376, 2010. + +[CMPMVS] **Multi-View Reconstruction Preserving Weakly-Supported Surfaces.** + M. Jancosek, T. Pajdla, CVPR 2011. + +[Waechter2014] **Let There Be Color! Large-Scale Texturing of 3D Reconstructions.** + M. Waechter, N. Moehrle, and M. Goesele, ECCV 2014. + +[FLANN] **Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration.** + Muja, Marius, and David G. Lowe. VISAPP (1). 2009. + +[LinfNorm] **L infinity Minimization in Geometric Reconstruction Problems.** + Richard I. Hartley, Frederik Schaffalitzky. CVPR 2004. + +[LinfNormGeneric] **Multiple-View Geometry under the L infty Norm; Multiple View Geometry and the L infty -norm.** + Fredrik Kahl, Richard Hartley, 2008; and Fredrik Kahl, ICCV 2005. + +[Arnak] **Robust estimation for an inverse problem arising in multiview geometry.** + Arnak S. Dalalyan, Renaud Keriven. In J. Math. Imaging Vision, 2012. + +[RANSAC] **Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography.** + Fischler, Martin A., and Robert C. Bolles. + Communications of the ACM 24.6 (1981): 381-395. + +[ACRANSAC] **Automatic homographic registration of a pair of images, with a contrario elimination of outliers.** + Moisan, Lionel, Pierre Moulon, and Pascal Monasse. + Image Processing On Line 10 (2012) + +[VLFEAT] **VLFeat: An Open and Portable Library of Computer Vision Algorithms** + A. Vedaldi and B. Fulkerson, 2008. http://www.vlfeat.org/, http://www.vlfeat.org/overview/sift.html. + +[OlssonDuality] **Outlier Removal Using Duality.** + Carl Olsson, Anders Eriksson and Richard Hartley, Richard. CVPR 2010. + +[CASCADEHASHING] **Fast and Accurate Image Matching with Cascade Hashing for 3D Reconstruction** + Jian Cheng, Cong Leng, Jiaxiang Wu, Hainan Cui, Hanqing Lu. CVPR 2014. + +[Ceres] **Ceres Solver** + Sameer Agarwal and Keir Mierle and Others, http://ceres-solver.org + +[CppUnitLite] **CppUnitLite** http://c2.com/cgi/wiki?CppUnitLite + +[Eigen] **Eigen** http://eigen.tuxfamily.org/index.php?title=Main_Page + +[LEMON] **Lemon** http://lemon.cs.elte.hu/trac/lemon + +[STLplus] **STLplus** http://stlplus.sourceforge.net/ + +[LP] **Linear Programming** http://en.wikipedia.org/wiki/Linear_programming + + diff --git a/README.md b/README.md index e5f9438998..c22c38cdb2 100644 --- a/README.md +++ b/README.md @@ -39,6 +39,11 @@ If you use this project for a publication, please cite the [paper](https://hal.a ``` +## Bibliography + +See [**Bibliography**](BIBLIOGRAPHY.md) for the list of research papers and tools used in this project. + + ## Get the project Get the source code: `git clone --recursive git://github.com/alicevision/AliceVision` diff --git a/docs/doxygen/Doxyfile.in b/docs/doxygen/Doxyfile.in index 68a8a2ce5c..d9195c231c 100644 --- a/docs/doxygen/Doxyfile.in +++ b/docs/doxygen/Doxyfile.in @@ -915,6 +915,7 @@ INPUT += ../../INSTALL.md INPUT += ../../CONTRIBUTING.md INPUT += ../../CONTRIBUTORS.md INPUT += ../../CODE_OF_CONDUCT.md +INPUT += ../../BIBLIOGRAPHY.md # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. 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docs/img/tracks.png diff --git a/docs/sphinx/README.txt b/docs/sphinx/README.txt deleted file mode 100644 index 46ce31de90..0000000000 --- a/docs/sphinx/README.txt +++ /dev/null @@ -1,9 +0,0 @@ -- HTML documentation is generated from .rst files with Sphinx - -$ sphinx-build -b html ./sphinx/rst OutDir/sphinx/html -Or use the target doc in the cmake build system -$ make doc - -Sphinx setup: -Please follow the http://sphinx-doc.org/latest/install.html guide. - diff --git a/docs/sphinx/rst/FAQ/FAQ.rst b/docs/sphinx/rst/FAQ/FAQ.rst deleted file mode 100644 index 6e22ab2619..0000000000 --- a/docs/sphinx/rst/FAQ/FAQ.rst +++ /dev/null @@ -1,9 +0,0 @@ -############################ -FAQ -############################ - -.. toctree:: - :maxdepth: 1 - - questions - diff --git a/docs/sphinx/rst/FAQ/questions.rst b/docs/sphinx/rst/FAQ/questions.rst deleted file mode 100644 index 4eb03609b7..0000000000 --- a/docs/sphinx/rst/FAQ/questions.rst +++ /dev/null @@ -1,4 +0,0 @@ -******************* -To fill -******************* - diff --git a/docs/sphinx/rst/_themes/armstrong/LICENSE b/docs/sphinx/rst/_themes/armstrong/LICENSE deleted file mode 100644 index 894aa018a1..0000000000 --- a/docs/sphinx/rst/_themes/armstrong/LICENSE +++ /dev/null @@ -1,26 +0,0 @@ -Copyright (c) 2011 Bay Citizen & Texas Tribune - -Original ReadTheDocs.org code -Copyright (c) 2010 Charles Leifer, Eric Holscher, Bobby Grace - -Permission is hereby granted, free of charge, to any person -obtaining a copy of this software and associated documentation -files (the "Software"), to deal in the Software without -restriction, including without limitation the rights to use, -copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the -Software is furnished to do so, subject to the following -conditions: - -The above copyright notice and this permission notice shall be -included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES -OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND -NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT -HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, -WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR -OTHER DEALINGS IN THE SOFTWARE. - diff --git a/docs/sphinx/rst/_themes/armstrong/globaltoc.html b/docs/sphinx/rst/_themes/armstrong/globaltoc.html deleted file mode 100644 index 6fa8ae2be3..0000000000 --- a/docs/sphinx/rst/_themes/armstrong/globaltoc.html +++ /dev/null @@ -1,11 +0,0 @@ -{# - basic/globaltoc.html - ~~~~~~~~~~~~~~~~~~~~ - - Sphinx sidebar template: global table of contents. - - :copyright: Copyright 2007-2011 by the Sphinx team, see AUTHORS. - :license: BSD, see LICENSE for details. -#} -

{{ _('OpenMVG library') }}

-{{ toctree() }} diff --git a/docs/sphinx/rst/_themes/armstrong/layout.html b/docs/sphinx/rst/_themes/armstrong/layout.html deleted file mode 100644 index 3faa34cc60..0000000000 --- a/docs/sphinx/rst/_themes/armstrong/layout.html +++ /dev/null @@ -1,80 +0,0 @@ -{% extends "basic/layout.html" %} - -{% set script_files = script_files + [pathto("_static/searchtools.js", 1)] %} - -{% block htmltitle %} -{{ super() }} - - - -{% endblock %} - - -{%- macro sidebar() %} - {%- if render_sidebar %} -
-
- {%- block sidebarlogo %} - {%- if logo %} - - {%- endif %} - {%- endblock %} - {%- if sidebars != None %} - {#- new style sidebar: explicitly include/exclude templates #} - {%- for sidebartemplate in sidebars %} - {%- include sidebartemplate %} - {%- endfor %} - {%- else %} - {#- old style sidebars: using blocks -- should be deprecated #} - {%- block sidebartoc %} - {%- include "globaltoc.html" %} - {%- endblock %} - {%- block sidebarsourcelink %} - {%- include "sourcelink.html" %} - {%- endblock %} - {%- if customsidebar %} - {%- include customsidebar %} - {%- endif %} - {%- block sidebarsearch %} - {%- include "searchbox.html" %} - {%- endblock %} - {%- endif %} -
-
- {%- endif %} -{%- endmacro %} - - -{% block footer %} -
-{%- if show_copyright %} - {%- if hasdoc('copyright') %} - {% trans path=pathto('copyright'), copyright=copyright|e %}© Copyright {{ copyright }}.{% endtrans %} - {%- else %} - {% trans copyright=copyright|e %}© Copyright {{ copyright }}.{% endtrans %} - {%- endif %} -{%- endif %} -{%- if last_updated %} - {% trans last_updated=last_updated|e %}Last updated on {{ last_updated }}.{% endtrans %} -{%- endif %} -
- - -{% if theme_analytics_code %} - - -{% endif %} - -{% endblock %} diff --git a/docs/sphinx/rst/_themes/armstrong/rtd-themes.conf b/docs/sphinx/rst/_themes/armstrong/rtd-themes.conf deleted file mode 100644 index 5930488d75..0000000000 --- a/docs/sphinx/rst/_themes/armstrong/rtd-themes.conf +++ /dev/null @@ -1,65 +0,0 @@ -[theme] -inherit = default -stylesheet = rtd.css -pygment_style = default -show_sphinx = False - -[options] -show_rtd = True - -white = #ffffff -almost_white = #f8f8f8 -barely_white = #f2f2f2 -dirty_white = #eeeeee -almost_dirty_white = #e6e6e6 -dirtier_white = #dddddd -lighter_gray = #cccccc -gray_a = #aaaaaa -gray_9 = #999999 -light_gray = #888888 -gray_7 = #777777 -gray = #666666 -dark_gray = #444444 -gray_2 = #222222 -black = #111111 -light_color = #e8ecef -light_medium_color = #DDEAF0 -medium_color = #8ca1af -medium_color_link = #86989b -medium_color_link_hover = #a6b8bb -dark_color = #465158 - -h1 = #000000 -h2 = #465158 -h3 = #6c818f - -link_color = #444444 -link_color_decoration = #CCCCCC - -medium_color_hover = #697983 -green_highlight = #8ecc4c - - -positive_dark = #609060 -positive_medium = #70a070 -positive_light = #e9ffe9 - -negative_dark = #900000 -negative_medium = #b04040 -negative_light = #ffe9e9 -negative_text = #c60f0f - -ruler = #abc - -viewcode_bg = #f4debf -viewcode_border = #ac9 - -highlight = #ffe080 - -code_background = #eeeeee - -background = #465158 -background_link = #ffffff -background_link_half = #ffffff -background_text = #eeeeee -background_text_link = #86989b diff --git a/docs/sphinx/rst/_themes/armstrong/static/rtd.css_t b/docs/sphinx/rst/_themes/armstrong/static/rtd.css_t deleted file mode 100644 index 90354c3ee5..0000000000 --- a/docs/sphinx/rst/_themes/armstrong/static/rtd.css_t +++ /dev/null @@ -1,781 +0,0 @@ -/* - * rtd.css - * ~~~~~~~~~~~~~~~ - * - * Sphinx stylesheet -- sphinxdoc theme. Originally created by - * Armin Ronacher for Werkzeug. - * - * Customized for ReadTheDocs by Eric Pierce & Eric Holscher - * - * :copyright: Copyright 2007-2010 by the Sphinx team, see AUTHORS. - * :license: BSD, see LICENSE for details. - * - */ - -/* RTD colors - * light blue: {{ theme_light_color }} - * medium blue: {{ theme_medium_color }} - * dark blue: {{ theme_dark_color }} - * dark grey: {{ theme_grey_color }} - * - * medium blue hover: {{ theme_medium_color_hover }}; - * green highlight: {{ theme_green_highlight }} - * light blue (project bar): {{ theme_light_color }} - */ - -@import url("basic.css"); - -/* PAGE LAYOUT -------------------------------------------------------------- */ - -body { - font: 100%/1.5 "ff-meta-web-pro-1","ff-meta-web-pro-2",Arial,"Helvetica Neue",sans-serif; - text-align: center; - color: black; - background-color: {{ theme_background }}; - padding: 0; - margin: 0; -} - -div.document { - text-align: left; - background-color: {{ theme_light_color }}; -} - -div.bodywrapper { - background-color: {{ theme_white }}; - border-left: 1px solid {{ theme_lighter_gray }}; - border-bottom: 1px solid {{ theme_lighter_gray }}; - margin: 0 0 0 16em; -} - -div.body { - margin: 0; - padding: 0.5em 1.3em; - max-width: 55em; - min-width: 20em; -} - -div.related { - font-size: 1em; - background-color: {{ theme_background }}; -} - -div.documentwrapper { - float: left; - width: 100%; - background-color: {{ theme_light_color }}; -} - - -/* HEADINGS --------------------------------------------------------------- */ - -h1 { - margin: 0; - padding: 0.7em 0 0.3em 0; - font-size: 1.5em; - line-height: 1.15; - color: {{ theme_h1 }}; - clear: both; -} - -h2 { - margin: 2em 0 0.2em 0; - font-size: 1.35em; - padding: 0; - color: {{ theme_h2 }}; -} - -h3 { - margin: 1em 0 -0.3em 0; - font-size: 1.2em; - color: {{ theme_h3 }}; -} - -div.body h1 a, div.body h2 a, div.body h3 a, div.body h4 a, div.body h5 a, div.body h6 a { - color: black; -} - -h1 a.anchor, h2 a.anchor, h3 a.anchor, h4 a.anchor, h5 a.anchor, h6 a.anchor { - display: none; - margin: 0 0 0 0.3em; - padding: 0 0.2em 0 0.2em; - color: {{ theme_gray_a }} !important; -} - -h1:hover a.anchor, h2:hover a.anchor, h3:hover a.anchor, h4:hover a.anchor, -h5:hover a.anchor, h6:hover a.anchor { - display: inline; -} - -h1 a.anchor:hover, h2 a.anchor:hover, h3 a.anchor:hover, h4 a.anchor:hover, -h5 a.anchor:hover, h6 a.anchor:hover { - color: {{ theme_gray_7 }}; - background-color: {{ theme_dirty_white }}; -} - - -/* LINKS ------------------------------------------------------------------ */ - -/* Normal links get a pseudo-underline */ -a { - color: {{ theme_link_color }}; - text-decoration: none; - border-bottom: 1px solid {{ theme_link_color_decoration }}; -} - -/* Links in sidebar, TOC, index trees and tables have no underline */ -.sphinxsidebar a, -.toctree-wrapper a, -.indextable a, -#indices-and-tables a { - color: {{ theme_dark_gray }}; - text-decoration: none; - border-bottom: none; -} - -/* Most links get an underline-effect when hovered */ -a:hover, -div.toctree-wrapper a:hover, -.indextable a:hover, -#indices-and-tables a:hover { - color: {{ theme_black }}; - text-decoration: none; - border-bottom: 1px solid {{ theme_black }}; -} - -/* Footer links */ -div.footer a { - color: {{ theme_background_text_link }}; - text-decoration: none; - border: none; -} -div.footer a:hover { - color: {{ theme_medium_color_link_hover }}; - text-decoration: underline; - border: none; -} - -/* Permalink anchor (subtle grey with a red hover) */ -div.body a.headerlink { - color: {{ theme_lighter_gray }}; - font-size: 1em; - margin-left: 6px; - padding: 0 4px 0 4px; - text-decoration: none; - border: none; -} -div.body a.headerlink:hover { - color: {{ theme_negative_text }}; - border: none; -} - - -/* NAVIGATION BAR --------------------------------------------------------- */ - -div.related ul { - height: 2.5em; -} - -div.related ul li { - margin: 0; - padding: 0.65em 0; - float: left; - display: block; - color: {{ theme_background_link_half }}; /* For the >> separators */ - font-size: 0.8em; -} - -div.related ul li.right { - float: right; - margin-right: 5px; - color: transparent; /* Hide the | separators */ -} - -/* "Breadcrumb" links in nav bar */ -div.related ul li a { - order: none; - background-color: inherit; - font-weight: bold; - margin: 6px 0 6px 4px; - line-height: 1.75em; - color: {{ theme_background_link }}; - text-shadow: 0 1px rgba(0, 0, 0, 0.5); - padding: 0.4em 0.8em; - border: none; - border-radius: 3px; -} -/* previous / next / modules / index links look more like buttons */ -div.related ul li.right a { - margin: 0.375em 0; - background-color: {{ theme_medium_color_hover }}; - text-shadow: 0 1px rgba(0, 0, 0, 0.5); - border-radius: 3px; - -webkit-border-radius: 3px; - -moz-border-radius: 3px; -} -/* All navbar links light up as buttons when hovered */ -div.related ul li a:hover { - background-color: {{ theme_medium_color }}; - color: {{ theme_white }}; - text-decoration: none; - border-radius: 3px; - -webkit-border-radius: 3px; - -moz-border-radius: 3px; -} -/* Take extra precautions for tt within links */ -a tt, -div.related ul li a tt { - background: inherit !important; - color: inherit !important; -} - - -/* SIDEBAR ---------------------------------------------------------------- */ - -div.sphinxsidebarwrapper { - padding: 0; -} - -div.sphinxsidebar { - margin: 0; - margin-left: -100%; - float: left; - top: 3em; - left: 0; - padding: 0 1em; - width: 14em; - font-size: 1em; - text-align: left; - background-color: {{ theme_light_color }}; -} - -div.sphinxsidebar img { - max-width: 12em; -} - -div.sphinxsidebar h3, div.sphinxsidebar h4 { - margin: 1.2em 0 0.3em 0; - font-size: 1em; - padding: 0; - color: {{ theme_gray_2 }}; - font-family: "ff-meta-web-pro-1", "ff-meta-web-pro-2", "Arial", "Helvetica Neue", sans-serif; -} - -div.sphinxsidebar h3 a { - color: {{ theme_grey_color }}; -} - -div.sphinxsidebar ul, -div.sphinxsidebar p { - margin-top: 0; - padding-left: 0; - line-height: 130%; - background-color: {{ theme_light_color }}; -} - -/* No bullets for nested lists, but a little extra indentation */ -div.sphinxsidebar ul ul { - list-style-type: none; - margin-left: 1.5em; - padding: 0; -} - -/* A little top/bottom padding to prevent adjacent links' borders - * from overlapping each other */ -div.sphinxsidebar ul li { - padding: 1px 0; -} - -/* A little left-padding to make these align with the ULs */ -div.sphinxsidebar p.topless { - padding-left: 0 0 0 1em; -} - -/* Make these into hidden one-liners */ -div.sphinxsidebar ul li, -div.sphinxsidebar p.topless { - white-space: nowrap; - overflow: hidden; -} -/* ...which become visible when hovered */ -div.sphinxsidebar ul li:hover, -div.sphinxsidebar p.topless:hover { - overflow: visible; -} - -/* Search text box and "Go" button */ -#searchbox { - margin-top: 2em; - margin-bottom: 1em; - background: {{ theme_dirtier_white }}; - padding: 0.5em; - border-radius: 6px; - -moz-border-radius: 6px; - -webkit-border-radius: 6px; -} -#searchbox h3 { - margin-top: 0; -} - -/* Make search box and button abut and have a border */ -input, -div.sphinxsidebar input { - border: 1px solid {{ theme_gray_9 }}; - float: left; -} - -/* Search textbox */ -input[type="text"] { - margin: 0; - padding: 0 3px; - height: 20px; - width: 144px; - border-top-left-radius: 3px; - border-bottom-left-radius: 3px; - -moz-border-radius-topleft: 3px; - -moz-border-radius-bottomleft: 3px; - -webkit-border-top-left-radius: 3px; - -webkit-border-bottom-left-radius: 3px; -} -/* Search button */ -input[type="submit"] { - margin: 0 0 0 -1px; /* -1px prevents a double-border with textbox */ - height: 22px; - color: {{ theme_dark_gray }}; - background-color: {{ theme_light_color }}; - padding: 1px 4px; - font-weight: bold; - border-top-right-radius: 3px; - border-bottom-right-radius: 3px; - -moz-border-radius-topright: 3px; - -moz-border-radius-bottomright: 3px; - -webkit-border-top-right-radius: 3px; - -webkit-border-bottom-right-radius: 3px; -} -input[type="submit"]:hover { - color: {{ theme_white }}; - background-color: {{ theme_green_highlight }}; -} - -div.sphinxsidebar p.searchtip { - clear: both; - padding: 0.5em 0 0 0; - background: {{ theme_dirtier_white }}; - color: {{ theme_gray }}; - font-size: 0.9em; -} - -/* Sidebar links are unusual */ -div.sphinxsidebar li a, -div.sphinxsidebar p a { - background: {{ theme_light_color }}; /* In case links overlap main content */ - border-radius: 3px; - -moz-border-radius: 3px; - -webkit-border-radius: 3px; - border: 1px solid transparent; /* To prevent things jumping around on hover */ - padding: 0 5px 0 5px; -} -div.sphinxsidebar li a:hover, -div.sphinxsidebar p a:hover { - color: {{ theme_black }}; - text-decoration: none; - border: 1px solid {{ theme_light_gray }}; -} - -/* Tweak any link appearing in a heading */ -div.sphinxsidebar h3 a { -} - - - - -/* OTHER STUFF ------------------------------------------------------------ */ - -cite, code, tt { - font-family: 'Consolas', 'Deja Vu Sans Mono', - 'Bitstream Vera Sans Mono', monospace; - font-size: 0.95em; - letter-spacing: 0.01em; -} - -tt { - background-color: {{ theme_code_background }}; - color: {{ theme_dark_gray }}; 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- margin-bottom: 2em; - } - - table.indextable { - display: block; - width: auto; - } - - .indextable tr { - display: block; - } - - .indextable td { - display: block; - padding: 0; - width: auto !important; - } - - .indextable td dt { - margin: 1em 0; - } - - ul.search { - margin-left: 0.25em; - } - - ul.search li div.context { - font-size: 90%; - line-height: 1.1; - margin-bottom: 1; - margin-left: 0; - } - -} diff --git a/docs/sphinx/rst/_themes/armstrong/theme.conf b/docs/sphinx/rst/_themes/armstrong/theme.conf deleted file mode 100644 index 5930488d75..0000000000 --- a/docs/sphinx/rst/_themes/armstrong/theme.conf +++ /dev/null @@ -1,65 +0,0 @@ -[theme] -inherit = default -stylesheet = rtd.css -pygment_style = default -show_sphinx = False - -[options] -show_rtd = True - -white = #ffffff -almost_white = #f8f8f8 -barely_white = #f2f2f2 -dirty_white = #eeeeee -almost_dirty_white = #e6e6e6 -dirtier_white = #dddddd -lighter_gray = #cccccc -gray_a = #aaaaaa -gray_9 = #999999 -light_gray = #888888 -gray_7 = #777777 -gray = #666666 -dark_gray = #444444 -gray_2 = #222222 -black = #111111 -light_color = #e8ecef -light_medium_color = #DDEAF0 -medium_color = #8ca1af -medium_color_link = #86989b -medium_color_link_hover = #a6b8bb -dark_color = #465158 - -h1 = #000000 -h2 = #465158 -h3 = #6c818f - -link_color = #444444 -link_color_decoration = #CCCCCC - -medium_color_hover = #697983 -green_highlight = #8ecc4c - - -positive_dark = #609060 -positive_medium = #70a070 -positive_light = #e9ffe9 - -negative_dark = #900000 -negative_medium = #b04040 -negative_light = #ffe9e9 -negative_text = #c60f0f - -ruler = #abc - -viewcode_bg = #f4debf -viewcode_border = #ac9 - -highlight = #ffe080 - -code_background = #eeeeee - -background = #465158 -background_link = #ffffff -background_link_half = #ffffff -background_text = #eeeeee -background_text_link = #86989b diff --git a/docs/sphinx/rst/_themes/layout.html b/docs/sphinx/rst/_themes/layout.html deleted file mode 100644 index 61c8eb5424..0000000000 --- a/docs/sphinx/rst/_themes/layout.html +++ /dev/null @@ -1,13 +0,0 @@ -{% extends "!layout.html" %} - -{% block footer %} -{{ super() }} - -{% endblock %} diff --git a/docs/sphinx/rst/bibliography.rst b/docs/sphinx/rst/bibliography.rst deleted file mode 100644 index 91ea2ca8bd..0000000000 --- a/docs/sphinx/rst/bibliography.rst +++ /dev/null @@ -1,107 +0,0 @@ -.. _sec-bibliography: - -============ -Bibliography -============ - -.. [Kneip] **A Novel Parametrization of the P3P-Problem for a Direct Computation of Absolute Camera Position and Orientation.** - Kneip, L.; Scaramuzza, D. ; Siegwart, R. - CVPR 2011 - -.. [EPnP] **EPnP: An Accurate O(n) Solution to the PnP Problem.** - V. Lepetit and F. Moreno-Noguer and P. Fua, IJCV 2009. vol. 81, no. 2. - -.. [HZ] **Multiple view geometry in computer vision.** - Hartley, Richard, and Andrew Zisserman. - Vol. 2. Cambridge, 2000. - -.. [Stewenius] **Recent Developments on Direct Relative Orientation.** - H. Stewenius, C. Engels and D. Nister. - ISPRS 2006 - -.. [Nister] **An Efficient Solution to the Five-Point Relative Pose.** - D. Nister - PAMI 2004 - -.. [Longuet] **A computer algorithm for reconstructing a scene from two projections.** - Longuet-Higgins, H. C. - Readings in Computer Vision: Issues, Problems, Principles, and Paradigms, MA Fischler and O. Firschein, eds (1987): 61-62. - -.. [Chatterjee] **Efficient and Robust Large-Scale Rotation Averaging.** - Avishek Chatterjee and Venu Madhav Govindu, ICCV 2013. - -.. [Kyle2014] **Robust Global Translations with 1DSfM.** - Kyle Wilson and Noah Snavely, ECCV 2014. - -.. [Martinec] **Robust Multiview Reconstruction.** - Daniel Martinec, 2008. - -.. [ACSfM] **Adaptive structure from motion with a contrario model estimation.