[software] featureMatching : Rename option nonPosesGeometricErrorMax

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

@@ -58,25 +58,25 @@ void PointsToMat(
 }
 
 /// Use geometry of the views to compute a putative structure from features and descriptors.
-void StructureEstimationFromKnownPoses::run(double thresholdF,
-  SfMData& sfmData,
+void StructureEstimationFromKnownPoses::run(SfMData& sfmData,
   const PairSet& pairs,
-  const feature::RegionsPerView& regionsPerView)
+  const feature::RegionsPerView& regionsPerView,
+  double knownPosesGeometricErrorMax)
 {
   sfmData.structure.clear();
 
-  match(thresholdF, sfmData, pairs, regionsPerView);
+  match(sfmData, pairs, regionsPerView, knownPosesGeometricErrorMax);
   filter(sfmData, pairs, regionsPerView);
   triangulate(sfmData, regionsPerView);
 }
 
 // #define ALICEVISION_EXHAUSTIVE_MATCHING
 
 /// Use guided matching to find corresponding 2-view correspondences
-void StructureEstimationFromKnownPoses::match(double thresholdF,
-  const SfMData& sfmData,
+void StructureEstimationFromKnownPoses::match(const SfMData& sfmData,
   const PairSet& pairs,
-  const feature::RegionsPerView& regionsPerView)
+  const feature::RegionsPerView& regionsPerView,
+  double knownPosesGeometricErrorMax)
 {
   boost::progress_display my_progress_bar( pairs.size(), std::cout,
     "Compute pairwise fundamental guided matching:\n" );
@@ -140,7 +140,7 @@ void StructureEstimationFromKnownPoses::match(double thresholdF,
             regionsPerView.getRegions(it->second, descType),
             iterIntrinsicR->second->w(), iterIntrinsicR->second->h(),
             //descType,
-            Square(thresholdF), Square(0.8),
+            Square(knownPosesGeometricErrorMax), Square(0.8),
             matches
           );
       #endif

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

@@ -19,18 +19,18 @@ class StructureEstimationFromKnownPoses
 public:
 
   /// Use geometry of the views to compute a putative structure from features and descriptors.
-  void run(double thresholdF,
-    sfmData::SfMData& sfmData,
+  void run(sfmData::SfMData& sfmData,
     const PairSet& pairs,
-    const feature::RegionsPerView& regionsPerView);
+    const feature::RegionsPerView& regionsPerView,
+    double knownPosesGeometricErrorMax);
 
 public:
 
   /// Use guided matching to find corresponding 2-view correspondences
-  void match(double thresholdF,
-    const sfmData::SfMData& sfmData,
+  void match(const sfmData::SfMData& sfmData,
     const PairSet& pairs,
-    const feature::RegionsPerView& regionsPerView);
+    const feature::RegionsPerView& regionsPerView,
+    double knownPosesGeometricErrorMax);
 
   /// Filter inconsistent correspondences by using 3-view correspondences on view triplets
   void filter(

src/software/pipeline/main_computeStructureFromKnownPoses.cpp

@@ -37,7 +37,7 @@ int main(int argc, char **argv)
   std::string sfmDataFilename;
   std::string outSfMDataFilename;
   std::vector<std::string> featuresFolders;
-
+  double knownPosesGeometricErrorMax = 5.0;
   // user optional parameters
 
   std::string describerTypesName = feature::EImageDescriberType_enumToString(feature::EImageDescriberType::SIFT);
@@ -59,7 +59,10 @@ int main(int argc, char **argv)
     ("describerTypes,d", po::value<std::string>(&describerTypesName)->default_value(describerTypesName),
       feature::EImageDescriberType_informations().c_str())
     ("matchesFolders,m", po::value<std::vector<std::string>>(&matchesFolders)->multitoken()->required(),
-      "Path to folder(s) in which computed matches are stored.");
+      "Path to folder(s) in which computed matches are stored.")
+    ("knownPosesGeometricErrorMax", po::value<double>(&knownPosesGeometricErrorMax)->default_value(knownPosesGeometricErrorMax),
+        "Maximum error (in pixels) allowed for features matching during geometric verification for non camera poses known. "
+        "If set to 0 it lets the ACRansac select an optimal value.");
 
   po::options_description logParams("Log parameters");
   logParams.add_options()
@@ -151,9 +154,8 @@ int main(int argc, char **argv)
   sfmData.structure.clear();
 
   // compute Structure from known camera poses
-  double thresholdF=0.0;
   sfm::StructureEstimationFromKnownPoses structureEstimator;
-  structureEstimator.match(thresholdF,sfmData, pairs, regionsPerView);
+  structureEstimator.match(sfmData, pairs, regionsPerView, knownPosesGeometricErrorMax);
 
   // unload descriptors before triangulation
   regionsPerView.clearDescriptors();

src/software/pipeline/main_featureMatching.cpp

@@ -106,7 +106,7 @@ int main(int argc, char **argv)
   std::string nearestMatchingMethod = "ANN_L2";
   robustEstimation::ERobustEstimator geometricEstimator = robustEstimation::ERobustEstimator::ACRANSAC;
   double geometricErrorMax = 0.0; //< the maximum reprojection error allowed for image matching with geometric validation
-  double thresholdF=0.0;
+  double knownPosesGeometricErrorMax=5.0;
   bool savePutativeMatches = false;
   bool guidedMatching = false;
   int maxIteration = 2048;
@@ -158,8 +158,9 @@ int main(int argc, char **argv)
     ("geometricError", po::value<double>(&geometricErrorMax)->default_value(geometricErrorMax), 
           "Maximum error (in pixels) allowed for features matching during geometric verification. "
           "If set to 0 it lets the ACRansac select an optimal value.")
-    ("thresholdF", po::value<double>(&thresholdF)->default_value(thresholdF),
-          "")
+    ("knownPosesGeometricErrorMax", po::value<double>(&knownPosesGeometricErrorMax)->default_value(knownPosesGeometricErrorMax),
+          "Maximum error (in pixels) allowed for features matching during geometric verification for non camera poses known. "
+          "If set to 0 it lets the ACRansac select an optimal value.")
     ("savePutativeMatches", po::value<bool>(&savePutativeMatches)->default_value(savePutativeMatches),
       "Save putative matches.")
     ("guidedMatching", po::value<bool>(&guidedMatching)->default_value(guidedMatching),
@@ -340,7 +341,7 @@ int main(int argc, char **argv)
     ALICEVISION_LOG_INFO("Putative matches from known poses: " << pairsPoseKnown.size() << " image pairs.");
 
     sfm::StructureEstimationFromKnownPoses structureEstimator;
-    structureEstimator.match(thresholdF, sfmData, pairsPoseKnown, regionPerView);
+    structureEstimator.match(sfmData, pairsPoseKnown, regionPerView, knownPosesGeometricErrorMax);
     mapPutativesMatches = structureEstimator.getPutativesMatches();
   }