软件步骤2：OpenMVG特征提取（基于SFM场景）

基于OpenMVG保存的SFM数据（Views和Intrinsics）进行特征提取

#include <cereal/archives/json.hpp>

#include "openMVG/features/regions_factory_io.hpp"
#include "openMVG/features/akaze/image_describer_akaze_io.hpp"
#include "openMVG/features/sift/SIFT_Anatomy_Image_Describer_io.hpp"
#include "openMVG/image/image_io.hpp"
#include "openMVG/sfm/sfm_data.hpp"
#include "openMVG/sfm/sfm_data_io.hpp"
#include "openMVG/system/logger.hpp"
#include "openMVG/system/loggerprogress.hpp"
#include "openMVG/system/timer.hpp"

#include "third_party/cmdLine/cmdLine.h"
#include "third_party/stlplus3/filesystemSimplified/file_system.hpp"

#include "nonFree/sift/SIFT_describer_io.hpp"

#include <cereal/details/helpers.hpp>

#include <atomic>
#include <cstdlib>
#include <fstream>
#include <string>

#ifdef OPENMVG_USE_OPENMP
#include <omp.h>
#endif

using namespace openMVG;
using namespace openMVG::image;
using namespace openMVG::features;
using namespace openMVG::sfm;
//特征提取质量
features::EDESCRIBER_PRESET stringToEnum(const std::string & sPreset)
{
  features::EDESCRIBER_PRESET preset;
  if (sPreset == "NORMAL")
    preset = features::NORMAL_PRESET;
  else
  if (sPreset == "HIGH")
    preset = features::HIGH_PRESET;
  else
  if (sPreset == "ULTRA")
    preset = features::ULTRA_PRESET;
  else
    preset = features::EDESCRIBER_PRESET(-1);
  return preset;
}

/// - 特征和描述子提取
/// - 导出特征和描述子文件
int main(int argc, char **argv)
{
  CmdLine cmd;

  std::string sSfM_Data_Filename;
  std::string sOutDir = "";
  bool bUpRight = false;
  std::string sImage_Describer_Method = "SIFT";
  bool bForce = false;
  std::string sFeaturePreset = "";
#ifdef OPENMVG_USE_OPENMP
  int iNumThreads = 0;
#endif

  // required
  cmd.add( make_option('i', sSfM_Data_Filename, "input_file") );
  cmd.add( make_option('o', sOutDir, "outdir") );
  // Optional
  cmd.add( make_option('m', sImage_Describer_Method, "describerMethod") );
  cmd.add( make_option('u', bUpRight, "upright") );
  cmd.add( make_option('f', bForce, "force") );
  cmd.add( make_option('p', sFeaturePreset, "describerPreset") );

#ifdef OPENMVG_USE_OPENMP
  cmd.add( make_option('n', iNumThreads, "numThreads") );
#endif

  try {
      if (argc == 1) throw std::string("Invalid command line parameter.");
      cmd.process(argc, argv);
  } catch (const std::string& s) {
      OPENMVG_LOG_INFO
        << "Usage: " << argv[0] << '\n'
        << "[-i|--input_file] a SfM_Data file \n"
        << "[-o|--outdir path] \n"
        << "\n[Optional]\n"
        << "[-f|--force] Force to recompute data\n"
        << "[-m|--describerMethod]\n"
        << "  (method to use to describe an image):\n"
        << "   SIFT (default),\n"
        << "   SIFT_ANATOMY,\n"
        << "   AKAZE_FLOAT: AKAZE with floating point descriptors,\n"
        << "   AKAZE_MLDB:  AKAZE with binary descriptors\n"
        << "[-u|--upright] Use Upright feature 0 or 1\n"
        << "[-p|--describerPreset]\n"
        << "  (used to control the Image_describer configuration):\n"
        << "   NORMAL (default),\n"
        << "   HIGH,\n"
        << "   ULTRA: !!Can take long time!!\n"
#ifdef OPENMVG_USE_OPENMP
        << "[-n|--numThreads] number of parallel computations\n"
#endif
      ;