** - Pierre Moulon, Pascal Monasse, and Renaud Marlet. - In ACCV, 2012. - -.. [GlobalACSfM] **Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion.** - Pierre Moulon, Pascal Monasse and Renaud Marlet. - In ICCV, 2013. - -.. [TracksCVMP12] **Unordered feature tracking made fast and easy** - Pierre Moulon and Pascal Monasse, CVMP 2012. - -.. [KVLD12] **Virtual Line Descriptor and Semi-Local Graph Matching Method for Reliable Feature Correspondence.** - Zhe LIU and Renaud MARLET, BMVC 2012. - -.. [Moulon13] **Global Multiple-View Color Consistency.** - Pierre Moulon, Bruno Duisit and Pascal Monasse, CVMP 2013. - -.. [PMVS] **Accurate, dense, and robust multi-view stereopsis.** - Yasutaka Furukawa and Jean Ponce. - IEEE Trans. on Pattern Analysis and Machine Intelligence, 32(8):1362-1376, 2010. - -.. [CMPMVS] **Multi-View Reconstruction Preserving Weakly-Supported Surfaces.** - M. Jancosek, T. Pajdla, CVPR 2011. - -.. [Waechter2014] **Let There Be Color! Large-Scale Texturing of 3D Reconstructions.** - M. Waechter, N. Moehrle, and M. Goesele, ECCV 2014. - -.. [FLANN] **Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration.** - Muja, Marius, and David G. Lowe. VISAPP (1). 2009. - -.. [LinfNorm] **L infinity Minimization in Geometric Reconstruction Problems.** - Richard I. Hartley, Frederik Schaffalitzky. CVPR 2004. - -.. [LinfNormGeneric] **Multiple-View Geometry under the L infty Norm; Multiple View Geometry and the L infty -norm.** - Fredrik Kahl, Richard Hartley, 2008; and Fredrik Kahl, ICCV 2005. - -.. [Arnak] **Robust estimation for an inverse problem arising in multiview geometry.** - Arnak S. Dalalyan, Renaud Keriven. In J. Math. Imaging Vision, 2012. - -.. [RANSAC] **Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography.** - Fischler, Martin A., and Robert C. Bolles. - Communications of the ACM 24.6 (1981): 381-395. - -.. [ACRANSAC] **Automatic homographic registration of a pair of images, with a contrario elimination of outliers.** - Moisan, Lionel, Pierre Moulon, and Pascal Monasse. - Image Processing On Line 10 (2012) - -.. [VLFEAT] **VLFeat: An Open and Portable Library of Computer Vision Algorithms** - A. Vedaldi and B. Fulkerson, 2008. http://www.vlfeat.org/, http://www.vlfeat.org/overview/sift.html. - -.. [OlssonDuality] **Outlier Removal Using Duality.** - Carl Olsson, Anders Eriksson and Richard Hartley, Richard. CVPR 2010. - -.. [CASCADEHASHING] **Fast and Accurate Image Matching with Cascade Hashing for 3D Reconstruction** - Jian Cheng, Cong Leng, Jiaxiang Wu, Hainan Cui, Hanqing Lu. CVPR 2014. - -.. [Ceres] **Ceres Solver** - Sameer Agarwal and Keir Mierle and Others, http://ceres-solver.org - -.. [CppUnitLite] **CppUnitLite** http://c2.com/cgi/wiki?CppUnitLite - -.. [Eigen] **Eigen** http://eigen.tuxfamily.org/index.php?title=Main_Page - -.. [LEMON] **Lemon** http://lemon.cs.elte.hu/trac/lemon - -.. [STLplus] **STLplus** http://stlplus.sourceforge.net/ - -.. [LP] **Linear Programming** http://en.wikipedia.org/wiki/Linear_programming - diff --git a/docs/sphinx/rst/conf.py b/docs/sphinx/rst/conf.py deleted file mode 100644 index bb1cc9b2c1..0000000000 --- a/docs/sphinx/rst/conf.py +++ /dev/null @@ -1,344 +0,0 @@ -# -*- coding: utf-8 -*- -# -# openMVG documentation build configuration file, created by -# sphinx-quickstart on Wed Oct 30 11:05:58 2013. -# -# This file is execfile()d with the current directory set to its -# containing dir. -# -# Note that not all possible configuration values are present in this -# autogenerated file. -# -# All configuration values have a default; values that are commented out -# serve to show the default. - -import sys -import os - -# on_rtd is whether we are on readthedocs.org -import os -on_rtd = os.environ.get('READTHEDOCS', None) == 'True' - -# If extensions (or modules to document with autodoc) are in another directory, -# add these directories to sys.path here. If the directory is relative to the -# documentation root, use os.path.abspath to make it absolute, like shown here. -#sys.path.insert(0, os.path.abspath('.')) - -# -- General configuration ------------------------------------------------ - -# If your documentation needs a minimal Sphinx version, state it here. -#needs_sphinx = '1.0' - -# Add any Sphinx extension module names here, as strings. They can be -# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom -# ones. - -extensions = [ - 'sphinx.ext.autodoc', - 'sphinx.ext.viewcode', - 'sphinx.ext.todo', - 'sphinx.ext.mathjax', - 'sphinx.ext.ifconfig' -] - - -# Add any paths that contain templates here, relative to this directory. -templates_path = ['_templates'] - -# The suffix of source filenames. -source_suffix = '.rst' - -# The encoding of source files. -#source_encoding = 'utf-8-sig' - -# The master toctree document. -master_doc = 'index' - -# General information about the project. -project = u'openMVG' -copyright = u'2013-2015, OpenMVG authors' - -# The version info for the project you're documenting, acts as replacement for -# |version| and |release|, also used in various other places throughout the -# built documents. -# -# The short X.Y version. -version = '0.9' -# The full version, including alpha/beta/rc tags. -release = '0.9' - -# The language for content autogenerated by Sphinx. Refer to documentation -# for a list of supported languages. -#language = None - -# There are two options for replacing |today|: either, you set today to some -# non-false value, then it is used: -#today = '' -# Else, today_fmt is used as the format for a strftime call. -#today_fmt = '%B %d, %Y' - -# List of patterns, relative to source directory, that match files and -# directories to ignore when looking for source files. -exclude_patterns = ['_build'] - -# The reST default role (used for this markup: `text`) to use for all -# documents. -#default_role = None - -# If true, '()' will be appended to :func: etc. cross-reference text. -#add_function_parentheses = True - -# If true, the current module name will be prepended to all description -# unit titles (such as .. function::). -#add_module_names = True - -# If true, sectionauthor and moduleauthor directives will be shown in the -# output. They are ignored by default. -#show_authors = False - -# The name of the Pygments (syntax highlighting) style to use. -pygments_style = 'sphinx' - -# A list of ignored prefixes for module index sorting. -#modindex_common_prefix = [] - -# If true, keep warnings as "system message" paragraphs in the built documents. -#keep_warnings = False - - -# -- Options for HTML output ---------------------------------------------- - - -# The theme to use for HTML and HTML Help pages. See the documentation for -# a list of builtin themes. -html_theme = 'sphinx_rtd_theme' - -# Theme options are theme-specific and customize the look and feel of a theme -# further. For a list of options available for each theme, see the -# documentation. -#html_theme_options = {} - -# Add any paths that contain custom themes here, relative to this directory. -html_theme_path = ["_themes",] -if not on_rtd: # only import and set the theme if we're building docs locally - html_theme = 'armstrong' - - -# The name for this set of Sphinx documents. If None, it defaults to -# " v documentation". -html_title = "openMVG library" - -# A shorter title for the navigation bar. Default is the same as html_title. -#html_short_title = None - -# The name of an image file (relative to this directory) to place at the top -# of the sidebar. -#html_logo = None - -# The name of an image file (within the static path) to use as favicon of the -# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 -# pixels large. -#html_favicon = None - -# Add any paths that contain custom static files (such as style sheets) here, -# relative to this directory. They are copied after the builtin static files, -# so a file named "default.css" will overwrite the builtin "default.css". -html_static_path = ['_static'] - -# Add any extra paths that contain custom files (such as robots.txt or -# .htaccess) here, relative to this directory. These files are copied -# directly to the root of the documentation. -#html_extra_path = [] - -# If not '', a 'Last updated on:' timestamp is inserted at every page bottom, -# using the given strftime format. -#html_last_updated_fmt = '%b %d, %Y' - -# If true, SmartyPants will be used to convert quotes and dashes to -# typographically correct entities. -#html_use_smartypants = True - -# Custom sidebar templates, maps document names to template names. -#html_sidebars = {} - -# Additional templates that should be rendered to pages, maps page names to -# template names. -#html_additional_pages = {} - -# If false, no module index is generated. -html_domain_indices = True - -# If false, no index is generated. -html_use_index = True - -# If true, the index is split into individual pages for each letter. -html_split_index = False - -# If true, links to the reST sources are added to the pages. -html_show_sourcelink = True - -# If true, "Created using Sphinx" is shown in the HTML footer. Default is True. -html_show_sphinx = True - -# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True. -#html_show_copyright = True - -# If true, an OpenSearch description file will be output, and all pages will -# contain a tag referring to it. The value of this option must be the -# base URL from which the finished HTML is served. -#html_use_opensearch = '' - -# This is the file name suffix for HTML files (e.g. ".xhtml"). -#html_file_suffix = None - -# Output file base name for HTML help builder. -htmlhelp_basename = 'openMVGdoc' - - -# -- Options for LaTeX output --------------------------------------------- - -latex_elements = { -# The paper size ('letterpaper' or 'a4paper'). -#'papersize': 'letterpaper', - -# The font size ('10pt', '11pt' or '12pt'). -#'pointsize': '10pt', - -# Additional stuff for the LaTeX preamble. -#'preamble': '', -} - -# Grouping the document tree into LaTeX files. List of tuples -# (source start file, target name, title, -# author, documentclass [howto, manual, or own class]). -latex_documents = [ - ('index', 'openMVG.tex', u'openMVG Documentation', - u'Pierre MOULON \\& Bruno DUISIT', 'manual'), -] - -# The name of an image file (relative to this directory) to place at the top of -# the title page. -#latex_logo = None - -# For "manual" documents, if this is true, then toplevel headings are parts, -# not chapters. -#latex_use_parts = False - -# If true, show page references after internal links. -#latex_show_pagerefs = False - -# If true, show URL addresses after external links. -#latex_show_urls = False - -# Documents to append as an appendix to all manuals. -#latex_appendices = [] - -# If false, no module index is generated. -#latex_domain_indices = True - - -# -- Options for manual page output --------------------------------------- - -# One entry per manual page. List of tuples -# (source start file, name, description, authors, manual section). -man_pages = [ - ('index', 'openmvg', u'openMVG Documentation', - [u'openMVG authors'], 1) -] - -# If true, show URL addresses after external links. -#man_show_urls = False - - -# -- Options for Texinfo output ------------------------------------------- - -# Grouping the document tree into Texinfo files. List of tuples -# (source start file, target name, title, author, -# dir menu entry, description, category) -texinfo_documents = [ - ('index', 'openMVG', u'openMVG Documentation', - u'openMVG authors', 'openMVG', 'an open Multiple View Geometry library.', - 'Miscellaneous'), -] - -# Documents to append as an appendix to all manuals. -#texinfo_appendices = [] - -# If false, no module index is generated. -#texinfo_domain_indices = True - -# How to display URL addresses: 'footnote', 'no', or 'inline'. -#texinfo_show_urls = 'footnote' - -# If true, do not generate a @detailmenu in the "Top" node's menu. -#texinfo_no_detailmenu = False - - -# -- Options for Epub output ---------------------------------------------- - -# Bibliographic Dublin Core info. -epub_title = u'openMVG' -epub_author = u'openMVG authors' -epub_publisher = u'Pierre MOULON & Bruno DUISIT & Fabien CASTAN' -epub_copyright = u'2013-2015, openMVG authors' - -# The basename for the epub file. It defaults to the project name. -#epub_basename = u'openMVG' - -# The HTML theme for the epub output. Since the default themes are not optimized -# for small screen space, using the same theme for HTML and epub output is -# usually not wise. This defaults to 'epub', a theme designed to save visual -# space. -#epub_theme = 'epub' - -# The language of the text. It defaults to the language option -# or en if the language is not set. -#epub_language = '' - -# The scheme of the identifier. Typical schemes are ISBN or URL. -#epub_scheme = '' - -# The unique identifier of the text. This can be a ISBN number -# or the project homepage. -#epub_identifier = '' - -# A unique identification for the text. -#epub_uid = '' - -# A tuple containing the cover image and cover page html template filenames. -#epub_cover = () - -# A sequence of (type, uri, title) tuples for the guide element of content.opf. -#epub_guide = () - -# HTML files that should be inserted before the pages created by sphinx. -# The format is a list of tuples containing the path and title. -#epub_pre_files = [] - -# HTML files shat should be inserted after the pages created by sphinx. -# The format is a list of tuples containing the path and title. -#epub_post_files = [] - -# A list of files that should not be packed into the epub file. -#epub_exclude_files = [] - -# The depth of the table of contents in toc.ncx. -#epub_tocdepth = 3 - -# Allow duplicate toc entries. -#epub_tocdup = True - -# Choose between 'default' and 'includehidden'. -#epub_tocscope = 'default' - -# Fix unsupported image types using the PIL. -#epub_fix_images = False - -# Scale large images. -#epub_max_image_width = 0 - -# How to display URL addresses: 'footnote', 'no', or 'inline'. -#epub_show_urls = 'inline' - -# If false, no index is generated. -#epub_use_index = True diff --git a/docs/sphinx/rst/dependencies/external_libs.rst b/docs/sphinx/rst/dependencies/external_libs.rst deleted file mode 100644 index 8725bb4ca8..0000000000 --- a/docs/sphinx/rst/dependencies/external_libs.rst +++ /dev/null @@ -1,16 +0,0 @@ -############################ -dependencies -############################ - -OpenMVG library uses the git submodule idea to make its repository lighter. - -Here are the libraries used through the submodule concept: - - -.. toctree:: - :maxdepth: 1 - - ./glfw.rst - ./openExif.rst - ./osi_clp.rst - diff --git a/docs/sphinx/rst/dependencies/glfw.rst b/docs/sphinx/rst/dependencies/glfw.rst deleted file mode 100644 index fe2d981b07..0000000000 --- a/docs/sphinx/rst/dependencies/glfw.rst +++ /dev/null @@ -1,23 +0,0 @@ -############################ -GLFW -############################ - -======== -USAGE -======== - -openMVG uses GLFW library in order to provide an easy way to create openGL windows context. - -=========== -Description -=========== - -"[GLFW]_ is an Open Source, multi-platform library for creating windows with OpenGL contexts and managing input and events. -It is easy to integrate into existing applications and does not lay claim to the main loop. - -GLFW is written in C and has native support for Windows, OS X and many Unix-like systems using the X Window System, such as Linux and FreeBSD. - -GLFW is licensed under the zlib/libpng license." - - -.. [GLFW] http://www.glfw.org/ diff --git a/docs/sphinx/rst/dependencies/openExif.rst b/docs/sphinx/rst/dependencies/openExif.rst deleted file mode 100644 index bcb0ced1c7..0000000000 --- a/docs/sphinx/rst/dependencies/openExif.rst +++ /dev/null @@ -1,18 +0,0 @@ -############################ -OPENEXIF -############################ - -======== -USAGE -======== - -openMVG uses OpenEXIF library in order to read JPEG EXIF metadata. - -=========== -Description -=========== - -"[OpenExif]_ is an object-oriented library for accessing Exif formatted JPEG image files. The toolkits allow for creating, reading, and modifying the metadata in the Exif file. It also provides mean of getting and setting the main image and the thumbnail image. -" - -.. [OpenExif] http://openexif.sourceforge.net/ diff --git a/docs/sphinx/rst/dependencies/osi_clp.rst b/docs/sphinx/rst/dependencies/osi_clp.rst deleted file mode 100644 index 7aee1ff705..0000000000 --- a/docs/sphinx/rst/dependencies/osi_clp.rst +++ /dev/null @@ -1,28 +0,0 @@ -############################ -OSI CLP -############################ - -======== -USAGE -======== - -openMVG uses the [OSI]_ and the [CLP]_ solver in order to solve linear programs [LP]_. - -CLP has been choosen because it is known to support problems of up to 1.5 million constraints [CLP FAQ]_. - -[LPSOLVE]_ has been tested but tests shown that it is less reliable (sometimes, there is no convergence to a solution). - -=========== -Description -=========== - -[OSI]_ - Osi (Open Solver Interface) provides an abstract base class to a generic linear programming (LP) solver, along with derived classes for specific solvers. Many applications may be able to use the Osi to insulate themselves from a specific LP solver. (CLP and MOSEK backend are supported in openMVG). - -[CLP]_ - Clp (Coin-or linear programming) is an open-source linear programming solver written in C++. - -.. [OSI] https://projects.coin-or.org/Osi -.. [CLP] https://projects.coin-or.org/Clp/wiki -.. [CLP_FAQ] https://projects.coin-or.org/Clp/wiki/FAQ -.. [LPSOLVE] http://lpsolve.sourceforge.net/5.5/ diff --git a/docs/sphinx/rst/index.rst b/docs/sphinx/rst/index.rst deleted file mode 100644 index cc5321546b..0000000000 --- a/docs/sphinx/rst/index.rst +++ /dev/null @@ -1,105 +0,0 @@ -.. openMVG documentation master file, created by - sphinx-quickstart on Wed Oct 30 11:05:58 2013. - You can adapt this file completely to your liking, but it should at least - contain the root `toctree` directive. - -====================== -openMVG documentation! -====================== - -.. toctree:: - :maxdepth: 1 - :hidden: - - openMVG/openMVG.rst - openMVG_Samples/openMVG_Samples.rst - software/softwares.rst - nonFree/patented.rst - dependencies/external_libs.rst - third_party/third_party.rst - FAQ/FAQ.rst - bibliography - - -OpenMVG (Multiple View Geometry) is a library for computer-vision scientists and targeted for the Multiple View Geometry community. - -It is designed to provide an easy access to: - -* Accurate Multiple View Geometry problem solvers, -* Tiny libraries to perform tasks from feature detection/matching to Structure from Motion, -* Complete Structure from Motion pipelines. - - -Why another library -------------------- - -The openMVG credo is **"Keep it simple, keep it maintainable".**. -It means provide a readable code that is easy to use and modify by the community. - -All the **features and modules are unit-tested**. -This test driven development ensures: - -* more consistent repeatability (assert code works as it should in time), -* that the code is used in a real context to show how it should be used. - -openMVG overview -------------------------- - -OpenMVG is cut in various modules: - -* **Libraries**, core modules, - - * comes with unit tests that assert algorithms results and show how use the code. - -* **Samples**, - - * show how to use the library to build high_level algorithms. - -* **Softwares**, - - * ready to use tools to perform toolchain processing: - - * features matching in un-ordered photo collection, - * SfM: tools and Structure from Motion pipelines, - * color harmonization of photo collection. - -Cite Us -======= - -If you use openMVG for a publication, please cite it as:: - - @misc{openMVG, - author = "Pierre Moulon and Pascal Monasse and Renaud Marlet and Others", - title = "OpenMVG", - howpublished = "\url{https://github.com/openMVG/openMVG}", - } - - -Acknowledgements ------------------ -openMVG authors would like to thank: - -- libmv authors for providing an inspiring base to design the openMVG library, -- Mikros Image, LIGM-Imagine laboratory and Foxel SA for support, -- Mikros Image, LIGM-Imagine laboratory authorization to make this library an open-source project. - -License --------------- -openMVG library is release under the MPL2 (Mozilla Public License 2.0). It integrates some sub-part -under the MIT (Massachusetts Institute of Technology) and the BSD (Berkeley Software Distribution) license. -Please refer to the copyright.md and license files contained in the source for complete license description. - - -Dependencies --------------- -OpenMVG comes as a standalone distribution, you don't need to install libraries to make it compiles -and run. -On Linux openMVG will use the local png, zlib and jpeg libraries if they are availables. - -Indices and tables ----------------------- - -* :ref:`genindex` -* :ref:`modindex` -* :ref:`search` - diff --git a/docs/sphinx/rst/nonFree/patented.rst b/docs/sphinx/rst/nonFree/patented.rst deleted file mode 100644 index b70e73210d..0000000000 --- a/docs/sphinx/rst/nonFree/patented.rst +++ /dev/null @@ -1,27 +0,0 @@ -############################ -patented -############################ - - -The openMVG licence is MPL2 but some code used to provide interesting functionnalities have different licences or are subject to patent. - -Such code takes place in the patented directory. - -SIFT -============= - -In order to compute corresponding points between images pairs, openMVG uses natively SIFT keypoints and their associated descriptors. -The used code is a subset of the [VLFEAT]_ library. - -You can replace this keypoints and descriptors provided by any version of your choice to use openMVG in a non-research context. -Suggestions for features points: - - - CORNERS: HARRIS, FAST, - - REGIONS: MSER, - - BLOBS: AKAZE. - -Descriptors: - - BINARY: M-LDB (see AKAZE paper), BRIEF, Nested shape descriptor, - - FLOATING POINT: DAISY, LIOP descriptors. - - diff --git a/docs/sphinx/rst/openMVG/cameras/cameras.rst b/docs/sphinx/rst/openMVG/cameras/cameras.rst deleted file mode 100644 index 182266a1bc..0000000000 --- a/docs/sphinx/rst/openMVG/cameras/cameras.rst +++ /dev/null @@ -1,120 +0,0 @@ -******************* -cameras -******************* - -This module provides different camera models. - -Pinhole camera model -===================== - -A camera could be approximated by a projective model, often called pinhole projection. -The