SFM bootstraping

src/aliceVision/sfm/pipeline/relativePoses.hpp

@@ -0,0 +1,92 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2023 AliceVision contributors.
+// This Source Code Form is subject to the terms of the Mozilla Public License,
+// v. 2.0. If a copy of the MPL was not distributed with this file,
+// You can obtain one at https://mozilla.org/MPL/2.0/.
+
+#include <aliceVision/types.hpp>
+#include <aliceVision/numeric/numeric.hpp>
+#include <boost/json.hpp>
+#include <aliceVision/geometry/lie.hpp>
+
+namespace Eigen
+{
+    template <typename T, int M, int N>
+    Eigen::Matrix<T, M, N> tag_invoke(boost::json::value_to_tag<Eigen::Matrix<T, M, N>>, boost::json::value const& jv)
+    {
+        Eigen::Matrix<T, M, N> ret;
+
+        std::vector<T> buf = boost::json::value_to<std::vector<T>>(jv);
+
+        int pos = 0;
+        for (int i = 0; i < M; i ++)
+        {
+            for (int j = 0; j < N; j++)
+            {
+                ret(i, j) = buf[pos];
+                pos++;
+            }
+        }
+
+        return ret;
+    }
+
+    template <typename T, int M, int N>
+    void tag_invoke(const boost::json::value_from_tag&, boost::json::value& jv, Eigen::Matrix<T, M, N> const& input)
+    {
+        std::vector<T> buf;
+
+        for (int i = 0; i < M; i ++)
+        {
+            for (int j = 0; j < N; j++)
+            {
+                buf.push_back(input(i, j));
+            }
+        }
+
+
+        jv = boost::json::value_from<std::vector<T>>(std::move(buf));
+    }
+
+}
+
+namespace aliceVision
+{
+namespace sfm
+{
+
+struct ReconstructedPair
+{
+    IndexT reference;
+    IndexT next;
+    Mat3 R;
+    Vec3 t;
+};
+
+
+void tag_invoke(const boost::json::value_from_tag&, boost::json::value& jv, sfm::ReconstructedPair const& input)
+{
+    jv = {
+        {"reference", input.reference}, 
+        {"next", input.next}, 
+        {"R", boost::json::value_from(SO3::logm(input.R))}, 
+        {"t", boost::json::value_from(input.t)}
+    };
+}
+
+ReconstructedPair tag_invoke(boost::json::value_to_tag<ReconstructedPair>, boost::json::value const& jv)
+{
+    const boost::json::object& obj = jv.as_object();
+
+    ReconstructedPair ret;
+
+    ret.reference = boost::json::value_to<IndexT>(obj.at("reference"));
+    ret.next = boost::json::value_to<IndexT>(obj.at("next"));
+    ret.R = SO3::expm(boost::json::value_to<Vec3>(obj.at("R")));
+    ret.t = boost::json::value_to<Vec3>(obj.at("t"));
+
+    return ret;
+}
+
+}
+}

src/aliceVision/track/trackIO.cpp

@@ -17,5 +17,16 @@ void tag_invoke(const boost::json::value_from_tag&, boost::json::value& jv, alic
     };
 }
 
+aliceVision::track::Track tag_invoke(boost::json::value_to_tag<aliceVision::track::Track>, boost::json::value const& jv)
+{
+    const boost::json::object& obj = jv.as_object();
+
+    aliceVision::track::Track ret;
+    ret.descType = feature::EImageDescriberType_stringToEnum(boost::json::value_to<std::string>(obj.at("descType")));
+    ret.featPerView = flat_map_value_to<size_t>(obj.at("featPerView"));
+
+    return ret;
+}
+
 } // namespace track
 } // namespace aliceVision

src/aliceVision/track/trackIO.hpp

@@ -13,10 +13,31 @@
 namespace aliceVision {
 namespace track {
 
+template<class T>
+stl::flat_map<size_t, T> flat_map_value_to(const boost::json::value& jv)
+{
+    stl::flat_map<size_t, T> ret;
+
+    const boost::json::array obj = jv.as_array();
+
+    for (const auto & item: obj)
+    {
+        const boost::json::array inner = item.as_array();
+        ret.insert({boost::json::value_to<std::size_t>(inner[0]), boost::json::value_to<T>(inner[1])});
+    }
+
+    return ret;
+}
+
 /**
  * @brief Serialize track to JSON object.
  */
 void tag_invoke(const boost::json::value_from_tag&, boost::json::value& jv, aliceVision::track::Track const& input);
 
+/**
+ * @brief Deserialize track from JSON object.
+ */
+aliceVision::track::Track tag_invoke(boost::json::value_to_tag<aliceVision::track::Track>, boost::json::value const& jv);
+
 } // namespace track
 } // namespace aliceVision

src/software/pipeline/CMakeLists.txt

@@ -125,6 +125,36 @@ if(ALICEVISION_BUILD_SFM)
           Boost::json
   )
 
+  # Relative pose
+  alicevision_add_software(aliceVision_relativePoseEstimating
+    SOURCE main_relativePoseEstimating.cpp
+    FOLDER ${FOLDER_SOFTWARE_PIPELINE}
+    LINKS aliceVision_system
+          aliceVision_cmdline
+          aliceVision_feature
+          aliceVision_sfm
+          aliceVision_sfmData
+          aliceVision_track
+          Boost::program_options
+          Boost::filesystem
+          Boost::json
+  )
+
+   # bootstraping sfm
+   alicevision_add_software(aliceVision_sfmBootstraping
+   SOURCE main_sfmBootstraping.cpp
+   FOLDER ${FOLDER_SOFTWARE_PIPELINE}
+   LINKS aliceVision_system
+         aliceVision_cmdline
+         aliceVision_feature
+         aliceVision_sfm
+         aliceVision_sfmData
+         aliceVision_track
+         Boost::program_options
+         Boost::filesystem
+         Boost::json
+ )
+
   # Incremental / Sequential SfM
   alicevision_add_software(aliceVision_incrementalSfM
     SOURCE main_incrementalSfM.cpp