      OPENMVG_LOG_ERROR << s;
      return EXIT_FAILURE;
  }

  OPENMVG_LOG_INFO
    << " You called : " << "\n"
    << argv[0] << "\n"
    << "--input_file " << sSfM_Data_Filename << "\n"
    << "--outdir " << sOutDir << "\n"
    << "--describerMethod " << sImage_Describer_Method << "\n"
    << "--upright " << bUpRight << "\n"
    << "--describerPreset " << (sFeaturePreset.empty() ? "NORMAL" : sFeaturePreset) << "\n"
    << "--force " << bForce << "\n"
#ifdef OPENMVG_USE_OPENMP
    << "--numThreads " << iNumThreads << "\n"
#endif
    ;


  if (sOutDir.empty())
  {
    OPENMVG_LOG_ERROR << "\nIt is an invalid output directory";
    return EXIT_FAILURE;
  }

  // Create output dir
  if (!stlplus::folder_exists(sOutDir))
  {
    if (!stlplus::folder_create(sOutDir))
    {
      OPENMVG_LOG_ERROR << "Cannot create output directory";
      return EXIT_FAILURE;
    }
  }

  //---------------------------------------
  // a. 加载SFM场景
  //---------------------------------------
  SfM_Data sfm_data;
  if (!Load(sfm_data, sSfM_Data_Filename, ESfM_Data(VIEWS|INTRINSICS))) {
    OPENMVG_LOG_ERROR
      << "The input file \""<< sSfM_Data_Filename << "\" cannot be read";
    return EXIT_FAILURE;
  }

  // b. 初始化特征描述子，记录image_describer，regions_type，即你想要用什么样的特征描述子以及具体的参数
  //     不记录描述子的具体数值
  // - 重新检索已经计算的
  // - 创建新的

  using namespace openMVG::features;
  std::unique_ptr<Image_describer> image_describer;

  const std::string sImage_describer = stlplus::create_filespec(sOutDir, "image_describer", "json");
  //加载已经有的
  if (!bForce && stlplus::is_file(sImage_describer))
  {
    // Dynamically load the image_describer from the file (will restore old used settings)
    std::ifstream stream(sImage_describer.c_str());
    if (!stream)
      return EXIT_FAILURE;

    try
    {
      cereal::JSONInputArchive archive(stream);
      archive(cereal::make_nvp("image_describer", image_describer));
    }
    catch (const cereal::Exception & e)
    {
      OPENMVG_LOG_ERROR << e.what() << '\n'<< "Cannot dynamically allocate the Image_describer interface.";
      return EXIT_FAILURE;
    }
  }
  //重新计算
  else
  {
    // 描述子创建
    if (sImage_Describer_Method == "SIFT")
    {
      image_describer.reset(new SIFT_Image_describer(SIFT_Image_describer::Params(), !bUpRight));
    }
    else
    if (sImage_Describer_Method == "SIFT_ANATOMY")
    {
      image_describer.reset(
        new SIFT_Anatomy_Image_describer(SIFT_Anatomy_Image_describer::Params()));
    }
    else
    if (sImage_Describer_Method == "AKAZE_FLOAT")
    {
      image_describer = AKAZE_Image_describer::create
        (AKAZE_Image_describer::Params(AKAZE::Params(), AKAZE_MSURF), !bUpRight);
    }
    else
    if (sImage_Describer_Method == "AKAZE_MLDB")
    {
      image_describer = AKAZE_Image_describer::create
        (AKAZE_Image_describer::Params(AKAZE::Params(), AKAZE_MLDB), !bUpRight);
    }
    if (!image_describer)
    {
      OPENMVG_LOG_ERROR << "Cannot create the designed Image_describer:"
        << sImage_Describer_Method << ".";
      return EXIT_FAILURE;
    }
    else
    {
      if (!sFeaturePreset.empty())
      if (!image_describer->Set_configuration_preset(stringToEnum(sFeaturePreset)))
      {
        OPENMVG_LOG_ERROR << "Preset configuration failed.";
        return EXIT_FAILURE;
      }
    }