simplest representation of a camera is a light sensible surface (sensor): an image plane, a lens -(projective projection) at a given position and orientation in space. - -.. figure:: pinholeCamera.png - :align: center - - The pinhole camera model. An oriented central projective camera. - -The pinhole camera geometry models the projective camera with two sub-parametrizations, -intrinsic and extrinsic parameters. -Intrinsic parameters model the optic component (without distortion) and extrinsic model the camera position and orientation in space. -This projection of the camera is described as: - -.. math:: - P_{3 \times 4} = K [R|t] = - \begin{bmatrix} - f*k_u & & c_u \\ - & f*k_v & c_v \\ - & & 1 - \end{bmatrix} - \begin{bmatrix} - & & & t_x \\ - & R_{3 \times 3} & & t_y \\ - & & & t_z \\ - 0 & 0 & 0 & 1\\ - \end{bmatrix} - - -- Intrinsic parameters :math:`[f; cu; cv]:` - - * :math:`ku, kv :` scale factor relating pixels to distance (often equal to 1), - * :math:`f :` the focal distance (distance between focal and image plane), - * :math:`cu, cv :` the principal point, which would be ideally in the centre of the image. - -- Extrinsic parameters :math:`[R|t] = [R| - RC]:` - - * :math:`R :` the rotation of the camera to the world frame, - * :math:`t :` the translation of the camera. t is not the position of the camera. It is the position of the origin of the world coordinate system expressed in coordinates of the camera-centred coordinate system. The position, :math:`C`, of the camera expressed in world coordinates is :math:`C=-R^{-1} t = -R^T t` (since R is a rotation matrix). - -A 3D point is projected in a image with the following formula (homogeneous coordinates): - -.. math:: x_i = PX_i = K[R|t]X_i - -.. math:: - \begin{bmatrix} - u_i\\ - v_i\\ - w_i\\ - \end{bmatrix} = - \begin{bmatrix} - f*k_u & & c_u \\ - & f*k_v & c_v \\ - & & 1\\ - \end{bmatrix} - \begin{bmatrix} - & & & t_x \\ - & R_{3 \times 3} & & t_y \\ - & & & t_z \\ - 0 & 0 & 0 & 1\\ - \end{bmatrix} - \begin{bmatrix} - X_i\\ - Y_i\\ - Z_i\\ - W_i\\ - \end{bmatrix} - - -OpenMVG Pinhole camera models ------------------------------- - -* Pinhole intrinsic - - * :class:`Pinhole_Intrinsic : public IntrinsicBase` - - * classic pinhole camera (Focal + principal point and image size). - - * :class:`Pinhole_Intrinsic_Radial_K1 : public Pinhole_Intrinsic` - - * classic pinhole camera (Focal + principal point and image size) + radial distortion defined by one factor. - * can add and remove distortion - - * :class:`Pinhole_Intrinsic_Radial_K3 : public Pinhole_Intrinsic` - - * classic pinhole camera (Focal + principal point and image size) + radial distortion by three factors. - * can add and remove distortion - - * :class:`Pinhole_Intrinsic_Brown_T2 : public Pinhole_Intrinsic` - - * classic pinhole camera (Focal + principal point and image size) + radial distortion by three factors + tangential distortion by two factors. - * can add and remove distortion - - * :class:`Pinhole_Intrinsic_Fisheye : public Pinhole_Intrinsic` - - * classic pinhole camera (Focal + principal point and image size) + fish-eye distortion by four factors. - * can only be applied to a full frame fish-eye (i.e not to hemispherical ones) - * can add and remove distortion - - -* Simple pinhole camera models (intrinsic + extrinsic(pose)) - -.. code-block:: c++ - - // Setup a simple pinhole camera at origin - // Pinhole camera P = K[R|t], t = -RC - Mat3 K; - K << 1000, 0, 500, - 0, 1000, 500, - 0, 0, 1; - PinholeCamera cam(K, Mat3::Identity(), Vec3::Zero()); diff --git a/docs/sphinx/rst/openMVG/features/features.rst b/docs/sphinx/rst/openMVG/features/features.rst deleted file mode 100644 index f5b010a79d..0000000000 --- a/docs/sphinx/rst/openMVG/features/features.rst +++ /dev/null @@ -1,65 +0,0 @@ -******************* -features -******************* - -This module provides generic container for features and associated descriptors. - -Features -============= - -Provide basic structure and IO to store Point based features. - -Classes to store point characteristics: - - * :class:`PointFeature` - * Store the position of a feature (x,y). - - * :class:`SIOPointFeature` - * Store the position, orientation and scale of a feature (x,y,s,o). - -Descriptors -============= - -Provide basic structure and IO for descriptor data. - - * :class:`template class Descriptor`. - * Store N value(s) of type T as contiguous memory. - -.. code-block:: c++ - - // SIFT like descriptor - typedef Descriptor siftDescriptorData; - - // SURF like descriptor - typedef Descriptor surfDescriptorData; - - // Binary descriptor (128 bits) - typedef Descritpor,1> binaryDescriptor_bitset; - // or using unsigned chars - typedef Descriptor binaryDescriptor_uchar; - - -KeypointSet -============= - -Store a collection of features and their associated descriptors: :class:`template class KeypointSet`. Basic IO is provided. - -.. code-block:: c++ - - // Define SIFT Keypoints: - - // Define the SIFT descriptor [128 floating point value] - typedef Descriptor DescriptorT; - - // Use SIFT compatible features (scale, orientation and position) - typedef SIOPointFeature FeatureT; - - // Describe what a collection of local feature is for a given image: - typedef std::vector FeatsT; - typedef std::vector DescsT; - - // Link features and their descriptors as a collection: - typedef KeypointSet KeypointSetT; - - - diff --git a/docs/sphinx/rst/openMVG/geometry/geometry.rst b/docs/sphinx/rst/openMVG/geometry/geometry.rst deleted file mode 100644 index 487bff8350..0000000000 --- a/docs/sphinx/rst/openMVG/geometry/geometry.rst +++ /dev/null @@ -1,85 +0,0 @@ -******************* -geometry -******************* - -Pose -=============== - -:class:`Pose3` defines the 3D Pose as a 3D transform: [R|C] t = -RC - -.. code-block:: c++ - - // Define two poses and combine them - Pose3 pose1(RotationAroundX(0.02), Vec3(0,0,-2)); - Pose3 pose2(RotationAroundX(0.06), Vec3(-1,0,-2)); - Pose3 combinedPose = pose1 * pose2; - - // Apply the pose to a 3DPoint (World to local coordinates): - const Vec3 pt = combinedPose(Vec3(2.6453,3.32,6.3)); - -Frustum & Frustum intersection -============================== - -Define a camera Frustum from Pose3 and intrinsic parameters as: - -- an infinite Frustum (4 Half Spaces) (a pyramid); -- a truncated Frustum (6 Half Spaces) (a truncated pyramid). - -This structure is used for testing frustum intersection (see if two camera can share some visual content). - -.. code-block:: c++ - - // Build two truncated frustum and test their intersection - Frustum frustum1(somedata, minDepth, maxDepth); - Frustum frustum2(somedata, minDepth, maxDepth); - bool bIntersect = frustum1.intersect(frustum2); - - // Build two infinite frustum and test their intersection - Frustum frustum1(somedata); - Frustum frustum2(somedata); - bool bIntersect = frustum1.intersect(frustum2); - -7DoF registration between point set -==================================== - -Find the rigid registration between point set using a scale, rotation and translation model. - -.. code-block:: c++ - - // Simulate two point set, apply a known transformation and estimate it back: - const int nbPoints = 10; - const Mat x1 = Mat::Random(3,nbPoints); - Mat x2 = x1; - - const double scale = 2.0; - const Mat3 rot = (Eigen::AngleAxis(.2, Vec3::UnitX()) - * Eigen::AngleAxis(.3, Vec3::UnitY()) - * Eigen::AngleAxis(.6, Vec3::UnitZ())).toRotationMatrix(); - const Vec3 t(0.5,-0.3,.38); - - for (int i=0; i < nbPoints; ++i) - { - const Vec3 pt = x1.col(i); - x2.col(i) = (scale * rot * pt + t); - } - - // Compute the Similarity transform - double Sc; - Mat3 Rc; - Vec3 tc; - FindRTS(x1, x2, &Sc, &tc, &Rc); - // Optional non linear refinement of the found parameters - Refine_RTS(x1,x2,&Sc,&tc,&Rc); - - std::cout << "\n" - << "Scale " << Sc << "\n" - << "Rot \n" << Rc << "\n" - << "t " << tc.transpose(); - - std::cout << "\nGT\n" - << "Scale " << scale << "\n" - << "Rot \n" << rot << "\n" - << "t " << t.transpose(); - - - diff --git a/docs/sphinx/rst/openMVG/image/image.rst b/docs/sphinx/rst/openMVG/image/image.rst deleted file mode 100644 index 7caaa0eb0c..0000000000 --- a/docs/sphinx/rst/openMVG/image/image.rst +++ /dev/null @@ -1,97 +0,0 @@ -******************* -image -******************* - -Image Container -=============== - -OpenMVG :class:`Image\` class is a generic image container based on an Eigen aligned row-major matrix of template pixel type `T`. Images can store grayscale, RGB, RGBA or custom data. - -:class:`Image\` provide basic pixel read and write operation. - -See examples from openMVG/images/image_test.cpp: - - .. code-block:: c++ - - // A 8-bit gray image: - Image grayscale_image_8bit; - - // A 32-bit gray image: - Image grayscale_image_32bit; - - // Multichannel image: (use pre-defined pixel type) - - // A 8-bit RGB image: - Image rgb_image_8bit; - Image > rgb_image2_8bit; - - // 8-bit RGBA image - Image rgba_image_8bit; - Image > rgba_image2_8bit; - - // 32 bit RGB image: - Image > rgb_image_32bit; - -Image I/O -============= - -Loading and writing of 8 bits (gray and color) images are supported in the following formats: - -* ppm/pgm, -* jpeg, -* png, -* tiff. - -See examples from openMVG/images/image_IO_test.cpp: - - .. code-block:: c++ - - // Read a grayscale image (if conversion need, it is done on the fly) - Image gray_image; - bool bRet = ReadImage("Foo.imgExtension", &gray_image); - - // Read a color image - Image rgb_image_gray; - bool bRet = ReadImage("Foo.imgExtension", &rgb_image); - -Drawing operations -=================== - -The following operations are available: - -* lines, -* circles, -* ellipses. - -See examples from openMVG/images/image_drawing_test.cpp: - -.. code-block:: c++ - - Image image(10,10); - image.fill(0); - - // Pixel access is done as matrix (row, line) - int row = 2; - int column = 4; - image(row, column) = 127; - - // Horizontal scanline - DrawLine( 0, 5, w-1, 5, 255, &image); - - // Circle of radius 3 and center (5,5) - const int radius = 3; - const int x = 5, y = 5; - DrawCircle(x, y, radius, (unsigned char)255, &image); - - // Ellipse of center (5,5) and (3,0 - const int radius1 = 3, radius2 = 1, angle = 0; - const int x = 5, y = 5; - - DrawEllipse(x, y, radius1, radius2, (unsigned char)255, &image, (double)angle); - - // Example with a RGB image - Image imageRGB(10,10); - DrawCircle(x, y, radius, RGBColor(255,0,0), &imageRGB); - - - diff --git a/docs/sphinx/rst/openMVG/linear_programming/lp.rst b/docs/sphinx/rst/openMVG/linear_programming/lp.rst deleted file mode 100644 index a12ac4dc74..0000000000 --- a/docs/sphinx/rst/openMVG/linear_programming/lp.rst +++ /dev/null @@ -1,165 +0,0 @@ -************************* -linear programming -************************* - -Linear programming [LP]_ is a technique for the optimization of a linear objective function, subject to linear equality and linear inequality constraints such as: - -.. math:: - - \begin{align} & \text{maximize} && \mathbf{c}^\mathrm{T} \mathbf{x}\\ - & \text{subject to} && A \mathbf{x} \leq \mathbf{b} \\ - & \text{and} && \mathbf{x} \ge \mathbf{0} \end{align} - -where ``x`` represents the vector of variables (to be determined), ``c`` and ``b`` are vectors of (known) coefficients, ``A`` is a (known) matrix of coefficients. - -openMVG linear programming tools -================================== - -openMVG provides tools to: - -- configure Linear programs (LP container), -- solve Linear Programs (convex or quasi convex ones). - -openMVG linear program container ---------------------------------- - -openMVG provides a generic container for LP (Linear Programming problems) that can be dense of sparse. - -.. code-block:: c++ - - // Dense LP - LPConstraints - // Sparse LP - LPConstraintsSparse - - -It allows to embed: - -- objective function ``c`` and the problem type (minimization or maximization), -- constraints (coefficients ``A``, Sign, objective value ``b``), -- bounds over ``x`` parameters (<=, =, >=). - -openMVG linear program solvers ---------------------------------- - -openMVG provide access to different solvers (not exhaustive): - -- OSI_CLP (COIN-OR) project, -- MOSEK commercial, free in a research context. - -Those solver have been choosen due to the stability of their results and ability to handle large problems without numerical stability (LPSolve and GPLK have been discarded after extensive experiments). - -I refer the reader to openMVG/src/openMVG/linearProgramming/linear_programming_test.cpp to know more. - -openMVG linear programming module usage -------------------------------------------- - -The linear programming module of openMVG can be used for: - -- solve classical linear problem (optimization), -- test the feasibility of linear problem, -- optimize upper bound of feasible problem (quasi-convex linear programs). - -**classical linear problem solving (optimization)** - -Here an example of usage of the framework: - -.. code-block:: c++ - - // Setup the LP (fill A,b,c and the constraint over x) - LPConstraints cstraint; - BuildLinearProblem(cstraint); - - // Solve the LP with the solver of your choice - std::vector vec_solution(2); - #if OPENMVG_HAVE_MOSEK - MOSEKSolver solver(2); - #else - OSI_CISolverWrapper solver(2); - #endif - // Send constraint to the LP solver - solver.setup(cstraint); - - // If LP have a solution - if (solver.solve()) - // Get back estimated parameters - solver.getSolution(vec_solution); - -**Linear programming, feasible problem** - -openMVG can be use also to test only the feasibility of a given LP - - -.. math:: - - \begin{align} & \text{find} && \mathbf{x}\\ - & \text{subject to} && A \mathbf{x} \leq \mathbf{b} \\ - & \text{and} && \mathbf{x} \ge \mathbf{0} \end{align} - -**Linear programming, quasi convex optimization** - -openMVG used a lot of L infinity minimisation formulation. -Often the posed problems are quasi-convex and dependent of an external parameter that we are looking for (i.e the maximal re-projection error for which the set of contraint is still feasible). - - -Optimization of this upper bound parameter can be done by iterating over all the possible value or by using a bisection that reduce the search range at each iteration. - -.. code-block:: c++ - - Require: gammaLow, gammUp (Low and upper bound of the parameter to optimize) - Require: the LP problem (cstraintBuilder) - Ensure: the optimal gamma value, or return infeasibility of the contraints set. - - BisectionLP( - ISolver & solver, - ConstraintBuilder & cstraintBuilder, - double gammaUp = 1.0, // Upper bound - double gammaLow = 0.0, // lower bound - double eps = 1e-8, // precision that stop dichotomy - const int maxIteration = 20) // max number of iteration - { - ConstraintType constraint; - do - { - ++k; // One more iteration - - double gamma = (gammaLow + gammaUp) / 2.0; - - //-- Setup constraint and solver - cstraintBuilder.Build(gamma, constraint); - solver.setup( constraint ); - - //-- Solving - bool bFeasible = solver.solve(); - - //-- According feasibility update the corresponding bound - //-> Feasible, update the upper bound - //-> Not feasible, update the lower bound - (bFeasible) ? gammaUp = gamma; : gammaLow = gamma; - - } while (k < maxIteration && gammaUp - gammaLow > eps); - } - -Multiple View Geometry solvers based on L-Infinity minimization -================================================================== - -openMVG provides Linear programming based solvers for various problem in computer vision by minimizing at the same time the maximal error over a series of cost function and some model parameters. It uses a L-Infinity minimization method. - -openMVG implements problems introduced by [LinfNorm]_ and generalized by [LinfNormGeneric] to solve multiple view geometry problem. - -Rather than considering quadratic constraints that require SOCP (Second Orde Cone Programming) we consider their LP (linear program) equivalent. It makes usage of residual error expressed with absolute error ( ``|a| matcher; - // The reference array - float array[] = {0, 1, 2, 3, 4}; - // Setup the reference array of the matcher - matcher.Build(array, 5, 1); - - //-- - // Looking for the nearest neighbor: - //-- - // Perform a query to look which point is closest to 1.8 - float query[] = {1.8f}; - int nIndice = -1; - float fDistance = -1.0f; - matcher.SearchNeighbour(query, &nIndice, &fDistance); - - // nIndice == 2 ; // index of the found nearest neighbor - // fDistance == 0.4; // squared distance - - //-- - // Looking for the K=2 nearest neighbor - //-- - IndMatches vec_nIndices; - vector vec_fDistance; - const int K = 2; - matcher.SearchNeighbours(query, 1, &vec_nIndices, &vec_fDistance, K); - - // vec_nIndices = {IndMatch(0,2), IndMatche(0,1)}; - - -Metric customization -==================== - -* L2 (used by default): - -.. math:: - d(x,y):=\| x-y \|_2 - -* i.e L1 for binary descriptor (Hamming distance), - -.. math:: - d(x,y) = \sum(x \oplus y) - -* user customized distance (L1, ...). - -Image domain, correspondences filtering (KVLD) -=============================================== - -When used with descriptors found putative matches can be filtered thanks to different filters: - -* Symmetric distance (Left-Right check). - - * Keep only mutal correspondences: a match is kept if it is the same in the A->B and B->A order. - -.. math:: - \lbrace (P^i_A,P^j_B): j = \underset{k} {\mathrm{argmin}} ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)), i = \underset{k} \min ~ d(\text{desc}(P^k_A), \text{desc}(P^j_B)) - \rbrace - - -* "Nearest Neighbor Distance Ratio" distance check can be performed to remove repetitive elements. - - * As many nearest points have been asked we can measure the similarity between the N-nearest neighbor. If the ratio of distance is inferior to a threshold ``\delta`` the match is kept else it is rejected (since the risk of confusion is higher). It allows to avoid ambiguous correspondences. ``\delta`` is often chosen between ``0.6`` and ``0.8``. - -.. math:: - \lbrace (P^i_A,P^j_B): j = \underset{k} {\mathrm{argmin}} ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)) < \delta \underset{k\neq j} \min ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)) - \rbrace - -* K-VLD Filter (K-Virtual Line Descriptor) [KVLD12]_ - - * A virtual segment (a segment/line between two points) is kept if at least one of it's supporting point is linked to K virtual segments. It produces a coherent photometric graph of the features from the set of points ``A`` and ``B``. Below: Top (SIFT putative matches found by NNS), Bottom: K-VLD coherent matches. - -.. figure:: KVLD_matches.jpg - :align: center - - diff --git a/docs/sphinx/rst/openMVG/multiview/multiview.rst b/docs/sphinx/rst/openMVG/multiview/multiview.rst deleted file mode 100644 index 87134ba6d3..0000000000 --- a/docs/sphinx/rst/openMVG/multiview/multiview.rst +++ /dev/null @@ -1,155 +0,0 @@ -******************* -multiview -******************* - -The multiview module consists of: - -- a collection of solvers for 2 to n-view geometry constraints that arise in multiple view geometry, -- a generic framework "Kernel" that can embed these solvers for robust estimation. - -First accessible solvers are listed and explained and the "Kernel" concept is documented. - -2-view solvers (2d-2d correspondences) -====================================== - -openMVG provides solver for the following geometric estimation: - -* affine, -* homographic, -* fundamental, - - * 7 to n pt, - * 8 to n pt (Direct Linear Transform) [HZ]_. - -* essential, - - * 8 to n pt (Direct Linear Transform) [HZ]_, - * 5pt + intrinsic [Stewenius]_, [Nister]_. - -N-View geometry estimation -============================ - -* Triangulation - - * 2 to n view (Direct Linear Transform), - * 2 to n view (Iterated least square). - -* Rotation averaging - - * L2 (sparse) [Martinec]_, - * L1 (sparse) [Chatterjee]_. - -* Translation averaging - - * L2 Chordal [Kyle2014]_, - * SoftL1 'approximation of the LInf method of [GlobalACSfM]_'. - -Homography matrix: ---------------------- - -The homography matrix maps the relation between two projections of a plane: :ref:`Figure `. - -:math:`H` is a (3 x 3) matrix that links coordinates in left and right images with the following relation. - -.. math:: x'_i = Hx_i - :label: homographyformula - -.. _homographyFigure: -.. figure:: homographyMatrix.png - :align: center - - The homography matrix and the point to point constraint. - -OpenMVG implementation follows the DLT (Direct Linear Transform) explained in [HZ]_ book: -:math:`H` can be estimated from 4 to :math:`n` corresponding points. - -Fundamental matrix: ---------------------- - -The fundamental matrix is a relation between two images viewing the same scene where those point's -projections are visible in the two images. Given a point correspondence between two views :math:`(x_i,x'_i)`: - -We obtain the following relation: - -.. math:: x'^T_i Fx_i = 0 - -:math:`F` is the (3 x 3) Fundamental matrix, it puts in relation a point x to a line where belong the projection of the 3D X point. -:math:`l'_i = Fx_i` designs the epipolar line on which the point :math:`x'_i` could be. -The relation :math:`x'^T_i Fx_i = 0` exists for all corresponding point belonging to a stereo pair. - -.. figure:: fundamentalMatrix.png - :align: center - - The fundamental matrix and the point to line constraint. - -The fundamental matrix is sometime called bifocal-tensor, it is a 3 x 3 matrix of rank 2 -with 7 degree of freedom. 8 ou 7 correspondences are sufficient to compute the :math:`F` matrix. -Implementation follows the DLT (Direct Linear Transform) explained in [HZ]_ book. - -Relative pose estimation (Essential matrix) -=========================================== - -Adding intrinsic parameters to the fundamental matrix gives a metric "object" that provides the following relation -:math:`E = K'^T FK` , this is the Essential relation explained by Longuet-Higgins in 1981 [Longuet]_. -This essential matrix links the relative position of the camera to the fundamental matrix relation. - -.. math:: E = R[t]x = K'^T FK - -.. figure:: essentialMatrix.png - :align: center - - The essential matrix geometric relation. - -Absolute pose estimation/Camera resection (Pose matrix) -======================================================== - -Given a list of 3D-2D point correspondences it is possible to compute a camera pose estimation. -It consists in estimating the camera parameters of the right camera that minimizes the residual error of the 3D points re-projections, it's an optimization problem that trying to solve P parameters in order to minimize - -.. math:: - min \sum^n_{i=1} x_i - P(X_i). - - -.. figure:: ResectionPose.png - :align: center - - Resection/Pose estimation from 3D-2D correspondences. - -.. figure:: ResidualError.png - :align: center - - Residual error. - -openMVG provides 3 different solvers for this problem: - -* 6pt Direct Linear Transform [HZ]_, -* 4pt with intrinsic EPnP [EPnP]_, -* 3pt with intrinsic P3P [Kneip]_. - -Kernel concept ---------------------- - -In order to use the solver in a generic robust estimation framework, we use them in conjuction with the Kernel class that allow to link: - -* data points, - - * the set of correspondences that are used for a robust estimation problem. - -* a model solver/estimator, -* a metric to measure data fitting to a putative model. - -.. figure:: kernelConcept.png - :align: center - - The Kernel concept (the two view case). - -Solver: - MINIMUM_SAMPLES: The minimal number of point required for the model estimation, - MAX_MODELS: The number of models that the minimal solver could return, - A Solve function that estimates a model from MINIMUM_SAMPLES to n vector data. -ErrorModel: - An metric function that return the error of a sample data to the provided model. -Kernel: - Embed data (putative), the model estimator and the error model. - This kernel is core brick used in the openMVG robust estimator framework. - diff --git a/docs/sphinx/rst/openMVG/openMVG.rst b/docs/sphinx/rst/openMVG/openMVG.rst deleted file mode 100644 index b7c94af532..0000000000 --- a/docs/sphinx/rst/openMVG/openMVG.rst +++ /dev/null @@ -1,41 +0,0 @@ -############################ -openMVG libraries -############################ - -openMVG provide a collection of tiny libraries that allow to solve computer vision problems and build complete SfM pipeline. - -.. toctree:: - :maxdepth: 2 - - image/image.rst - numeric/numeric.rst - features/features.rst - cameras/cameras.rst - multiview/multiview.rst - linear_programming/lp.rst - robust_estimation/robust_estimation.rst - matching/matching.rst - tracks/tracks.rst - geometry/geometry.rst - - -**Structure from Motion core** - -.. toctree:: - :maxdepth: 2 - - sfm/sfm.rst - - -Todo: - -* **system** - Provide access to accurate timer function. - -* **graph** - Manipulation of graphs (connected CC, triplet listing...) - -* **exif** - Collection of tools to extract and use image EXIF data. - -* **matching_image_collection** - Functions to perform local matching and geometric filtering of putative correspondences in image collections. - -* **stl** - Enhancement of some STL functionality. - diff --git a/docs/sphinx/rst/openMVG/other/pointCloudHandler.rst b/docs/sphinx/rst/openMVG/other/pointCloudHandler.rst deleted file mode 100644 index 4edec03ab8..0000000000 --- a/docs/sphinx/rst/openMVG/other/pointCloudHandler.rst +++ /dev/null @@ -1,11 +0,0 @@ -********************** -3D point cloud handler -********************** - -PLY point cloud export (PLY is known as the Polygon File Format or the Stanford Triangle Format). - - Different interfaces have been written in order to export: - - - Point cloud, - - Coloured point cloud, - - Camera location. diff --git a/docs/sphinx/rst/openMVG/other/vectorDrawing.rst b/docs/sphinx/rst/openMVG/other/vectorDrawing.rst deleted file mode 100644 index 1d37cb1fe3..0000000000 --- a/docs/sphinx/rst/openMVG/other/vectorDrawing.rst +++ /dev/null @@ -1,41 +0,0 @@ -******************* -Vector drawing -******************* - -openMVG considers that visualizing data is important. OpenMVG provides a class that help to perform vector graphics (SVG) drawing in order to have the best possible visualization of his algorithm output. Vector graphics allows keeping details when you zoom what is not done when you use raster graphics. (SVG files are supported by web navigator and the Inkscape software). - -.. code-block:: c++ - - // Draw a cardiod curve with the svg polyline - // http://en.wikipedia.org/wiki/Cardioid - { // Pre-compute (x, y ) curve points - size_t nbPoints = 120 ; - std::vector vec_x ( nbPoints, 0.f ), vec_y ( nbPoints, 0.f ); - doubleS = 20.; - for ( size_t i = 0; i < nbPoints; ++i ) { - const double theta = i*2*M_PI/nbPoints; - //-- Cardioid equation - vec_x[i] = (3*S+S*(2.*sin(theta)-(sin(2.*theta)))); - vec_y[i] = (2*S-S*(2.*cos(theta)-(cos(2.*theta)))); - } - // Create a svg surface and add the cardiod polyline - svgDrawer svgSurface (6 *S, 6 *S); //Create a svg object - svgSurface.drawPolyline ( - vec_x.begin( ) , vec_x.end( ), - vec_y.begin( ) , vec_y.end( ), - svgStyle( ).stroke( "blue", 2)); - - //Export the SVG stream to a file - std::string sFileName = "ThirdExample.svg"; - std::ofstream svgFile ( sFileName.c_str( )); - svgFile << svgSurface.closeSvgFile( ).str( ); - svgFile.close( ); - } - -Here the result exported vector graphic: - -.. figure:: vectorGraphic.png - :align: center - :alt: alternate text - :figclass: align-center - diff --git a/docs/sphinx/rst/openMVG/other/vectorGraphic.png b/docs/sphinx/rst/openMVG/other/vectorGraphic.png deleted file mode 100644 index f2fad4940d295c1c82fad55fc6c88019803871f3..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2123 zcmV-R2(Px#1ZP1_K>z@;j|==^1poj532;bRa{vGi!vFvd!vV){sAK>D2jEFWK~#8N?VQVT z6fqEnNs2f~f)ogW2#A0H9Dwh>bN1P1u3VST)#fjuUGM18(#**Hm5N%HS&h`cx?7JK zK3#%U2rbtkv|NYKaveg;bqFojA+%hF&~hCPq~-75mtVgw4-c1b-(Jh-&zDc1{wrU; zyng@V$LlrE&u_nSggPG|U+d>C+$*~~#Tv%lpPnu+FK@p(4m)f4=g+HMFyFOuCFT3~ z*Pl~KGu8m=X=ngHq2-+oaAY?vaX}1`Stl*#1ZlbHD^{oqx2}Tg?~Eaf0a?keNeiQa z9_`C)EzJ+ERl%m1!-D7iVQ!)L=g%9J6e>#n{5<v2FObYU+yovI}! z$okJ;F>7=3!|wb%t&`8(CS-X9C9H<+QiYJ` zrYTc*^tCv{k(;V=3jM{)XEIz%j79KFJ4v5wb6W}AD3$8#*Z*|Nn!)E0ZLl1yyHFUi zBW`q)v07#UjgF0;%BOcs(h?)4Bb5GlMbu3gE|L?Qg8Y^5 zM-L`J)J@Y0ElK0V2!?3Mz{DqJb|WK|GaXXXgf!@N7WRiWz+cPMj(nJ${{>+{Mzk^~ z&|Q;;{h@)uS<6&NBFtnz$VihGsd`7UKs9K5dusXKykjr0pv>32g!KYzq+@G@oNijC z9*Gm|E~G)Sq%r$CWlEa7-R1PrG8K~M26q@Y7jw`O7feHIu!-cvZjN#~XsN7zgdBMm zlsg@b)~lt47_-(8vK(wBA3#?Zy0lE!aQiMl&Ir?N<)(*+w=a8W*D_6$du<4u9bac? z*HRJRD@1%uw8_^$ZEVz10}9uSG}!~z(-wSZq;1hMjjo6qbV77BV|F@5iUGpTUT1zb`8A^d8{n4&YONNi#FQz;r&?KlW;MHlVvE#C~ z4Kf}d-^|;VH7m4CV|rxD5p-I(Ld&P8x7+m0wSxO7@-;lsQlaIye=k(T*6TQMM>8_H zvzAgVd+rfbq0P}+pDEQ+X?d@w***@2bGJb!`d@d-R}kA; zYFQFTm@{bzhec`7Dvg&(W}<0I;X?&bq-8_BK_?BbdKGD@MQc1FJBPNsR-~nNWg}(I zLCLcGp>-(I60GWYvT_c3F{mo3m1^1i5`9pMUdF1OY?f-Nv$XiH(?+8OeXXfWwbWpV zFgqFr*xDC(O0@)q+1Sh*hqmq-R`V5FYF8;{v*Xb6uVKfuLQAj(EPuwP!658SEJ}lg z>$KFUDc|r7%F(Q+E%McAsc0UqIRZIl+l-`6OJK;@{i?Pkf=%R<<%iE1)mq9m8ARcl zj%X>;yiBOp5_D`5S<{Ptr-T+QBWwDC4LdWX(V`_NYsOl$ADxQyI3+Y{$xyPjCM9;; zdmzZkl6>x=QA^NhYS?WGgeD*ThZgNxf~HFP=kT66`pwZL%a9AcAVU(7T4atx8d=Tqw z1*bWqd7ze%%1QCscsxE@ZBwwooJqr2ErD+6Ap{C*&^aC33wo!QH7I z5O7v~znZwJCwC~5k98+$2_y{V56a8|I|2HlqYuh1<8_{vki{Q5yvBqmb4T*XE?byW zwKN#8se{t<^B%3BnRcNm^lQgcza6xM%t0y4kIuCnPZ!cT9c3?f6#HmtWTA<23Poul zsWA;L^x_D~Voxm%tdQD;g3BH=>Y`%ii?sYW&miuvB@nN$NTw)DY;q6(v^%tc0hi`Q z3av%gBQ#GOLQ4a?AYK-ADY)rg>rw8DVA&uuUp$nG#(}gHI6=Der-G=6JvyOMKMmks znS>Nt#XlWTMdOHC8aBnac2f#p;x6dwl~$>T+Nks97(!H9a{Qy7<7z1gbnl631p!EA zTtn!?ZxF^x=0N(M3b~T&`PEJFtk{UzE4(*w0xboeiuc@%evSo!xy$jr@R~DenS!q7 zUYNd9TJvcf`i%OeoK?$fP=ff0BnYg66C)LWre9j3J-c$(tfOTRTCPKAxelS_I)s+% z5L&K7Xt@rdkwM5Luk1Uq2)S+maA~N`~?UR*djSG`GWue002ovPDHLkV1noC B^#%X{ diff --git a/docs/sphinx/rst/openMVG/robust_estimation/robust_estimation.rst b/docs/sphinx/rst/openMVG/robust_estimation/robust_estimation.rst deleted file mode 100644 index c33fac97c3..0000000000 --- a/docs/sphinx/rst/openMVG/robust_estimation/robust_estimation.rst +++ /dev/null @@ -1,129 +0,0 @@ -************************** -robust_estimation -************************** - -Performing model estimation is not an easy task, data are always corrupted by noise and "false/outlier" data so robust estimation is required to find the "best" model along the possible ones. - -.. figure:: robustEstimation.png - :align: center - - Robust estimation: Looking for a line in corrupted data. - -openMVG provides many methods to estimate one of the best possible model in corrupted data: - -- Max-Consensus, -- Ransac, -- LMeds, -- AC-Ransac (A Contrario Ransac). - - -Max-Consensus -==================== - -The idea of Max-Consensus is to use a random picked subset of data to find a model and test if -this model is good or not the whole dataset. At the end you keep the model that best fits your cost -function. Best fit defined as the number of data correspondences to the model under your specified -threshold T. - -Algorithm 1 Max-Consensus - -.. code-block:: c++ - - Require: correspondences - Require: model solver, residual error computation - Require: T threshold for inlier/outlier discrimination - Require: maxIter the number of performed model estimation - Ensure: inlier list - Ensure: best estimated model Mbest - for i = 0 ! maxIter do - Pick NSample random samples - Evaluate the model Mi for the random samples - Compute residuals for the estimated model - if Cardinal(residual < T) > previousInlierCount then - previousInlierCount = Cardinal(residual < T) - Mbest = Mi - end if - end for - -Here an example of how find a best fit line: - -.. code-block:: c++ - - Mat2X xy ( 2 , 5); - // Defines some data points - xy << 1, 2, 3, 4, 5, // x - 3, 5, 7, 9, 11; // y - - // The base model estimator and associated error metric - LineKernel kernel ( xy ); - - // Call the Max-Consensus routine - std::vector vec_inliers; - Vec2 model = MaxConsensus ( kernel , ScorerEvaluator(0.3) , &-vec_inliers ); - - -Ransac -==================== - -Ransac [RANSAC]_ is an evolution of Max-Consensus with a-priori information about the noise and corrupted -data amount of the data. That information allows to reduce the number of iterations in order to be -sure to have made sufficient random sampling steps in order to find the model for the given data -confidence. The number of remaining steps is so iteratively updated given the inlier/outlier ratio of -the current found model. - -Here an example of how find a best fit line: - -.. code-block:: c++ - - Mat2X xy ( 2 , 5); - // Defines some data points - xy << 1, 2, 3, 4, 5, // x - 3, 5, 7, 9, 11; // y - - // The base model estimator and associated error metric - LineKernel kernel ( xy ); - - // Call the Ransac routine - std::vector vec_inliers; - Vec2 model = Ransac ( kernel, ScorerEvaluator(0.3) , &vec_inliers ); - - -AC-Ransac A Contrario Ransac -================================ - -RANSAC requires the choice of a threshold T, which must be balanced: - -- Too small: Too few inliers, leading to model imprecision, -- Too large: Models are contaminated by outliers (false data). - -AC-Ransac [ACRANSAC]_ uses the a contrario methodology in order to find a model that best fits the -data with a confidence threshold T that adapts automatically to noise. It so finds a model and its -associated noise. If there is too much noise, the a contrario method returns that no model was -found. - -.. figure:: ACRansac.png - :align: center - - A contrario robust estimation, noise adaptivity. - -Here an example of how to find a best fit line, by using the a contrario robust estimation framework: -It is a bit more complex, we use a class in order to perform the a contrario required task. - -.. code-block:: c++ - - Mat2X xy ( 2 , 5); - // Defines some data points - xy << 1, 2, 3, 4, 5, // x - 3, 5, 7, 9, 11; // y - - // The acontrario adapted base model estimator and associated error metric - const size_t img_width = 12; - ACRANSACOneViewKernel lineKernel(xy, -img_width, img_width); - - // Call the AC-Ransac routine - std::vector vec_inliers; - Vec2 line; - std::pair res = ACRANSAC(lineKernel, vec_inliers, 300, &line); - double dPrecision = res.first; - double dNfa = res.second; - diff --git a/docs/sphinx/rst/openMVG/sfm/sfm.rst b/docs/sphinx/rst/openMVG/sfm/sfm.rst deleted file mode 100644 index c7f094a221..0000000000 --- a/docs/sphinx/rst/openMVG/sfm/sfm.rst +++ /dev/null @@ -1,244 +0,0 @@ -************************* -sfm -************************* - -sfm is the module related to Structure from Motion. -It handles storage of SfM related data and method to solve SfM problems (camera pose estimation, structure triangulation, bundle_adjustment). - -A generic SfM data container -============================= - -:class:`SfM_Data` class contains all the data used to describe input of a SfM problem: - -* a collection of **View** - - * the used images - -* a collection of **camera extrinsic** - - * the camera poses - -* a collection of **camera intrinsic** - - * the camera internal projection parameters - -* a **structure** - - * the collection of landmark (3D points associated with 2d view observations) - -.. code-block:: c++ - - struct SfM_Data - { - /// Considered views - Views views; - - /// Considered poses (indexed by view.id_pose) - Poses poses; - - /// Considered camera intrinsics (indexed by view.id_cam) - Intrinsics intrinsics; - - /// Structure (3D points with their 2D observations) - Landmarks structure; - - // ... - } - -View concept --------------- - -The view store information related to an image: - -* image filename -* id_view (must be unique) -* id_pose -* id_intrinsic -* image size - -Note that thanks to the usage of ids we can defined shared poses & shared intrinsics. - -View type is **abstract** and provide a way to add new custom View type: i.e. GeoLocatedView (add GPS position, ...) - -Camera Poses concept ---------------------- - -The camera pose store a 3D pose that define a camera rotation and position (camera rotation and center). - -Camera Intrinsic concept --------------------------- - -Define the parameter of a camera. It can be shared or not. -Intrinsics parameter are **abstract** and provide a way to easily add new custom camera type. - -Structure/Landmarks concept ----------------------------- - -It defines the structure: - -* 3D point with 2D view features observations. - -SfM_Data cleaning -================== - -Generic interface are defined to remove outlier observations: - -* use a given residual pixel error to discard outlier, -* use a minimal angle along the track bearing vectors. - -Triangulation -================== - -Once the SfM_Data is filled with some landmark observations and poses we can compute their 3D location. - -Two method are proposed: - -* A blind method: - - * Triangulate tracks using all observations, - - * Inlier/Outlier classification is done with a cheirality test, - -* A robust method: - - * Triangulate tracks using a RANSAC scheme, - - * Check cheirality and a pixel residual error. - -Non linear refinement, Bundle Adjustment -========================================== - -OpenMVG provides a generic bundle_adjustment framework to refine or keep as constant the following parameters: - -* internal orientation parameters (intrinsics: camera projection model), -* external orientation parameters (extrinsics: camera poses), -* structure (3D points). - -.. code-block:: c++ - - SfM_Data sfm_data; - // initialize the data - // ... - - const double dResidual_before = RMSE(sfm_data); - - // Bundle adjustement over all the parameters: - std::shared_ptr ba_object = std::make_shared(); - ba_object->Adjust(sfm_data); - - const double dResidual_after = RMSE(sfm_data); - -Bundle Adjustment (ajustement de faisceaux), is a non linear optimization problem. -It looks to minimizing the residual error of a series of user cost functions (the reprojection errors of the structure :math:`X_j` to the images measures :math:`x_j^i`). -According: - -* :math:`X_j` the Jnth 3D point of the structure of the scene, -* :math:`x_j^i` the observation of the projection of the 3D point :math:`X_j` in the image :math:`i`, -* :math:`P_i` the projection matrix of the image :math:`i` - -From a user provided initial guess the vector of parameters: :math:`\{X_j,P_i\}_{i,j}`: camera parameters :math:`\{P_i\}_i` and the scene structure :math:`\{X_j\}_j` are refined in order to minimizes the residual reprojection cost: - -.. math:: - \underset{ \{P_i\}_i, \{X_j\}_j}{minimize} \left\| \sum_{j=0}^{m} \sum_{i=0}^{n} x_j^i - P_i X_j \right\|_2 - -OpenMVG proposes options in order to tell if a parameter group must be kept as constant or refined during the minimization. - -SfM Pipelines -============== - -OpenMVG provides ready to use and customizable pipelines for: - -* solving sequential/incremental SfM, -* solving global SfM, -* computing a Structure from known camera poses. - - -.. figure:: ../../software/SfM/structureFromMotion.png - :align: center - - Figure: From point observation and intrinsic camera parameters, the 3D **structure** of the scene is computed **from** the estimated **motion** of the camera. - -Sequential SfM -------------------------- - -The [ACSfM]_ SfM is based on the implementation used for the paper "Adaptive Structure from Motion with a contrario model estimation" published at ACCV 2012. - -The incremental pipeline is a growing reconstruction process. -It starts from an initial two-view reconstruction (the seed) that is iteratively extended by adding new views and 3D points, using pose estimation and triangulation. -Due to the incremental nature of the process, successive steps of non-linear refinement, like Bundle Adjustment (BA), are performed to minimize the accumulated error (drift). - -Incremental Structure from Motion - -.. code-block:: c++ - - Require: internal camera calibration (possibly from EXIF data) - Require: pairwise geometry consistent point correspondences - Ensure: 3D point cloud - Ensure: camera poses - compute correspondence tracks t - compute connectivity graph G (1 node per view, 1 edge when enough matches) - pick an edge e in G with sufficient baseline - * robustly estimate essential matrix from images of e - triangulate validated tracks, which provides an initial reconstruction - contract edge e - while G contains an edge do - pick edge e in G that maximizes union(track(e),3D points) - * robustly estimate pose (external orientation/resection) - triangulate new tracks - contract edge e - perform bundle adjustment - end while - -Steps marked by a * are robust estimation performed using the a-contrario robust estimation framework. - -Global SfM -------------------------- - -[GlobalACSfM]_ is based on the paper "Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion." published at ICCV 2013. - -Multi-view structure from motion (SfM) estimates the position and orientation of pictures in a common 3D coordinate frame. When views are treated incrementally, this external calibration can be subject to drift, contrary to global methods that distribute residual errors evenly. Here the method propose a new global calibration approach based on the fusion of relative motions between image pairs. - -.. code-block:: c++ - - Require: internal camera calibration (possibly from EXIF data) - Require: pairwise geometry consistent point correspondences - Ensure: 3D point cloud - Ensure: camera poses - - compute relative pairwise rotations - detect and remove false relative pairwise rotations - - using composition error of triplet of relative rotations - compute the global rotation - - using a least square and approximated rotations - compute relative translations - - using triplet of views for stability and colinear motion support - compute the global translation - - integration of the relative translation directions using a l-∞ method - final structure and motion - - link tracks validated per triplets and compute global structure by triangulation - - refine estimated parameters in a 3 step Bundle Adjustment - - refine structure and translations - - refine structure and camera parameters (rotations, translations) - - refine if asked intrinsics parameters - -Structure computation from known camera poses ----------------------------------------------- - -This class allows to compute valid 3D triangulation from 2D matches and known camera poses. - -.. code-block:: c++ - - Require: internal and external camera calibration - Require: features and corresponding descriptor per image view - Ensure: 3D point cloud - - initialize putatives matches pair from - - a provided pair file - - or automatic pair computed from camera frustum intersection - for each pair - - find valid epipolar correspondences - for triplets of view - - filter 3-view correspondences that leads to invalid triangulation - merge 3-view validated correspondences - - robustly triangulate them - save the scene with the update structure diff --git a/docs/sphinx/rst/openMVG/tracks/tracks.rst b/docs/sphinx/rst/openMVG/tracks/tracks.rst deleted file mode 100644 index af3c8c39a9..0000000000 --- a/docs/sphinx/rst/openMVG/tracks/tracks.rst +++ /dev/null @@ -1,68 +0,0 @@ -******************* -tracks -******************* - -The problem of feature points tracking is to follow the position of a characteristic point in a set of images. -These multi-view correspondences are called tracks. -Track identification in a set of images (ordered, or not) is an important task in computer vision. -It allows solving geometry-related problems like video stabilization, tracking, match-moving, image-stitching, structure from motion and odometry. - -un/ordered feature tracking -============================= - -Considering n pairwise feature correspondences as input we want sets of corresponding matching features across multiple images, as illustrated in the following figures with video frames. - -.. _tracksFigure: -.. figure:: tracks.png - :align: center - - From features to tracks. - - -The openMVG library provides an efficient solution to solve the union of all the pairwise correspondences. -It is the implementation of the CVMP12 paper "Unordered feature tracking made fast and easy" [TracksCVMP12]_. - -.. _tracks2Figure: -.. figure:: featureBasedTracking.png - :align: center - - Feature based tracking. - -Some comments about the data structure: - -.. code-block:: c++ - - using namespace openMVG::matching; - - // pairwise matches container: - PairWiseMatches map_Matches; - - // Fil the pairwise correspondeces or load a series of pairwise matches from a file - PairedIndMatchImport("matches.f.txt", map_Matches); - - //--------------------------------------- - // Compute tracks from pairwise matches - //--------------------------------------- - TracksBuilder tracksBuilder; - tracks::STLMAPTracks map_tracks; // The track container - tracksBuilder.Build(map_Matches); // Build: Efficient fusion of correspondences - tracksBuilder.Filter(); // Filter: Remove track that have conflict - tracksBuilder.ExportToSTL(map_tracks); // Build tracks with STL compliant type - - // In order to visit all the tracks, follow this code: - for (tracks::STLMAPTracks::const_iterator iterT = map_tracks.begin(); - iterT != map_tracks.end(); ++ iterT) - { - const IndexT trackId = iterT->first; - const tracks::submapTrack & track = iterT->second; - for ( tracks::submapTrack::const_iterator iterTrack = track.begin(); - iterTrack != track.end(); ++iterTrack) - { - const IndexT imageId = iterTrack->first; - const IndexT featId = iterTrack->second; - - // Get the feature point - } - } - - diff --git a/docs/sphinx/rst/openMVG_Samples/openMVG_Samples.rst b/docs/sphinx/rst/openMVG_Samples/openMVG_Samples.rst deleted file mode 100644 index 615c6e6d46..0000000000 --- a/docs/sphinx/rst/openMVG_Samples/openMVG_Samples.rst +++ /dev/null @@ -1,100 +0,0 @@ -############################ -openMVG samples -############################ - -openMVG focus on a strong implementation checking of the provided features. -To do so it provides unit test (that assert code results and helps user to see how the code must be used) but it provides also illustrated samples of the major features. - -The samples can be seen as showcase and tutorials: - -imageData ----------- - - - some pictures for each of the following examples. - -siftPutativeMatches --------------------- - -Show how: - - extract SIFT features and descriptors, - - match features descriptors, - - display the computed matches. - -image_describer_matches -------------------------- - -Show how: - - use the Image_describer interface to extract features & descriptors - - match the detected regions - - display detected features & corresponding matches - -robust_homography --------------------- - -Show how: - - estimate a robust homography between features matches. - -robust_homography_guided ---------------------------- - -Show how: - - estimate a robust homography between features matches, - - extent the putative matches with a guided filter, - - warp the query image over the reference image. - -robust_fundamental --------------------- - -Show how: - - estimate a robust fundamental matrix between features matches. - -robust_essential --------------------- -Show how: - - estimate a robust essential matrix between features matches, - - compute the 3D structure by triangulation of the corresponding inliers. - -robust_essential_ba --------------------- - -Show how: - - refine with bundle_adjustment the Structure and Motion of a scene - - for different camera model: - - - Refine ``[X],[f,R|t]`` (individual cameras), - - Refine ``[X],[R|t]``, shared ``[f]``, - - Refine ``[X],[R|t]``, shared brown disto models. - -robust_essential_spherical ---------------------------- - -Show how: - - estimate a robust essential matrix between two spherical panorama - - triangulate remaning inliers. - -kvld_filter --------------------- - -Show how: - - filter putative matches with the K-VLD filter [KVLD12]_. - -exifParsing --------------------- - -Show how: - - parse JPEG EXIF metadata - -sensorWidthDatabase --------------------- - -Show how: - - use the camera sensor width database - -undisto_Brown --------------------- - -Show how: - - undistord a picture according known Brown radial parameters. - - -**Don't hesitate to help to extend the list.** diff --git a/docs/sphinx/rst/software/MVS/CMPMVS.rst b/docs/sphinx/rst/software/MVS/CMPMVS.rst deleted file mode 100644 index 94b589bedc..0000000000 --- a/docs/sphinx/rst/software/MVS/CMPMVS.rst +++ /dev/null @@ -1,8 +0,0 @@ -Export to CMPMVS -======================== - -OpenMVG exports [CMPMVS]_ ready to use project (images, projection matrices and ini configuration file). - -.. code-block:: c++ - - $ openMVG_main_openMVG2CMPMVS -i Dataset/outReconstruction/sfm_data.json -o Dataset/outReconstruction diff --git a/docs/sphinx/rst/software/MVS/MVE.rst b/docs/sphinx/rst/software/MVS/MVE.rst deleted file mode 100644 index d4058b53ed..0000000000 --- a/docs/sphinx/rst/software/MVS/MVE.rst +++ /dev/null @@ -1,32 +0,0 @@ -*************************************** -MVE (Multi-View Environment) -*************************************** - -`MVE `_ can import a converted openMVG SfM scene and use it to create dense depth map and complete dense 3D models. - -.. code-block:: c++ - - # Convert the openMVG SfM scene to the MVE format - $ openMVG_main_openMVG2MVE -i Dataset/outReconstruction/sfm_data.json -o Dataset/outReconstruction - - #-- - # shell script example - #-- - - directory=Dataset/outReconstruction/MVE - resolution=2 - - # MVE - dmrecon -s$resolution $directory - scene2pset -ddepth-L$resolution -iundist-L$resolution -n -s -c $directory $directory/OUTPUT.ply - fssrecon $directory/OUTPUT.ply $directory/OUTPUT_MESH.ply - meshclean $directory/OUTPUT_MESH.ply $directory/OUTPUT_MESH_CLEAN.ply - - Call any tool without arguments to see the help. - -You will need to compile MVE tools and `FSSR `_. - -Export to MVS Texturing -======================= - -If you don't want to use the full MVE pipeline but only `MVS Texturing `_ [Waechter2014]_ to project a set of oriented images on a mesh, one solution is to use the openMVG_main_openMVG2MVSTEXTURING binary. This binary converts your SfM_Data file into one format used by MVS Texturing. In addition, you may need to undistort your images with openMVG_main_ExportUndistortedImages as it's not handled by the openMVG_main_openMVG2MVSTEXTURING tool. diff --git a/docs/sphinx/rst/software/MVS/MVS.rst b/docs/sphinx/rst/software/MVS/MVS.rst deleted file mode 100644 index dcdd3c1c6e..0000000000 --- a/docs/sphinx/rst/software/MVS/MVS.rst +++ /dev/null @@ -1,17 +0,0 @@ - -************************************* -MVS: Multiple View Stereovision -************************************* - -Once camera position and orientation have been computed by OpenMVG, Multiple View Stereo-vision algorithms could be used to compute a dense representation of the scene by generating point clouds or mesh surfaces. - -Since OpenMVG does not have itself a MVS module it proposes exporter to various existing solutions: - -.. toctree:: - :maxdepth: 1 - - ./CMPMVS.rst - ./MVE.rst - ./OpenMVS.rst - ./PMVS.rst - diff --git a/docs/sphinx/rst/software/MVS/OpenMVS.rst b/docs/sphinx/rst/software/MVS/OpenMVS.rst deleted file mode 100644 index 5f09ebc117..0000000000 --- a/docs/sphinx/rst/software/MVS/OpenMVS.rst +++ /dev/null @@ -1,37 +0,0 @@ -***************************************** -OpenMVS Open Multiple View Stereovision -***************************************** - -`OpenMVS `_ allows to compute dense points cloud, surface and textured surfaces of OpenMVG scenes. -OpenMVS uses OpenMVG scene thanks to a scene importer. - -**Importation** - -.. code-block:: c++ - - # Import the OpenMVG scene to the OpenMVS data format - $ InterfaceOpenMVG2 -i PATH/sfm_data.json -o scene.mvs - -**Dense point-cloud reconstruction** for obtaining a complete and accurate as possible point-cloud - -.. code-block:: c++ - - # Compute dense depth map per view and merge the depth map into a consistent point cloud - $ DensifyPointCloud scene.mvs - -**Mesh reconstruction** for estimating a mesh surface that explains the best the input point-cloud - -.. code-block:: c++ - - # The initial point cloud be: - # - the calibration one (scene.mvs), - $ ReconstructMesh scene.mvs - # - or the dense one (scene_dense.mvs) - $ ReconstructMesh scene_dense.mvs - -**Mesh texturing** for computing a texture to color the mesh - -.. code-block:: c++ - - # Compute the texture - $ TextureMesh scene_dense_mesh.mvs diff --git a/docs/sphinx/rst/software/MVS/PMVS.rst b/docs/sphinx/rst/software/MVS/PMVS.rst deleted file mode 100644 index af5feb41c8..0000000000 --- a/docs/sphinx/rst/software/MVS/PMVS.rst +++ /dev/null @@ -1,28 +0,0 @@ -********************************** -Export to PMVS/CMVS -********************************** - -OpenMVG exports [PMVS]_ ready to use project (images, projection matrices and pmvs_options.txt files). - -Once a 3D calibration have been computed you can convert the SfM_Ouput files to a PMVS project. - -.. code-block:: c++ - - $ openMVG_main_openMVG2PMVS -i Dataset/outReconstruction/sfm_data.json -o Dataset/outReconstruction - $ pmvs Dataset/outReconstruction/PMVS/ pmvs_options.txt - -.. figure:: PMVS_result.png - :align: center - - Figure: Multiple View Stereo-vision point cloud densification on the estimated scene using [PMVS]_. - -In order to use CMVS for large scene openMVG2PMVS exports also the scene in the Bundler output format. - -.. code-block:: c++ - - $ openMVG_main_openMVG2PMVS -i Dataset/outReconstruction/sfm_data.json -o Dataset/outReconstruction - $ cmvs Dataset/outReconstruction/PMVS/ [MaxImageCountByCluster=100] - $ cmvs Dataset/outReconstruction/PMVS/ 30 - $ genOption Dataset/outReconstruction/PMVS/ - $ sh Dataset/outReconstruction/PMVS/pmvs.sh - diff --git a/docs/sphinx/rst/software/MVS/PMVS_result.png b/docs/sphinx/rst/software/MVS/PMVS_result.png deleted file mode 100644 index c43015e8e4677595924b0acf636d2f53b1b523eb..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 181361 zcmYg%cRZVK_rKMuT5YYW+0xph_8wKOnypcLl-eV95QHjPilX+W_Npz2Su2 z5aO5T^L(D~>-R^J`+g-k_kF#ubDisb-sjxk-)p`lzyIVu9v&X~JC)bkcz6V5xZ}}# 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/dev/null @@ -1,67 +0,0 @@ - -*************************************************************** -openMVG_main_ComputeFeatures -*************************************************************** - -Compute image description for a given sfm_data.json file. -For each view it compute the image description (local regions) and store them on disk - -.. code-block:: c++ - - $ openMVG_main_ComputeFeatures -i [..\matches\sfm_data.json] -o [...\matches] - -Arguments description: - -**Required parameters:** - - - **[-i|--input_file]** - - - a SfM_Data file - - - **[-o|--outdir path]** - - - path were image description will be stored - -**Optional parameters:** - - - **[-f|--force: Force to recompute data]** - - - 0: (default) reload previously computed data (useful when you have kill the process and want to continue to compute) - - 1: useful when you change have changed a command line parameter, force recomputing and re-saving. - - - **[-m|--describerMethod]** - - - Used method to describe an image: - - - SIFT: (default), - - AKAZE_FLOAT: AKAZE with floating point descriptors, - - AKAZE_MLDB: AKAZE with binary descriptors. - - - **[-u|--upright]** - - - Use Upright feature or not - - - 0: (default, rotation invariance) - - 1: extract upright feature (orientation angle = 0°) - - - **[-p|--describerPreset]** - - - Used to control the Image_describer configuration: - - - NORMAL, - - HIGH, - - ULTRA: !!Can be time consumming!! - -Once openMVG_main_ComputeFeatures is done you can compute the Matches between the computed description. - -.. toctree:: - :maxdepth: 1 - - ./ComputeMatches.rst - -Export detected regions as SVG files: ----------------------------------------- - -* **Detected keypoints**: openMVG_main_exportKeypoints - - diff --git a/docs/sphinx/rst/software/SfM/ComputeMatches.rst b/docs/sphinx/rst/software/SfM/ComputeMatches.rst deleted file mode 100644 index cd8d0994cc..0000000000 --- a/docs/sphinx/rst/software/SfM/ComputeMatches.rst +++ /dev/null @@ -1,77 +0,0 @@ - -*************************************************************** -openMVG_main_ComputeMatches -*************************************************************** - -This binary compute images that have a visual overlap. Using image descriptions computed by **openMVG_main_ComputeFeatures**, we establish the corresponding putative photometric matches and filter the resulting correspondences using some robust geometric filters. - -.. code-block:: c++ - - $ openMVG_main_ComputeMatches -i [..\matches\sfm_data.json] -o [...\matches] - -Arguments description: - -**Required parameters:** - - - **[-i|--input_file]** - - - a SfM_Data file - - - **[-o|--out_dir path]** - - - path were putative and geometric matches will be stored - -**Optional parameters:** - - - [-f|--force: Force to recompute data] - - - 0: (default) reload previously computed data (useful when you have kill the process and want to continue to compute) - - 1: useful when you change have changed a command line parameter, force recomputing and re-saving. - - - **[-r|-ratio]** - - - (Nearest Neighbor distance ratio, default value is set to 0.6). 0.8 is less restrictive and advised. - - - **[-g|-geometric_model]** - - - type of model used for robust estimation from the photometric putative matches - - - f: Fundamental matrix filtering - - e: Essential matrix filtering (all the image must have the same known focal length) - - h: Homography matrix filtering - - - **[-n|--nearest_matching_method]** - - - AUTO: auto choice from regions type, - - BRUTEFORCEL2: BruteForce L2 matching for Scalar based regions descriptor, - - BRUTEFORCEHAMMING: BruteForce Hamming matching for binary based regions descriptor, - - ANNL2: Approximate Nearest Neighbor L2 matching for Scalar based regions descriptor. - - - - **[-v|--video_mode_matching]** - - - (sequence matching with an overlap of X images) - - - X: with match 0 with (1->X), ...] - - 2: will match 0 with (1,2), 1 with (2,3), ... - - 3: will match 0 with (1,2,3), 1 with (2,3,4), ...] - - - - **[-l|--pair_list]** - - - file that explicitly list the View pair that must be compared - -Once matches have been computed you can, at your choice, you can display detected, matches as SVG files: - -* **Detected keypoints**: openMVG_main_exportKeypoints -* **Putative, Geometric matches**: openMVG_main_exportMatches -* **Tracks**: openMVG_main_exportTracks - -**Or start the 3D reconstruction:** - -.. toctree:: - :maxdepth: 1 - - ./IncrementalSfM.rst - ./GlobalSfM.rst - diff --git a/docs/sphinx/rst/software/SfM/ComputeSfM_DataColor.rst b/docs/sphinx/rst/software/SfM/ComputeSfM_DataColor.rst deleted file mode 100644 index 262ddfb3cb..0000000000 --- a/docs/sphinx/rst/software/SfM/ComputeSfM_DataColor.rst +++ /dev/null @@ -1,41 +0,0 @@ - -******************************************** -openMVG_main_ComputeSfM_DataColor -******************************************** - -Compute the color of the Structure of a sfm_data scene. - -Use a very simple approach: - -.. code-block:: c++ - - a. list the track id with no color - b. list the most viewed view id - c. color the track that see the view - d. go to a. until uncolored track are remaining - -Information and usage -======================== - -The application is designed to run on a sfm_data.json file -The sfm_data file should contains: - -- valid view with some defined intrinsics and camera poses, -- (optional existing structure). - - .. code-block:: c++ - - $ openMVG_main_ComputeSfM_DataColor -i Dataset/out_Reconstruction/sfm_data.json -o Dataset/out_Reconstruction/sfm_data_color.ply - -Arguments description: - -**Required parameters:** - - - **[-i|--input_file]** - - - a SfM_Data file - - - **[-o|--output_file]** - - - output scene with updated landmarks color - diff --git a/docs/sphinx/rst/software/SfM/ComputeStructureFromKnownPoses.rst b/docs/sphinx/rst/software/SfM/ComputeStructureFromKnownPoses.rst deleted file mode 100644 index 841d4d308d..0000000000 --- a/docs/sphinx/rst/software/SfM/ComputeStructureFromKnownPoses.rst +++ /dev/null @@ -1,59 +0,0 @@ - -******************************************** -openMVG_main_ComputeStructureFromKnownPoses -******************************************** - -This application compute corresponding features and robustly triangulate them according the geometry of the known camera intrinsics & poses. - -Algorithm of the application - -.. code-block:: c++ - - Require: internal + external camera calibration - Require: image description regions (features + descriptors) - Ensure: 3D point cloud - compute image visibility - list all the pair that share common visual content - - camera frustum based - - or structure visbility (SfM tracks) based - list triplets of view from pairs - for each triplets compute 3 view tracks - if tracks triangulable add correspondences to p - link 3 views validated matches (p) as tracks - robustly triangulate them - -Information and usage -======================== - -The chain is designed to run on a sfm_data.json file and some pre-computed matches. -The sfm_data file should contains: -- valid view with some defined intrinsics and camera poses, -- (optional existing structure). - - .. code-block:: c++ - - $ openMVG_main_ComputeStructureFromKnownPoses -i Dataset/out_Reconstruction/sfm_data.json -o Dataset/out_Reconstruction/robustFitting.json - -Arguments description: - -**Required parameters:** - - - **[-i|--input_file]** - - - a SfM_Data file with valid intrinsics and poses and optional structure - - - **[-m|--matchdir]** - - - path were image descriptions were stored - - - **[-o|--outdir]** - - - path where the updated scene data will be stored - -**Optional parameters:** - - - **[-f|--match_file]** - - - path to a matches file (pairs of the match files will be listed and used) - - diff --git a/docs/sphinx/rst/software/SfM/ExportUndistortedImages.rst b/docs/sphinx/rst/software/SfM/ExportUndistortedImages.rst deleted file mode 100644 index 15bc9a2d73..0000000000 --- a/docs/sphinx/rst/software/SfM/ExportUndistortedImages.rst +++ /dev/null @@ -1,42 +0,0 @@ - -******************************************** -openMVG_main_ExportUndistortedImages -******************************************** - -This application export undistorted images from known camera parameter intrinsic. - -Algorithm of the application - -.. code-block:: c++ - - Require: internal + camera calibration - Require: images - Ensure: undistorted images - for each view - if view has valid intrinsic - undistort and save the undistorted view - -Information and usage -======================== - -The chain is designed to run on a sfm_data.json file. -The sfm_data file should contains: -- valid view with some defined intrinsics, - - .. code-block:: c++ - - $ openMVG_main_ExportUndistortedImages -i Dataset/out_Reconstruction/sfm_data.json -o Dataset/out_Reconstruction/undistortedImages - -Arguments description: - -**Required parameters:** - - - **[-i|--input_file]** - - - a SfM_Data file with valid intrinsics and poses and optional structure - - - **[-o|--outdir]** - - - path where the undistorted images will be stored - - diff --git a/docs/sphinx/rst/software/SfM/GlobalSfM.rst b/docs/sphinx/rst/software/SfM/GlobalSfM.rst deleted file mode 100644 index 90712d1c96..0000000000 --- a/docs/sphinx/rst/software/SfM/GlobalSfM.rst +++ /dev/null @@ -1,93 +0,0 @@ - -******************************* -openMVG_main_GlobalSfM -******************************* - -[GlobalACSfM]_ is based on the paper "Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion." published at ICCV 2013. - -Multi-view structure from motion (SfM) estimates the position and orientation of pictures in a common 3D coordinate frame. When views are treated incrementally, this external calibration can be subject to drift, contrary to global methods that distribute residual errors evenly. Here the method propose a new global calibration approach based on the fusion of relative motions between image pairs. - -Algorithm of the Global Structure from Motion - -.. code-block:: c++ - - Require: internal camera calibration (possibly from EXIF data) - Require: pairwise geometry consistent point correspondences - Ensure: 3D point cloud - Ensure: camera poses - - compute relative pairwise rotations - detect and remove false relative pairwise rotations - - using composition error of triplet of relative rotations - compute the global rotation - - using a dense least square and approximated rotations - compute relative translations - - using triplet of views for stability and colinear motion support - compute the global translation - - integration of the relative translation directions using a l-∞ method. - final structure and motion - - link tracks validated per triplets and compute global structure by triangulation, - - refine estimated parameter in a 2 step Bundle Adjustment - - refine structure and translations - - refine structure and camera parameters (rotations, translations). - -Information and usage -======================== - -The chain is designed to run on a sfm_data.json file and some pre-computed matches. -The chain will only consider images with known approximate focal length. Image with invalid intrinsic id will be ignored. - - .. code-block:: c++ - - $ openMVG_main_GlobalSfM -i Dataset/matches/sfm_data.json -m Dataset/matches/ -o Dataset/out_Global_Reconstruction/ - -Arguments description: - -**Required parameters:** - - - **[-i|--input_file]** - - - a SfM_Data file - - - **[-m|--matchdir]** - - - path were geometric matches were stored - - - **[-o|--outdir]** - - - path where the output data will be stored - -**Optional parameters:** - - - **[-r|--rotationAveraging]** - - - 1: L1 rotation averaging _[Chatterjee] - - 2: (default) L2 rotation averaging _[Martinec] - - - **[-t|--translationAveraging]** - - - 1: (default) L1 translation averaging _[GlobalACSfM] - - 2: L2 translation averaging _[Kyle2014] - - 3: (default) SoftL1 minimization _[GlobalACSfM] - - - **[-f|--refineIntrinsics]** - - - 0: intrinsic parameters are kept as constant - - 1: refine intrinsic parameters (default) - -*_[GlobalACSfM]* default settings are "-r 2 -t 3". - - -**Tips** - - As a dense image network is required to perform global SfM it is required to detect more **Regions points** per image to ensure a high probability of matching. - -Please use: - - "-p HIGH" option on openMVG_main_ComputeFeatures - - "-r .8" on openMVG_main_ComputeMatches. - - - - - - diff --git a/docs/sphinx/rst/software/SfM/IncrementalSfM.rst b/docs/sphinx/rst/software/SfM/IncrementalSfM.rst deleted file mode 100644 index 06c22ff11d..0000000000 --- a/docs/sphinx/rst/software/SfM/IncrementalSfM.rst +++ /dev/null @@ -1,85 +0,0 @@ - -************************************* -openMVG_main_IncrementalSfM -************************************* - -The [ACSfM]_ SfM is an evolution of the implementation used for the paper "Adaptive Structure from Motion with a contrario model estimation" published at ACCV 2012. - -The incremental pipeline is a growing reconstruction process. -It starts from an initial two-view reconstruction (the seed) that is iteratively extended by adding new views and 3D points, using pose estimation and triangulation. -Due to the incremental nature of the process, successive steps of non-linear refinement, like Bundle Adjustment (BA) and Levenberg-Marquardt steps, are performed to minimize the accumulated error (drift). - -Algorithm of the Incremental/Sequential Structure from Motion - -.. code-block:: c++ - - Require: internal camera calibration (possibly from EXIF data) - Require: pairwise geometry consistent point correspondences - Ensure: 3D point cloud - Ensure: camera poses - compute correspondence tracks t - compute connectivity graph G (1 node per view, 1 edge when enough matches) - pick an edge e in G with sufficient baseline - * robustly estimate essential matrix from images of e - triangulate validated tracks, which provides an initial reconstruction - contract edge e - while G contains an edge do - pick edge e in G that maximizes union(track(e),3D points) - * robustly estimate pose (external orientation/resection) - triangulate new tracks - contract edge e - perform bundle adjustment - end while - -Information and usage -======================== - -The chain is designed to run on a sfm_data.json file and some pre-computed matches. - - .. code-block:: c++ - - $ openMVG_main_IncrementalSfM -i Dataset/matches/sfm_data.json -m Dataset/matches/ -o Dataset/out_Incremental_Reconstruction/ - -openMVG_main_IncrementalSfM displays to you some initial pairs that share an important number of common point. - **Please select two image index that are convergent and the 3D reconstruction will start. - The initial pair must be choosen with numerous correspondences while keeping a wide enough baseline.** - -Arguments description: - -**Required parameters:** - - - **[-i|--input_file]** - - - a SfM_Data file - - - **[-m|--matchdir]** - - - path were geometric matches were stored - - - **[-o|--outdir]** - - - path where the output data will be stored - -**Optional parameters:** - - - **[-a|--initialPairA NAME]** - - - the filename image to use (i.e. 100_7001.JPG) - - - **[-b|--initialPairB NAME]** - - - the filename image to use (i.e. 100_7002.JPG) - - - **[-c|--camera_model]** - - - The camera model type that will be used for views with unknown intrinsic: - - - 1: Pinhole - - 2: Pinhole radial 1 - - 3: Pinhole radial 3 (default) - - - **[-f|--refineIntrinsics]** - - - 0: intrinsic parameters are kept as constant - - 1: refine intrinsic parameters (default) - diff --git a/docs/sphinx/rst/software/SfM/SfM.rst b/docs/sphinx/rst/software/SfM/SfM.rst deleted file mode 100644 index 7ceb5c81da..0000000000 --- a/docs/sphinx/rst/software/SfM/SfM.rst +++ /dev/null @@ -1,179 +0,0 @@ -*************************** -SfM: Structure from Motion -*************************** - -Structure from Motion computes an external camera pose per image (the motion) and a 3D point cloud (the structure) from: - -- images, -- some intrinsic camera parameters, -- corresponding geometric valid features accross images. - -.. figure:: imagesInput.png - :align: center - - Figure : Input images, estimated camera location and structure. - -openMVG SfM tools -==================== - - - 2 **Structure from Motion (SfM) pipeline**: - - - an Incremental Structure from Motion chain [ACSfM]_ (ACCV 2012), - - a Global Structure from Motion chain [GlobalACSfM]_ (ICCV 2013), - - - 1 **Structure from known Motion (SfM) pipeline**: - - - Structure computation from known camera poses and features. - - - **tools** to visualize: - - - features, - - photometric/geometric matches correspondences, - - features tracks. - - - **tools to export to existing Multiple View Stereovision (MVS) pipeline**: - - - [PMVS]_, CMPMVS. - -OpenMVG SfM pipelines -====================== - -OpenMVG SfM pipelines run as a 4 step process: - -1. Image listing ------------------------ - -.. toctree:: - :maxdepth: 1 - - ./SfMInit_ImageListing.rst - - -2. Image description computation ----------------------------------------------- - -.. toctree:: - :maxdepth: 1 - - ./ComputeFeatures.rst - -3. Corresponding images and correspondences computation ---------------------------------------------------------------------- - -.. toctree:: - :maxdepth: 1 - - ./ComputeMatches.rst - -4. SfM solving (2 methods) ---------------------------- - -.. toctree:: - :maxdepth: 1 - - ./IncrementalSfM.rst - ./GlobalSfM.rst - -5. Optional further processing ----------------------------------------- - -.. toctree:: - :maxdepth: 1 - - ./ComputeSfM_DataColor.rst - ./ComputeStructureFromKnownPoses.rst - ./ExportUndistortedImages.rst - - -5. Optional further processing (3rd party) -------------------------------------------- - -.. toctree:: - :maxdepth: 1 - - ../MVS/MVS.rst - -**You can either run by hand all the process or use pre-defined python scripts (that are using some default options).** - -OpenMVG SfM pipelines demo -=========================== - -A complete ready to use tutorial demo is exported in your build directory. It clones an image dataset and run the SfM pipelines on it: - -- openMVG_Build/software/SfM/tutorial_demo.py - -In order to use easily the Sequential or the Global pipeline, ready to used script are exported in your build directory: - -- openMVG_Build/software/SfM/SfM_SequentialPipeline.py -- openMVG_Build/software/SfM/SfM_GlobalPipeline.py - -To use them simply run: - -.. code-block:: c++ - - $ cd openMVG_Build/software/SfM/ - $ python SfM_SequentialPipeline.py [full path image directory] [resulting directory] - $ python SfM_SequentialPipeline.py ~/home/user/data/ImageDataset_SceauxCastle/images ~/home/user/data/ImageDataset_SceauxCastle/Castle_Incremental_Reconstruction - - $ python SfM_GlobalPipeline.py [full path image directory] [resulting directory] - -More details about openMVG tools -===================================== - -To know more about each tool visit the following link and read the doc below: - -.. toctree:: - :maxdepth: 1 - - ./SfMInit_ImageListing.rst - ./ComputeFeatures.rst - ./ComputeMatches.rst - ./IncrementalSfM.rst - ./GlobalSfM.rst - ./ComputeSfM_DataColor.rst - ./ComputeStructureFromKnownPoses.rst - ./ExportUndistortedImages.rst - -.. toctree:: - :maxdepth: 1 - - ./SfM_OutputFormat.rst - ../MVS/MVS.rst - - -PS: We strongly advise to use a 3 directories based data organisation structure - -* **images** - - - your image sequence. - -* **matches** - - * directory used to store image information, images features, descriptors and matches information. - -* **outReconstruction** - - * directory used to store the SfM result and process log. - -.. - 1. Image & view listing: - - - describe images parameters: - - image name, - - image size, - - internal camera calibration information (intrinsic parameters) (if any). - - 2. Features & descriptors extraction: - - - Describe each view with feature points and their corresponding descriptors (e.g., SIFT). - - 3. Putative matches & geometric correspondences computation, - - - Geometric feature matching across photo collection: - - - descriptor matching between image pairs allows to build an initial corresponding photometric feature graph. - - this graph is then geometrically filtered using robust estimation of fundamental or essential or homography matrix based. - - 4. SfM solving: - - - the corresponding features graph is send to the chosen SfM pipeline and it computes the scene and camera motion. diff --git a/docs/sphinx/rst/software/SfM/SfMInit_ImageListing.rst b/docs/sphinx/rst/software/SfM/SfMInit_ImageListing.rst deleted file mode 100644 index 3be10d9d03..0000000000 --- a/docs/sphinx/rst/software/SfM/SfMInit_ImageListing.rst +++ /dev/null @@ -1,107 +0,0 @@ -********************************** -openMVG_main_SfMInit_ImageListing -********************************** - -The first task to process an image dataset in openMVG pipelines consist in creating a **sfm_data.json** file that describe the used image dataset. - -This structured file lists for each images an object called a View. -This view store image information and lists: - -- the image name, -- the image size, -- the internal camera calibration information (intrinsic parameters) (if any). - -Each **View** is associated to a camera **Pose** index and an **Intrinsic** camera parameter group (if any). Group means that camera intrinsic parameters can be shared between some Views (that leads to more stable parameters estimation). - -.. code-block:: c++ - - $ openMVG_main_SfMInit_ImageListing -i [] -d [] -o [] - -Arguments description: - -**Required parameters:** - - - **[-i|--imageDirectory]** - - - **[-d|--sensorWidthDatabase]** openMVG/src/openMVG/exif/sensor_width_database/sensor_width_camera_database.txt - - - **[-o|--outputDirectory]** - -**Optional parameters:** - - - **[-f|--focal]** (value in pixels) - - - **[-k|--intrinsics]** Kmatrix: \"f;0;ppx;0;f;ppy;0;0;1\" - - - **[-c|--camera_model]** Camera model type: - - - 1: Pinhole - - 2: Pinhole radial 1 - - 3: Pinhole radial 3 (default) - - - **[-g|--group_camera_model]** - - - 0-> each view have it's own camera intrinsic parameters - - 1-> (default) view can share some camera intrinsic parameters - -.. code-block:: c++ - - // Example - $ openMVG_main_SfMInit_ImageListing -d /home/user/Dev/openMVG/src/openMVG/exif/sensor_width_database/sensor_width_camera_database.txt -i /home/user/Dataset/ImageDataset_SceauxCastle/images -o /home/user/Dataset/ImageDataset_SceauxCastle/matches - - If you have installed OpenMVG on your machine your could do: - $ openMVG_main_SfMInit_ImageListing -d /usr/share/openMVG/sensor_width_camera_database.txt -i /home/user/Dataset/ImageDataset_SceauxCastle/images -o /home/user/Dataset/ImageDataset_SceauxCastle/matches - -It will produce you a sfm_data.json file that is used by openMVG as a scene description. - -Once your have computed your dataset description you can compute the image features: - -.. toctree:: - :maxdepth: 1 - - ./ComputeFeatures.rst - -Automatic pixel focal computation from JPEG EXIF metadata ----------------------------------------------------------- - -Intrinsic image analysis is made from JPEG EXIF metadata and a database of camera sensor width. - -**Note:** If you have image with no metadata you can specify the known pixel focal length value directly or let the SfM process find it automatically (at least two images that share common keypoints and with valid intrinsic group must be defined) - -The focal in pixel is computed as follow (if the EXIF camera model and maker is found in the provieded sensor width database ) - -.. math:: - - \text{focal}_{pix} = \frac{max( w_\text{pix}, h_\text{pix} ) * \text{focal}_\text{mm}} {\text{ccdw}_\text{mm}} - -- :math:`\text{focal}_{pix}` the EXIF focal length (pixels), -- :math:`\text{focal}_{mm}` the EXIF focal length (mm), -- :math:`w_\text{pix}, h_\text{pix}` the image of width and height (pixels), -- :math:`\text{ccdw}_\text{mm}` the known sensor width size (mm) - -From lists.txt to sfm_data.json ---------------------------------- - -Old openMVG version (<0.8) use a lists.txt file to describer image parameters. - -Example of a lists.txt file where focal is known in advance - -.. code-block:: c++ - - 0000.png;3072;2048;2760;0;1536;0;2760;1024;0;0;1 - 0001.png;3072;2048;2760;0;1536;0;2760;1024;0;0;1 - 0002.png;3072;2048;2760;0;1536;0;2760;1024;0;0;1 - ... - -Example of a lists.txt file where focal is computed from exif data - -.. code-block:: c++ - - 100_7100.JPG;2832;2128;2881.25;EASTMAN KODAK COMPANY;KODAK Z612 ZOOM DIGITAL CAMERA - 100_7101.JPG;2832;2128;2881.25;EASTMAN KODAK COMPANY;KODAK Z612 ZOOM DIGITAL CAMERA - 100_7102.JPG;2832;2128;2881.25;EASTMAN KODAK COMPANY;KODAK Z612 ZOOM DIGITAL CAMERA - ... - -You can convert this file to a valid sfm_data.json file by using the **openMVG_main_ConvertList** application. - - diff --git a/docs/sphinx/rst/software/SfM/SfM_OutputFormat.rst b/docs/sphinx/rst/software/SfM/SfM_OutputFormat.rst deleted file mode 100644 index fd2a403cc9..0000000000 --- a/docs/sphinx/rst/software/SfM/SfM_OutputFormat.rst +++ /dev/null @@ -1,23 +0,0 @@ - -************************************* -SfM_data format -************************************* - -SfM_Data is a data container. 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class Descriptor`. + * Store N value(s) of type T as contiguous memory. + +``` +// SIFT like descriptor +typedef Descriptor siftDescriptorData; + +// SURF like descriptor +typedef Descriptor surfDescriptorData; + +// Binary descriptor (128 bits) +typedef Descritpor,1> binaryDescriptor_bitset; +// or using unsigned chars +typedef Descriptor binaryDescriptor_uchar; +``` + + +## KeypointSet + +Store a collection of features and their associated descriptors: `template class KeypointSet`. Basic IO is provided. + +``` +// Define SIFT Keypoints: + +// Define the SIFT descriptor [128 floating point value] +typedef Descriptor DescriptorT; + +// Use SIFT compatible features (scale, orientation and position) +typedef SIOPointFeature FeatureT; + +// Describe what a collection of local feature is for a given image: +typedef std::vector FeatsT; +typedef std::vector DescsT; + +// Link features and their descriptors as a collection: +typedef KeypointSet KeypointSetT; +``` \ No newline at end of file diff --git a/src/aliceVision/geometry/README.md b/src/aliceVision/geometry/README.md new file mode 100644 index 0000000000..98d5b8a272 --- /dev/null +++ b/src/aliceVision/geometry/README.md @@ -0,0 +1,80 @@ +# geometry + + +## Pose + +`Pose3` defines the 3D Pose as a 3D transform: [R|C] t = -RC + +``` +// Define two poses and combine them +Pose3 pose1(RotationAroundX(0.02), Vec3(0,0,-2)); +Pose3 pose2(RotationAroundX(0.06), Vec3(-1,0,-2)); +Pose3 combinedPose = pose1 * pose2; + +// Apply the pose to a 3DPoint (World to local coordinates): +const Vec3 pt = combinedPose(Vec3(2.6453,3.32,6.3)); +``` + + +## Frustum & Frustum intersection + +Define a camera Frustum from Pose3 and intrinsic parameters as: + +- an infinite Frustum (4 Half Spaces) (a pyramid); +- a truncated Frustum (6 Half Spaces) (a truncated pyramid). + +This structure is used for testing frustum intersection (see if two camera can share some visual content). + +``` +// Build two truncated frustum and test their intersection +Frustum frustum1(somedata, minDepth, maxDepth); +Frustum frustum2(somedata, minDepth, maxDepth); +bool bIntersect = frustum1.intersect(frustum2); + +// Build two infinite frustum and test their intersection +Frustum frustum1(somedata); +Frustum frustum2(somedata); +bool bIntersect = frustum1.intersect(frustum2); +``` + + +## 7DoF registration between point set + +Find the rigid registration between point set using a scale, rotation and translation model. + +``` +// Simulate two point set, apply a known transformation and estimate it back: +const int nbPoints = 10; +const Mat x1 = Mat::Random(3,nbPoints); +Mat x2 = x1; + +const double scale = 2.0; +const Mat3 rot = (Eigen::AngleAxis(.2, Vec3::UnitX()) +* Eigen::AngleAxis(.3, Vec3::UnitY()) +* Eigen::AngleAxis(.6, Vec3::UnitZ())).toRotationMatrix(); +const Vec3 t(0.5,-0.3,.38); + +for (int i=0; i < nbPoints; ++i) +{ +const Vec3 pt = x1.col(i); +x2.col(i) = (scale * rot * pt + t); +} + +// Compute the Similarity transform +double Sc; +Mat3 Rc; +Vec3 tc; +FindRTS(x1, x2, &Sc, &tc, &Rc); +// Optional non linear refinement of the found parameters +Refine_RTS(x1,x2,&Sc,&tc,&Rc); + +std::cout << "\n" +<< "Scale " << Sc << "\n" +<< "Rot \n" << Rc << "\n" +<< "t " << tc.transpose(); + +std::cout << "\nGT\n" +<< "Scale " << scale << "\n" +<< "Rot \n" << rot << "\n" +<< "t " << t.transpose(); +``` diff --git a/src/aliceVision/image/README.md b/src/aliceVision/image/README.md new file mode 100644 index 0000000000..e32adfcd97 --- /dev/null +++ b/src/aliceVision/image/README.md @@ -0,0 +1,92 @@ +# image + + +## Image Container + +`Image\` class is a generic image container based on an Eigen aligned row-major matrix of template pixel type `T`. Images can store grayscale, RGB, RGBA or custom data. + +`Image\` provide basic pixel read and write operation. + +See examples from image_test.cpp: + +``` +// A 8-bit gray image: +Image grayscale_image_8bit; + +// A 32-bit gray image: +Image grayscale_image_32bit; + +// Multichannel image: (use pre-defined pixel type) + +// A 8-bit RGB image: +Image rgb_image_8bit; +Image > rgb_image2_8bit; + +// 8-bit RGBA image +Image rgba_image_8bit; +Image > rgba_image2_8bit; + +// 32 bit RGB image: +Image > rgb_image_32bit; +``` + + +## Image I/O + +Loading and writing of 8 bits (gray and color) images are supported in the following formats: + +* ppm/pgm, +* jpeg, +* png, +* tiff. + +See examples from io_test.cpp: + +``` +// Read a grayscale image (if conversion need, it is done on the fly) +Image gray_image; +bool bRet = ReadImage("Foo.imgExtension", &gray_image); + +// Read a color image +Image rgb_image_gray; +bool bRet = ReadImage("Foo.imgExtension", &rgb_image); +``` + + +## Drawing operations + +The following operations are available: + +* lines, +* circles, +* ellipses. + +See examples from drawing_test.cpp: + +``` +Image image(10,10); +image.fill(0); + +// Pixel access is done as matrix (row, line) +int row = 2; +int column = 4; +image(row, column) = 127; + +// Horizontal scanline +DrawLine( 0, 5, w-1, 5, 255, &image); + +// Circle of radius 3 and center (5,5) +const int radius = 3; +const int x = 5, y = 5; +DrawCircle(x, y, radius, (unsigned char)255, &image); + +// Ellipse of center (5,5) and (3,0 +const int radius1 = 3, radius2 = 1, angle = 0; +const int x = 5, y = 5; + +DrawEllipse(x, y, radius1, radius2, (unsigned char)255, &image, (double)angle); + +// Example with a RGB image +Image imageRGB(10,10); +DrawCircle(x, y, radius, RGBColor(255,0,0), &imageRGB); +``` diff --git a/src/aliceVision/linearProgramming/README.md b/src/aliceVision/linearProgramming/README.md new file mode 100644 index 0000000000..607926a61a --- /dev/null +++ b/src/aliceVision/linearProgramming/README.md @@ -0,0 +1,161 @@ +# linearProgramming + +Linear programming [LP] is a technique for the optimization of a linear objective function, subject to linear equality and linear inequality constraints such as: + +$$ +\begin{align} & \text{maximize} && \mathbf{c}^\mathrm{T} \mathbf{x}\\ +& \text{subject to} && A \mathbf{x} \leq \mathbf{b} \\ +& \text{and} && \mathbf{x} \ge \mathbf{0} \end{align} +$$ + +where ``x`` represents the vector of variables (to be determined), ``c`` and ``b`` are vectors of (known) coefficients, ``A`` is a (known) matrix of coefficients. + + +## Linear programming tools + +This project provides tools to: + +- configure Linear programs (LP container), +- solve Linear Programs (convex or quasi convex ones). + + +### Linear program container + +This project provides a generic container for LP (Linear Programming problems) that can be dense of sparse. + +``` +// Dense LP +LPConstraints +// Sparse LP +LPConstraintsSparse +``` + +It allows to embed: + +- objective function ``c`` and the problem type (minimization or maximization), +- constraints (coefficients ``A``, Sign, objective value ``b``), +- bounds over ``x`` parameters (<=, =, >=). + + +### Linear program solvers + +This project provides access to different solvers (not exhaustive): + +- OSI_CLP (COIN-OR) project, +- MOSEK commercial, free in a research context. + +Those solver have been choosen due to the stability of their results and ability to handle large problems without numerical stability (LPSolve and GPLK have been discarded after extensive experiments). + +See examples from linearProgramming_test.cpp. + + +### Linear programming module usage + +The linear programming module of openMVG can be used for: + +- solve classical linear problem (optimization), +- test the feasibility of linear problem, +- optimize upper bound of feasible problem (quasi-convex linear programs). + +**classical linear problem solving (optimization)** + +Here an example of usage of the framework: + +``` +// Setup the LP (fill A,b,c and the constraint over x) +LPConstraints cstraint; +BuildLinearProblem(cstraint); + +// Solve the LP with the solver of your choice +std::vector vec_solution(2); +#if OPENMVG_HAVE_MOSEK +MOSEKSolver solver(2); +#else +OSI_CISolverWrapper solver(2); +#endif +// Send constraint to the LP solver +solver.setup(cstraint); + +// If LP have a solution +if (solver.solve()) +// Get back estimated parameters +solver.getSolution(vec_solution); +``` + +**Linear programming, feasible problem** + +This project can be use also to test only the feasibility of a given LP problem + +$$ +\begin{align} & \text{find} && \mathbf{x}\\ +& \text{subject to} && A \mathbf{x} \leq \mathbf{b} \\ +& \text{and} && \mathbf{x} \ge \mathbf{0} \end{align} +$$ + +**Linear programming, quasi convex optimization** + +This project used a lot of L infinity minimisation formulation. +Often the posed problems are quasi-convex and dependent of an external parameter that we are looking for (i.e the maximal re-projection error for which the set of contraint is still feasible). + +Optimization of this upper bound parameter can be done by iterating over all the possible value or by using a bisection that reduce the search range at each iteration. + +``` +Require: gammaLow, gammUp (Low and upper bound of the parameter to optimize) +Require: the LP problem (cstraintBuilder) +Ensure: the optimal gamma value, or return infeasibility of the contraints set. + +BisectionLP( +ISolver & solver, +ConstraintBuilder & cstraintBuilder, +double gammaUp = 1.0, // Upper bound +double gammaLow = 0.0, // lower bound +double eps = 1e-8, // precision that stop dichotomy +const int maxIteration = 20) // max number of iteration +{ +ConstraintType constraint; +do +{ + ++k; // One more iteration + + double gamma = (gammaLow + gammaUp) / 2.0; + + //-- Setup constraint and solver + cstraintBuilder.Build(gamma, constraint); + solver.setup( constraint ); + + //-- Solving + bool bFeasible = solver.solve(); + + //-- According feasibility update the corresponding bound + //-> Feasible, update the upper bound + //-> Not feasible, update the lower bound + (bFeasible) ? gammaUp = gamma; : gammaLow = gamma; + +} while (k < maxIteration && gammaUp - gammaLow > eps); +} +``` + + +## Multiple View Geometry solvers based on L-Infinity minimization + +This project provides Linear programming based solvers for various problem in computer vision by minimizing at the same time the maximal error over a series of cost function and some model parameters. It uses a L-Infinity minimization method. + +This project implements problems introduced by [LinfNorm] and generalized by [LinfNormGeneric] to solve multiple view geometry problem. + +Rather than considering quadratic constraints that require SOCP (Second Orde Cone Programming) we consider their LP (linear program) equivalent. It makes usage of residual error expressed with absolute error ( ``|a| matcher; +// The reference array +float array[] = {0, 1, 2, 3, 4}; +// Setup the reference array of the matcher +matcher.Build(array, 5, 1); + +//-- +// Looking for the nearest neighbor: +//-- +// Perform a query to look which point is closest to 1.8 +float query[] = {1.8f}; +int nIndice = -1; +float fDistance = -1.0f; +matcher.SearchNeighbour(query, &nIndice, &fDistance); + +// nIndice == 2 ; // index of the found nearest neighbor +// fDistance == 0.4; // squared distance + +//-- +// Looking for the K=2 nearest neighbor +//-- +IndMatches vec_nIndices; +vector vec_fDistance; +const int K = 2; +matcher.SearchNeighbours(query, 1, &vec_nIndices, &vec_fDistance, K); + +// vec_nIndices = {IndMatch(0,2), IndMatche(0,1)}; +``` + + +## Metric customization + +* L2 (used by default): +* L1 for binary descriptor (Hamming distance), +* user customized distance. + + +## Image domain, correspondences filtering (KVLD) + +When used with descriptors found putative matches can be filtered thanks to different filters: + +* Symmetric distance (Left-Right check). + + * Keep only mutal correspondences: a match is kept if it is the same in the A->B and B->A order. + +$$ +\lbrace (P^i_A,P^j_B): j = \underset{k} {\mathrm{argmin}} ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)), i = \underset{k} \min ~ d(\text{desc}(P^k_A), \text{desc}(P^j_B)) +\rbrace +$$ + + +* "Nearest Neighbor Distance Ratio" distance check can be performed to remove repetitive elements. + + * As many nearest points have been asked we can measure the similarity between the N-nearest neighbor. If the ratio of distance is inferior to a threshold ``\delta`` the match is kept else it is rejected (since the risk of confusion is higher). It allows to avoid ambiguous correspondences. ``\delta`` is often chosen between ``0.6`` and ``0.8``. + +$$ +\lbrace (P^i_A,P^j_B): j = \underset{k} {\mathrm{argmin}} ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)) < \delta \underset{k\neq j} \min ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)) +\rbrace +$$ + +* K-VLD Filter (K-Virtual Line Descriptor) [KVLD12] + + * A virtual segment (a segment/line between two points) is kept if at least one of it's supporting point is linked to K virtual segments. It produces a coherent photometric graph of the features from the set of points ``A`` and ``B``. Below: Top (SIFT putative matches found by NNS), Bottom: K-VLD coherent matches. + + +![KVLD matches](../../../docs/img/KVLD_matches.jpg) diff --git a/src/aliceVision/multiview/README.md b/src/aliceVision/multiview/README.md new file mode 100644 index 0000000000..1c0a330f5c --- /dev/null +++ b/src/aliceVision/multiview/README.md @@ -0,0 +1,131 @@ +# multiview + +The multiview module consists of: + +- a collection of solvers for 2 to n-view geometry constraints that arise in multiple view geometry, +- a generic framework "Kernel" that can embed these solvers for robust estimation. + +First accessible solvers are listed and explained and the "Kernel" concept is documented. + + +## 2-view solvers (2d-2d correspondences) + +This project provides solver for the following geometric estimation: + +* affine, +* homographic, +* fundamental, + + * 7 to n pt, + * 8 to n pt (Direct Linear Transform) [HZ]. + +* essential, + + * 8 to n pt (Direct Linear Transform) [HZ], + * 5pt + intrinsic [Stewenius], [Nister]. + + +## N-View geometry estimation + +* Triangulation + + * 2 to n view (Direct Linear Transform), + * 2 to n view (Iterated least square). + +* Rotation averaging + + * L2 (sparse) [Martinec], + * L1 (sparse) [Chatterjee]. + +* Translation averaging + + * L2 Chordal [Kyle2014], + * SoftL1 'approximation of the LInf method of [GlobalACSfM]'. + + +### Homography matrix: + +The homography matrix maps the relation between two projections of a plane. + +`H` is a (3 x 3) matrix that links coordinates in left and right images with the following relation. + +![The homography matrix and the point to point constraint.](../../../docs/img/homographyMatrix.png) + +This project implementation follows the DLT (Direct Linear Transform) explained in [HZ] book: +`H` can be estimated from 4 to `n` corresponding points. + + +### Fundamental matrix: + +The fundamental matrix is a relation between two images viewing the same scene where those point's +projections are visible in the two images. Given a point correspondence between two views $`(x_i,x'_i)`$: + +We obtain the following relation: + +$$ +x'^T_i Fx_i = 0 +$$ + +`F` is the (3 x 3) Fundamental matrix, it puts in relation a point x to a line where belong the projection of the 3D X point. +$`l'_i = Fx_i`$ designs the epipolar line on which the point $`x'_i`$ could be. +The relation $`x'^T_i Fx_i = 0`$ exists for all corresponding point belonging to a stereo pair. + +![The fundamental matrix and the point to line constraint.](../../../docs/img/fundamentalMatrix.png) + +The fundamental matrix is sometime called bifocal-tensor, it is a 3 x 3 matrix of rank 2 +with 7 degree of freedom. 8 ou 7 correspondences are sufficient to compute the `F` matrix. +Implementation follows the DLT (Direct Linear Transform) explained in [HZ] book. + + +## Relative pose estimation (Essential matrix) + +Adding intrinsic parameters to the fundamental matrix gives a metric "object" that provides the following relation +`E = K'^T FK` , this is the Essential relation explained by Longuet-Higgins in 1981 [Longuet]. +This essential matrix links the relative position of the camera to the fundamental matrix relation. + +![The essential matrix geometric relation.](../../../docs/img/essentialMatrix.png) + + +## Absolute pose estimation/Camera resection (Pose matrix) + +Given a list of 3D-2D point correspondences it is possible to compute a camera pose estimation. +It consists in estimating the camera parameters of the right camera that minimizes the residual error of the 3D points re-projections, it's an optimization problem that trying to solve P parameters in order to minimize + +$$ +min \sum^n_{i=1} x_i - P(X_i). +$$ + +![Resection/Pose estimation from 3D-2D correspondences.](../../../docs/img/ResectionPose.png) + +![Residual error.](../../../docs/img/ResidualError.png) + +This project provides 3 different solvers for this problem: + +* 6pt Direct Linear Transform [HZ], +* 4pt with intrinsic EPnP [EPnP], +* 3pt with intrinsic P3P [Kneip]. + + +### Kernel concept + +In order to use the solver in a generic robust estimation framework, we use them in conjuction with the Kernel class that allow to link: + +* data points, + + * the set of correspondences that are used for a robust estimation problem. + +* a model solver/estimator, +* a metric to measure data fitting to a putative model. + +![The Kernel concept (the two view case).](../../../docs/img/kernelConcept.png) + +Solver: + MINIMUM_SAMPLES: The minimal number of point required for the model estimation, + MAX_MODELS: The number of models that the minimal solver could return, + A Solve function that estimates a model from MINIMUM_SAMPLES to n vector data. +ErrorModel: + A metric function that returns the error of a sample data to the provided model. +Kernel: + Embed data (putative), the model estimator and the error model. + This kernel is core brick used in the This project robust estimator framework. + diff --git a/docs/sphinx/rst/openMVG/numeric/numeric.rst b/src/aliceVision/numeric/README.md similarity index 59% rename from docs/sphinx/rst/openMVG/numeric/numeric.rst rename to src/aliceVision/numeric/README.md index c58f0784e4..773e016ceb 100644 --- a/docs/sphinx/rst/openMVG/numeric/numeric.rst +++ b/src/aliceVision/numeric/README.md @@ -1,8 +1,6 @@ -******************* -numeric -******************* +# numeric -This module provides math and linear algebra utils that relies on [Eigen]_ library. +This module provides math and linear algebra utils that relies on [Eigen] library. Eigen is a C++ template library for linear algebra. Basic idea is to provide to openMVG : @@ -11,45 +9,40 @@ Basic idea is to provide to openMVG : - an easy matrices and vectors manipulation, - a collection of numeric solvers and related algorithms. -Vector, Matrix containers -=========================== -OpenMVG redefines some Eigen basis type (points, vectors, matrices) for code consitency and clarity: +## Vector, Matrix containers + +This project redefines some Eigen basis type (points, vectors, matrices) for code consitency and clarity: * ``Vec2`` a single 2d point stored as a column matrix (x,y), * ``Vec3`` a single 3d point stored as a column matrix (x,y,z), * ``Vec2f, Vec3f`` float version. - -| - * ``Vec`` a vector of value (double precision), * ``Vecf`` a vector of floating point value, - -| - * ``Mat`` the generic matrix container, * ``Mat2X`` a collection of 2d points stored by column, * ``Mat3X`` a collection of 3d points stored as column. -Note: Default memory alignment is column major. +> Note: Default memory alignment is column major. -.. code-block:: c++ +``` +// Create a set of 2D points store as column +Mat2X A(2, 5); +A << 1, 2, 3, 4, 5, + 6, 7, 8, 9, 10; +A.col(); // return a column vector : (1,6)^T +A.row(); // return a row vector : (1,2,3,4,5) +``` - // Create a set of 2D points store as column - Mat2X A(2, 5); - A << 1, 2, 3, 4, 5, - 6, 7, 8, 9, 10; - A.col(); // return a column vector : (1,6)^T - A.row(); // return a row vector : (1,2,3,4,5) -Linear algebra -=============== +## Linear algebra * SVD/QR/LU decomposition. - -To know more --------------- + + +### To know more Please visit: http://eigen.tuxfamily.org/dox/group__QuickRefPage.html + diff --git a/src/aliceVision/robustEstimation/README.md b/src/aliceVision/robustEstimation/README.md new file mode 100644 index 0000000000..65c22cddce --- /dev/null +++ b/src/aliceVision/robustEstimation/README.md @@ -0,0 +1,117 @@ +# robustEstimation + +Performing model estimation is not an easy task, data are always corrupted by noise and "false/outlier" data so robust estimation is required to find the "best" model along the possible ones. + +![Robust estimation: Looking for a line in corrupted data.](../../../docs/img/robustEstimation.png) + +This project provides many methods to estimate one of the best possible model in corrupted data: + +- Max-Consensus, +- Ransac, +- LMeds, +- AC-Ransac (A Contrario Ransac). + + +## Max-Consensus + +The idea of Max-Consensus is to use a random picked subset of data to find a model and test if +this model is good or not the whole dataset. At the end you keep the model that best fits your cost +function. Best fit defined as the number of data correspondences to the model under your specified +threshold T. + +Algorithm 1 Max-Consensus + +``` +Require: correspondences +Require: model solver, residual error computation +Require: T threshold for inlier/outlier discrimination +Require: maxIter the number of performed model estimation +Ensure: inlier list +Ensure: best estimated model Mbest + for i = 0 ! maxIter do + Pick NSample random samples + Evaluate the model Mi for the random samples + Compute residuals for the estimated model + if Cardinal(residual < T) > previousInlierCount then + previousInlierCount = Cardinal(residual < T) + Mbest = Mi + end if + end for +``` + +Here an example of how find a best fit line: + +``` +Mat2X xy ( 2 , 5); +// Defines some data points +xy << 1, 2, 3, 4, 5, // x + 3, 5, 7, 9, 11; // y + +// The base model estimator and associated error metric +LineKernel kernel ( xy ); + +// Call the Max-Consensus routine +std::vector vec_inliers; +Vec2 model = MaxConsensus ( kernel , ScorerEvaluator(0.3) , &-vec_inliers ); +``` + + +## Ransac + +Ransac [RANSAC] is an evolution of Max-Consensus with a-priori information about the noise and corrupted +data amount of the data. That information allows to reduce the number of iterations in order to be +sure to have made sufficient random sampling steps in order to find the model for the given data +confidence. The number of remaining steps is so iteratively updated given the inlier/outlier ratio of +the current found model. + +Here an example of how find a best fit line: + +``` +Mat2X xy ( 2 , 5); +// Defines some data points +xy << 1, 2, 3, 4, 5, // x + 3, 5, 7, 9, 11; // y + +// The base model estimator and associated error metric +LineKernel kernel ( xy ); + +// Call the Ransac routine +std::vector vec_inliers; +Vec2 model = Ransac ( kernel, ScorerEvaluator(0.3) , &vec_inliers ); +``` + + +## AC-Ransac A Contrario Ransac + +RANSAC requires the choice of a threshold T, which must be balanced: + +- Too small: Too few inliers, leading to model imprecision, +- Too large: Models are contaminated by outliers (false data). + +AC-Ransac [ACRANSAC] uses the a contrario methodology in order to find a model that best fits the +data with a confidence threshold T that adapts automatically to noise. It so finds a model and its +associated noise. If there is too much noise, the a contrario method returns that no model was +found. + +![A contrario robust estimation, noise adaptivity.](../../../docs/img/ACRansac.png) + +Here an example of how to find a best fit line, by using the a contrario robust estimation framework: +It is a bit more complex, we use a class in order to perform the a contrario required task. + +``` +Mat2X xy ( 2 , 5); +// Defines some data points +xy << 1, 2, 3, 4, 5, // x + 3, 5, 7, 9, 11; // y + +// The acontrario adapted base model estimator and associated error metric +const size_t img_width = 12; +ACRANSACOneViewKernel lineKernel(xy, -img_width, img_width); + +// Call the AC-Ransac routine +std::vector vec_inliers; +Vec2 line; +std::pair res = ACRANSAC(lineKernel, vec_inliers, 300, &line); +double dPrecision = res.first; +double dNfa = res.second; +``` diff --git a/src/aliceVision/sfm/README.md b/src/aliceVision/sfm/README.md new file mode 100644 index 0000000000..03ab392434 --- /dev/null +++ b/src/aliceVision/sfm/README.md @@ -0,0 +1,239 @@ +# sfm + +sfm is the module related to Structure from Motion. +It handles storage of SfM related data and method to solve SfM problems (camera pose estimation, structure triangulation, bundle_adjustment). + + +## A generic SfM data container + +`SfM_Data` class contains all the data used to describe input of a SfM problem: + +* a collection of **View** + + * the used images + +* a collection of **camera extrinsic** + + * the camera poses + +* a collection of **camera intrinsic** + + * the camera internal projection parameters + +* a **structure** + + * the collection of landmark (3D points associated with 2d view observations) + +``` +struct SfM_Data +{ + /// Considered views + Views views; + + /// Considered poses (indexed by view.id_pose) + Poses poses; + + /// Considered camera intrinsics (indexed by view.id_cam) + Intrinsics intrinsics; + + /// Structure (3D points with their 2D observations) + Landmarks structure; + + // ... +} +``` + + +### View concept + +The view store information related to an image: + +* image filename +* id_view (must be unique) +* id_pose +* id_intrinsic +* image size + +Note that thanks to the usage of ids we can defined shared poses & shared intrinsics. + +View type is **abstract** and provide a way to add new custom View type: i.e. GeoLocatedView (add GPS position, ...) + + +### Camera Poses concept + +The camera pose store a 3D pose that define a camera rotation and position (camera rotation and center). + + +### Camera Intrinsic concept + +Define the parameter of a camera. It can be shared or not. +Intrinsics parameter are **abstract** and provide a way to easily add new custom camera type. + + +### Structure/Landmarks concept + +It defines the structure: + +* 3D point with 2D view features observations. + + +## SfM_Data cleaning + +Generic interface are defined to remove outlier observations: + +* use a given residual pixel error to discard outlier, +* use a minimal angle along the track bearing vectors. + + +## Triangulation + +Once the SfM_Data is filled with some landmark observations and poses we can compute their 3D location. + +Two method are proposed: + +* A blind method: + + * Triangulate tracks using all observations, + + * Inlier/Outlier classification is done with a cheirality test, + +* A robust method: + + * Triangulate tracks using a RANSAC scheme, + + * Check cheirality and a pixel residual error. + + +## Non linear refinement, Bundle Adjustment + +This project provides a generic bundle_adjustment framework to refine or keep as constant the following parameters: + +* internal orientation parameters (intrinsics: camera projection model), +* external orientation parameters (extrinsics: camera poses), +* structure (3D points). + +``` +SfM_Data sfm_data; +// initialize the data +// ... + +const double dResidual_before = RMSE(sfm_data); + +// Bundle adjustement over all the parameters: +std::shared_ptr ba_object = std::make_shared(); +ba_object->Adjust(sfm_data); + +const double dResidual_after = RMSE(sfm_data); +``` + +Bundle Adjustment (ajustement de faisceaux), is a non linear optimization problem. +It looks to minimizing the residual error of a series of user cost functions (the reprojection errors of the structure `X_j` to the images measures `x_j^i`). +According: + +* `X_j` the Jnth 3D point of the structure of the scene, +* `x_j^i` the observation of the projection of the 3D point `X_j` in the image `i`, +* `P_i` the projection matrix of the image `i` + +From a user provided initial guess the vector of parameters: `\{X_j,P_i\}_{i,j}`: camera parameters `\{P_i\}_i` and the scene structure `\{X_j\}_j` are refined in order to minimizes the residual reprojection cost: + +$$ +\underset{ \{P_i\}_i, \{X_j\}_j}{minimize} \left\| \sum_{j=0}^{m} \sum_{i=0}^{n} x_j^i - P_i X_j \right\|_2 +$$ + +This project proposes options in order to tell if a parameter group must be kept as constant or refined during the minimization. + + +## SfM Pipelines + +This project provides ready to use and customizable pipelines for: + +* solving sequential/incremental SfM, +* solving global SfM, +* computing a Structure from known camera poses. + +![From point observation and intrinsic camera parameters, the 3D **structure** of the scene is computed **from** the estimated **motion** of the camera.](../../../docs/img/structureFromMotion.png) + + +### Sequential SfM + +The [ACSfM] SfM is based on the implementation used for the paper "Adaptive Structure from Motion with a contrario model estimation" published at ACCV 2012. + +The incremental pipeline is a growing reconstruction process. +It starts from an initial two-view reconstruction (the seed) that is iteratively extended by adding new views and 3D points, using pose estimation and triangulation. +Due to the incremental nature of the process, successive steps of non-linear refinement, like Bundle Adjustment (BA), are performed to minimize the accumulated error (drift). + +Incremental Structure from Motion + +``` +Require: internal camera calibration (possibly from EXIF data) +Require: pairwise geometry consistent point correspondences +Ensure: 3D point cloud +Ensure: camera poses +compute correspondence tracks t +compute connectivity graph G (1 node per view, 1 edge when enough matches) +pick an edge e in G with sufficient baseline +* robustly estimate essential matrix from images of e +triangulate validated tracks, which provides an initial reconstruction +contract edge e +while G contains an edge do + pick edge e in G that maximizes union(track(e),3D points) + * robustly estimate pose (external orientation/resection) + triangulate new tracks + contract edge e + perform bundle adjustment +end while +``` + +Steps marked by a * are robust estimation performed using the a-contrario robust estimation framework. + + +### Global SfM + +[GlobalACSfM] is based on the paper "Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion." published at ICCV 2013. + +Multi-view structure from motion (SfM) estimates the position and orientation of pictures in a common 3D coordinate frame. When views are treated incrementally, this external calibration can be subject to drift, contrary to global methods that distribute residual errors evenly. Here the method propose a new global calibration approach based on the fusion of relative motions between image pairs. + +``` +Require: internal camera calibration (possibly from EXIF data) +Require: pairwise geometry consistent point correspondences +Ensure: 3D point cloud +Ensure: camera poses + +compute relative pairwise rotations +detect and remove false relative pairwise rotations + - using composition error of triplet of relative rotations +compute the global rotation + - using a least square and approximated rotations +compute relative translations + - using triplet of views for stability and colinear motion support +compute the global translation + - integration of the relative translation directions using a l-∞ method +final structure and motion + - link tracks validated per triplets and compute global structure by triangulation + - refine estimated parameters in a 3 step Bundle Adjustment + - refine structure and translations + - refine structure and camera parameters (rotations, translations) + - refine if asked intrinsics parameters +``` + + +### Structure computation from known camera poses + +This class allows to compute valid 3D triangulation from 2D matches and known camera poses. + +``` +Require: internal and external camera calibration +Require: features and corresponding descriptor per image view +Ensure: 3D point cloud + +initialize putatives matches pair from + - a provided pair file + - or automatic pair computed from camera frustum intersection +for each pair + - find valid epipolar correspondences +for triplets of view + - filter 3-view correspondences that leads to invalid triangulation +merge 3-view validated correspondences + - robustly triangulate them +save the scene with the update structure +``` diff --git a/src/aliceVision/track/README.md b/src/aliceVision/track/README.md new file mode 100644 index 0000000000..06bee3265e --- /dev/null +++ b/src/aliceVision/track/README.md @@ -0,0 +1,55 @@ +# track + +The problem of feature points tracking is to follow the position of a characteristic point in a set of images. +These multi-view correspondences are called tracks. +Track identification in a set of images (ordered, or not) is an important task in computer vision. +It allows solving geometry-related problems like video stabilization, tracking, match-moving, image-stitching, structure from motion and odometry. + + +## Un/ordered feature tracking + +Considering n pairwise feature correspondences as input we want sets of corresponding matching features across multiple images, as illustrated in the following figures with video frames. + +![From features to tracks.](../../../docs/img/tracks.png) + +The library provides an efficient solution to solve the union of all the pairwise correspondences. +It is the implementation of the CVMP12 paper "Unordered feature tracking made fast and easy" [TracksCVMP12]. + +![Feature based tracking.](../../../docs/img/featureBasedTracking.png) + +Some comments about the data structure: + +``` +using namespace openMVG::matching; + +// pairwise matches container: +PairWiseMatches map_Matches; + +// Fil the pairwise correspondeces or load a series of pairwise matches from a file +PairedIndMatchImport("matches.f.txt", map_Matches); + +//--------------------------------------- +// Compute tracks from pairwise matches +//--------------------------------------- +TracksBuilder tracksBuilder; +tracks::STLMAPTracks map_tracks; // The track container +tracksBuilder.Build(map_Matches); // Build: Efficient fusion of correspondences +tracksBuilder.Filter(); // Filter: Remove track that have conflict +tracksBuilder.ExportToSTL(map_tracks); // Build tracks with STL compliant type + +// In order to visit all the tracks, follow this code: +for (tracks::STLMAPTracks::const_iterator iterT = map_tracks.begin(); + iterT != map_tracks.end(); ++ iterT) +{ + const IndexT trackId = iterT->first; + const tracks::submapTrack & track = iterT->second; + for ( tracks::submapTrack::const_iterator iterTrack = track.begin(); + iterTrack != track.end(); ++iterTrack) + { + const IndexT imageId = iterTrack->first; + const IndexT featId = iterTrack->second; + + // Get the feature point + } +} +``` From e42463580c44ee66a432d14745eb549b387d3d24 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Mon, 14 Nov 2022 11:31:36 +0100 Subject: [PATCH 5/9] [docs] corrections in READMEs to use github inline math syntax --- src/aliceVision/camera/README.md | 14 +++++++------- src/aliceVision/image/README.md | 4 ++-- src/aliceVision/matching/README.md | 2 +- src/aliceVision/multiview/README.md | 30 +++++++++++++++++++---------- src/aliceVision/sfm/README.md | 14 +++++++------- 5 files changed, 37 insertions(+), 27 deletions(-) diff --git a/src/aliceVision/camera/README.md b/src/aliceVision/camera/README.md index bd7330f39f..2a84e2a5e6 100644 --- a/src/aliceVision/camera/README.md +++ b/src/aliceVision/camera/README.md @@ -31,16 +31,16 @@ f*k_u & & c_u \\ \end{bmatrix} $$ -- Intrinsic parameters $`[f; cu; cv]:` $ +- Intrinsic parameters $[f; cu; cv]$: - * $`ku, kv :`$ scale factor relating pixels to distance (often equal to 1), - * $`f :`$ the focal distance (distance between focal and image plane), - * $`cu, cv :`$ the principal point, which would be ideally in the centre of the image. + * $ku, kv$: scale factor relating pixels to distance (often equal to 1), + * $f$: the focal distance (distance between focal and image plane), + * $cu, cv$: the principal point, which would be ideally in the centre of the image. -- Extrinsic parameters $`[R|t] = [R| - RC]:`$ +- Extrinsic parameters $[R|t] = [R| - RC]$: - * $`R :`$ the rotation of the camera to the world frame, - * $`t :`$ the translation of the camera. t is not the position of the camera. It is the position of the origin of the world coordinate system expressed in coordinates of the camera-centred coordinate system. The position, $$`C`$$, of the camera expressed in world coordinates is $`C=-R^{-1} t = -R^T t`$ (since R is a rotation matrix). + * $R$: the rotation of the camera to the world frame, + * $t$: the translation of the camera. t is not the position of the camera. It is the position of the origin of the world coordinate system expressed in coordinates of the camera-centred coordinate system. The position, $C$, of the camera expressed in world coordinates is $C=-R^{-1} t = -R^T t$ (since R is a rotation matrix). A 3D point is projected in a image with the following formula (homogeneous coordinates): diff --git a/src/aliceVision/image/README.md b/src/aliceVision/image/README.md index e32adfcd97..a2edf22672 100644 --- a/src/aliceVision/image/README.md +++ b/src/aliceVision/image/README.md @@ -3,9 +3,9 @@ ## Image Container -`Image\` class is a generic image container based on an Eigen aligned row-major matrix of template pixel type `T`. Images can store grayscale, RGB, RGBA or custom data. +`Image` class is a generic image container based on an Eigen aligned row-major matrix of template pixel type `T`. Images can store grayscale, RGB, RGBA or custom data. -`Image\` provide basic pixel read and write operation. +`Image` provide basic pixel read and write operation. See examples from image_test.cpp: diff --git a/src/aliceVision/matching/README.md b/src/aliceVision/matching/README.md index 0a43c2fd4e..460d8267d2 100644 --- a/src/aliceVision/matching/README.md +++ b/src/aliceVision/matching/README.md @@ -84,7 +84,7 @@ $$ * "Nearest Neighbor Distance Ratio" distance check can be performed to remove repetitive elements. - * As many nearest points have been asked we can measure the similarity between the N-nearest neighbor. If the ratio of distance is inferior to a threshold ``\delta`` the match is kept else it is rejected (since the risk of confusion is higher). It allows to avoid ambiguous correspondences. ``\delta`` is often chosen between ``0.6`` and ``0.8``. + * As many nearest points have been asked we can measure the similarity between the N-nearest neighbor. If the ratio of distance is inferior to a threshold $\delta$ the match is kept else it is rejected (since the risk of confusion is higher). It allows to avoid ambiguous correspondences. $\delta$ is often chosen between ``0.6`` and ``0.8``. $$ \lbrace (P^i_A,P^j_B): j = \underset{k} {\mathrm{argmin}} ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)) < \delta \underset{k\neq j} \min ~ d(\text{desc}(P^i_A), \text{desc}(P^k_B)) diff --git a/src/aliceVision/multiview/README.md b/src/aliceVision/multiview/README.md index 1c0a330f5c..bae1b8c43e 100644 --- a/src/aliceVision/multiview/README.md +++ b/src/aliceVision/multiview/README.md @@ -58,7 +58,7 @@ This project implementation follows the DLT (Direct Linear Transform) explained ### Fundamental matrix: The fundamental matrix is a relation between two images viewing the same scene where those point's -projections are visible in the two images. Given a point correspondence between two views $`(x_i,x'_i)`$: +projections are visible in the two images. Given a point correspondence between two views $(x_i,x'_i)$: We obtain the following relation: @@ -67,8 +67,8 @@ x'^T_i Fx_i = 0 $$ `F` is the (3 x 3) Fundamental matrix, it puts in relation a point x to a line where belong the projection of the 3D X point. -$`l'_i = Fx_i`$ designs the epipolar line on which the point $`x'_i`$ could be. -The relation $`x'^T_i Fx_i = 0`$ exists for all corresponding point belonging to a stereo pair. +$l'_i = Fx_i$ designs the epipolar line on which the point $x'_i$ could be. +The relation $x'^T_i Fx_i = 0$ exists for all corresponding point belonging to a stereo pair. ![The fundamental matrix and the point to line constraint.](../../../docs/img/fundamentalMatrix.png) @@ -80,7 +80,7 @@ Implementation follows the DLT (Direct Linear Transform) explained in [HZ] book. ## Relative pose estimation (Essential matrix) Adding intrinsic parameters to the fundamental matrix gives a metric "object" that provides the following relation -`E = K'^T FK` , this is the Essential relation explained by Longuet-Higgins in 1981 [Longuet]. +$E = K'^T FK$ , this is the Essential relation explained by Longuet-Higgins in 1981 [Longuet]. This essential matrix links the relative position of the camera to the fundamental matrix relation. ![The essential matrix geometric relation.](../../../docs/img/essentialMatrix.png) @@ -119,13 +119,23 @@ In order to use the solver in a generic robust estimation framework, we use them ![The Kernel concept (the two view case).](../../../docs/img/kernelConcept.png) + Solver: - MINIMUM_SAMPLES: The minimal number of point required for the model estimation, - MAX_MODELS: The number of models that the minimal solver could return, - A Solve function that estimates a model from MINIMUM_SAMPLES to n vector data. + +MINIMUM_SAMPLES: The minimal number of point required for the model estimation, + +MAX_MODELS: The number of models that the minimal solver could return, + +A Solve function that estimates a model from MINIMUM_SAMPLES to n vector data. + + ErrorModel: - A metric function that returns the error of a sample data to the provided model. + +A metric function that returns the error of a sample data to the provided model. + + Kernel: - Embed data (putative), the model estimator and the error model. - This kernel is core brick used in the This project robust estimator framework. +Embed data (putative), the model estimator and the error model. + +This kernel is core brick used in the This project robust estimator framework. diff --git a/src/aliceVision/sfm/README.md b/src/aliceVision/sfm/README.md index 03ab392434..ed902f0ba8 100644 --- a/src/aliceVision/sfm/README.md +++ b/src/aliceVision/sfm/README.md @@ -1,7 +1,7 @@ # sfm sfm is the module related to Structure from Motion. -It handles storage of SfM related data and method to solve SfM problems (camera pose estimation, structure triangulation, bundle_adjustment). +It handles storage of SfM related data and method to solve SfM problems (camera pose estimation, structure triangulation, bundle adjustment). ## A generic SfM data container @@ -106,7 +106,7 @@ Two method are proposed: ## Non linear refinement, Bundle Adjustment -This project provides a generic bundle_adjustment framework to refine or keep as constant the following parameters: +This project provides a generic bundle adjustment framework to refine or keep as constant the following parameters: * internal orientation parameters (intrinsics: camera projection model), * external orientation parameters (extrinsics: camera poses), @@ -127,14 +127,14 @@ const double dResidual_after = RMSE(sfm_data); ``` Bundle Adjustment (ajustement de faisceaux), is a non linear optimization problem. -It looks to minimizing the residual error of a series of user cost functions (the reprojection errors of the structure `X_j` to the images measures `x_j^i`). +It looks to minimizing the residual error of a series of user cost functions (the reprojection errors of the structure $X_j$ to the images measures $x_j^i$). According: -* `X_j` the Jnth 3D point of the structure of the scene, -* `x_j^i` the observation of the projection of the 3D point `X_j` in the image `i`, -* `P_i` the projection matrix of the image `i` +* $X_j$ the Jnth 3D point of the structure of the scene, +* $x_j^i$ the observation of the projection of the 3D point $X_j$ in the image $i$, +* $P_i$ the projection matrix of the image $i$ -From a user provided initial guess the vector of parameters: `\{X_j,P_i\}_{i,j}`: camera parameters `\{P_i\}_i` and the scene structure `\{X_j\}_j` are refined in order to minimizes the residual reprojection cost: +From a user provided initial guess the vector of parameters: $\{X_j,P_i\}_{i,j}$: camera parameters $\{P_i\}_i$ and the scene structure $\{X_j\}_j$ are refined in order to minimizes the residual reprojection cost: $$ \underset{ \{P_i\}_i, \{X_j\}_j}{minimize} \left\| \sum_{j=0}^{m} \sum_{i=0}^{n} x_j^i - P_i X_j \right\|_2 From 6281255940e85d603fc8bb3cffdbc538594e2992 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Mon, 14 Nov 2022 11:59:12 +0100 Subject: [PATCH 6/9] [docs] sphinx setup for RTD --- docs/.gitignore | 5 ++++- docs/sphinx/Makefile | 20 ++++++++++++++++++++ docs/sphinx/conf.py | 31 +++++++++++++++++++++++++++++++ docs/sphinx/index.rst | 20 ++++++++++++++++++++ docs/sphinx/make.bat | 35 +++++++++++++++++++++++++++++++++++ 5 files changed, 110 insertions(+), 1 deletion(-) create mode 100644 docs/sphinx/Makefile create mode 100644 docs/sphinx/conf.py create mode 100644 docs/sphinx/index.rst create mode 100644 docs/sphinx/make.bat diff --git a/docs/.gitignore b/docs/.gitignore index 5439c05886..7c5c762e64 100644 --- a/docs/.gitignore +++ b/docs/.gitignore @@ -1,2 +1,5 @@ -#Doxygen +# Doxygen doxygen/build/ + +# Sphinx +sphinx/_build/ diff --git a/docs/sphinx/Makefile b/docs/sphinx/Makefile new file mode 100644 index 0000000000..d4bb2cbb9e --- /dev/null +++ b/docs/sphinx/Makefile @@ -0,0 +1,20 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = . +BUILDDIR = _build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/sphinx/conf.py b/docs/sphinx/conf.py new file mode 100644 index 0000000000..9c3c64d6f3 --- /dev/null +++ b/docs/sphinx/conf.py @@ -0,0 +1,31 @@ +# Configuration file for the Sphinx documentation builder. +# +# For the full list of built-in configuration values, see the documentation: +# https://www.sphinx-doc.org/en/master/usage/configuration.html + +import subprocess + +# -- Project information ----------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information + +project = 'AliceVision' +copyright = '2022, AliceVision Association' +author = 'AliceVision Association' + +# -- General configuration --------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration + +extensions = [] + +templates_path = ['_templates'] +exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] + +# -- Options for HTML output ------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output + +html_theme = 'alabaster' +html_static_path = ['_static'] +html_extra_path = ['../doxygen/build/html'] + +# Doxygen build +subprocess.call('cd ../doxygen ; doxygen Doxyfile.in', shell=True) diff --git a/docs/sphinx/index.rst b/docs/sphinx/index.rst new file mode 100644 index 0000000000..d1cde1f775 --- /dev/null +++ b/docs/sphinx/index.rst @@ -0,0 +1,20 @@ +.. AliceVision documentation master file, created by + sphinx-quickstart on Mon Nov 14 11:52:27 2022. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to AliceVision's documentation! +======================================= + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/docs/sphinx/make.bat b/docs/sphinx/make.bat new file mode 100644 index 0000000000..954237b9b9 --- /dev/null +++ b/docs/sphinx/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=. +set BUILDDIR=_build + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.https://www.sphinx-doc.org/ + exit /b 1 +) + +if "%1" == "" goto help + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd From 86e9bf0121f8136fad739f9b6713d72cf1b051cb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Mon, 14 Nov 2022 12:19:24 +0100 Subject: [PATCH 7/9] [docs] minor corrections for RTD build --- .readthedocs.yaml | 15 +++++++++++++++ docs/sphinx/conf.py | 2 ++ 2 files changed, 17 insertions(+) create mode 100644 .readthedocs.yaml diff --git a/.readthedocs.yaml b/.readthedocs.yaml new file mode 100644 index 0000000000..46143e16ff --- /dev/null +++ b/.readthedocs.yaml @@ -0,0 +1,15 @@ +# .readthedocs.yaml +# Read the Docs configuration file +# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details + +# Required +version: 2 + +sphinx: + builder: html + configuration: docs/source/conf.py + +build: + os: "ubuntu-20.04" + tools: + python: "3" diff --git a/docs/sphinx/conf.py b/docs/sphinx/conf.py index 9c3c64d6f3..e9a9f9e990 100644 --- a/docs/sphinx/conf.py +++ b/docs/sphinx/conf.py @@ -20,6 +20,8 @@ templates_path = ['_templates'] exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] +master_doc = 'index' + # -- Options for HTML output ------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output From d2d17977954eefb1f8b518cc87dd043f6710eae5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Mon, 14 Nov 2022 12:23:07 +0100 Subject: [PATCH 8/9] [docs] minor corrections for RTD build - 2 --- .readthedocs.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.readthedocs.yaml b/.readthedocs.yaml index 46143e16ff..4347efc43f 100644 --- a/.readthedocs.yaml +++ b/.readthedocs.yaml @@ -7,7 +7,7 @@ version: 2 sphinx: builder: html - configuration: docs/source/conf.py + configuration: docs/sphinx/conf.py build: os: "ubuntu-20.04" From 5744ea2965168c681929e996613555ff71ff5f43 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Lo=C3=AFc=20Vital?= Date: Wed, 16 Nov 2022 15:01:41 +0100 Subject: [PATCH 9/9] [docs] minor corrections and re-organization --- docs/doxygen/Doxyfile.in | 2 +- src/aliceVision/robustEstimation/README.md | 2 +- src/aliceVision/sfm/README.md | 75 +--------------------- src/aliceVision/sfmData/README.md | 73 +++++++++++++++++++++ 4 files changed, 76 insertions(+), 76 deletions(-) create mode 100644 src/aliceVision/sfmData/README.md diff --git a/docs/doxygen/Doxyfile.in b/docs/doxygen/Doxyfile.in index d9195c231c..c88eb7fe34 100644 --- a/docs/doxygen/Doxyfile.in +++ b/docs/doxygen/Doxyfile.in @@ -1770,7 +1770,7 @@ FORMULA_MACROFILE = # The default value is: NO. # This tag requires that the tag GENERATE_HTML is set to YES. -USE_MATHJAX = NO +USE_MATHJAX = YES # With MATHJAX_VERSION it is possible to specify the MathJax version to be used. # Note that the different versions of MathJax have different requirements with diff --git a/src/aliceVision/robustEstimation/README.md b/src/aliceVision/robustEstimation/README.md index 65c22cddce..305afb85da 100644 --- a/src/aliceVision/robustEstimation/README.md +++ b/src/aliceVision/robustEstimation/README.md @@ -95,7 +95,7 @@ found. ![A contrario robust estimation, noise adaptivity.](../../../docs/img/ACRansac.png) -Here an example of how to find a best fit line, by using the a contrario robust estimation framework: +Here an example of how to find a best fitting line, by using the a contrario robust estimation framework: It is a bit more complex, we use a class in order to perform the a contrario required task. ``` diff --git a/src/aliceVision/sfm/README.md b/src/aliceVision/sfm/README.md index ed902f0ba8..1a50780bae 100644 --- a/src/aliceVision/sfm/README.md +++ b/src/aliceVision/sfm/README.md @@ -1,80 +1,7 @@ # sfm sfm is the module related to Structure from Motion. -It handles storage of SfM related data and method to solve SfM problems (camera pose estimation, structure triangulation, bundle adjustment). - - -## A generic SfM data container - -`SfM_Data` class contains all the data used to describe input of a SfM problem: - -* a collection of **View** - - * the used images - -* a collection of **camera extrinsic** - - * the camera poses - -* a collection of **camera intrinsic** - - * the camera internal projection parameters - -* a **structure** - - * the collection of landmark (3D points associated with 2d view observations) - -``` -struct SfM_Data -{ - /// Considered views - Views views; - - /// Considered poses (indexed by view.id_pose) - Poses poses; - - /// Considered camera intrinsics (indexed by view.id_cam) - Intrinsics intrinsics; - - /// Structure (3D points with their 2D observations) - Landmarks structure; - - // ... -} -``` - - -### View concept - -The view store information related to an image: - -* image filename -* id_view (must be unique) -* id_pose -* id_intrinsic -* image size - -Note that thanks to the usage of ids we can defined shared poses & shared intrinsics. - -View type is **abstract** and provide a way to add new custom View type: i.e. GeoLocatedView (add GPS position, ...) - - -### Camera Poses concept - -The camera pose store a 3D pose that define a camera rotation and position (camera rotation and center). - - -### Camera Intrinsic concept - -Define the parameter of a camera. It can be shared or not. -Intrinsics parameter are **abstract** and provide a way to easily add new custom camera type. - - -### Structure/Landmarks concept - -It defines the structure: - -* 3D point with 2D view features observations. +It provides methods to solve SfM problems (camera pose estimation, structure triangulation, bundle adjustment). ## SfM_Data cleaning diff --git a/src/aliceVision/sfmData/README.md b/src/aliceVision/sfmData/README.md new file mode 100644 index 0000000000..ad22b5a8f9 --- /dev/null +++ b/src/aliceVision/sfmData/README.md @@ -0,0 +1,73 @@ +# sfmData + +## A generic SfM data container + +`SfM_Data` class contains all the data used to describe input of a SfM problem: + +* a collection of **View** + + * the used images + +* a collection of **camera extrinsic** + + * the camera poses + +* a collection of **camera intrinsic** + + * the camera internal projection parameters + +* a **structure** + + * the collection of landmark (3D points associated with 2d view observations) + +``` +struct SfM_Data +{ + /// Considered views + Views views; + + /// Considered poses (indexed by view.id_pose) + Poses poses; + + /// Considered camera intrinsics (indexed by view.id_cam) + Intrinsics intrinsics; + + /// Structure (3D points with their 2D observations) + Landmarks structure; + + // ... +} +``` + + +### View concept + +The view store information related to an image: + +* image filename +* id_view (must be unique) +* id_pose +* id_intrinsic +* image size + +Note that thanks to the usage of ids we can defined shared poses & shared intrinsics. + +View type is **abstract** and provide a way to add new custom View type: i.e. GeoLocatedView (add GPS position, ...) + + +### Camera Poses concept + +The camera pose store a 3D pose that define a camera rotation and position (camera rotation and center). + + +### Camera Intrinsic concept + +Define the parameter of a camera. It can be shared or not. +Intrinsics parameter are **abstract** and provide a way to easily add new custom camera type. + + +### Structure/Landmarks concept + +It defines the structure: + +* 3D point with 2D view features observations.