    // 建立文件流for image_describer
    {
      std::ofstream stream(sImage_describer.c_str());
      if (!stream)
        return EXIT_FAILURE;
      cereal::JSONOutputArchive archive(stream);
      
      archive(cereal::make_nvp("image_describer", image_describer));
      auto regionsType = image_describer->Allocate();
      archive(cereal::make_nvp("regions_type", regionsType));
    }
  }

  // 开始进行特征提取
  {
    system::Timer timer;
    Image<unsigned char> imageGray;

    system::LoggerProgress my_progress_bar(sfm_data.GetViews().size(), "- EXTRACT FEATURES -" );

    // Use a boolean to track if we must stop feature extraction
    std::atomic<bool> preemptive_exit(false);
#ifdef OPENMVG_USE_OPENMP
    const unsigned int nb_max_thread = omp_get_max_threads();

    if (iNumThreads > 0) {
        omp_set_num_threads(iNumThreads);
    } else {
        omp_set_num_threads(nb_max_thread);
    }

    #pragma omp parallel for schedule(dynamic) if (iNumThreads > 0) private(imageGray)
#endif
    for (int i = 0; i < static_cast<int>(sfm_data.views.size()); ++i)
    {
      //获取当前视图
      Views::const_iterator iterViews = sfm_data.views.begin();
      std::advance(iterViews, i);
      const View * view = iterViews->second.get();
      //下面两个文件才是具体存储特征和描述子具体数字的文件，后缀名为feat和desc
      const std::string
        sView_filename = stlplus::create_filespec(sfm_data.s_root_path, view->s_Img_path),
        sFeat = stlplus::create_filespec(sOutDir, stlplus::basename_part(sView_filename), "feat"),
        sDesc = stlplus::create_filespec(sOutDir, stlplus::basename_part(sView_filename), "desc");

      //如果当前还不存在这样的文件，那就是还没有具体进行计算，所以开始计算特征和描述子
      if (!preemptive_exit && (bForce || !stlplus::file_exists(sFeat) || !stlplus::file_exists(sDesc)))
      {
        if (!ReadImage(sView_filename.c_str(), &imageGray))
          continue;

        // 是否有mask文件？默认是没有的，一般不考虑这个，除非是有些目标不想要
        Image<unsigned char> * mask = nullptr; 

        const std::string
          mask_filename_local =
            stlplus::create_filespec(sfm_data.s_root_path,stlplus::basename_part(sView_filename) + "_mask", "png"),
          mask_filename_global =
            stlplus::create_filespec(sfm_data.s_root_path, "mask", "png");

        Image<unsigned char> imageMask;//局部和全局只要一个
        // 尝试读取局部mask文件
        if (stlplus::file_exists(mask_filename_local))
        {
          if (!ReadImage(mask_filename_local.c_str(), &imageMask))
          {
            OPENMVG_LOG_ERROR
              << "Invalid mask: " << mask_filename_local << ';'
              << "Stopping feature extraction.";
            preemptive_exit = true;
            continue;
          }
          // Use the local mask only if it fits the current image size
          if (imageMask.Width() == imageGray.Width() && imageMask.Height() == imageGray.Height())
            mask = &imageMask;
        }
        else
        {
          // 尝试读取全局mask文件
          if (stlplus::file_exists(mask_filename_global))
          {
            if (!ReadImage(mask_filename_global.c_str(), &imageMask))
            {
              OPENMVG_LOG_ERROR
                << "Invalid mask: " << mask_filename_global << ';'
                << "Stopping feature extraction.";
              preemptive_exit = true;
              continue;
            }
            // Use the global mask only if it fits the current image size
            if (imageMask.Width() == imageGray.Width() && imageMask.Height() == imageGray.Height())
              mask = &imageMask;
          }
        }

        // 使用刚才初始化image_describer计算并保存特征，分别保存当前视图的sFeat和sDesc文件
        auto regions = image_describer->Describe(imageGray, mask);
        if (regions && !image_describer->Save(regions.get(), sFeat, sDesc)) {
          OPENMVG_LOG_ERROR
            << "Cannot save regions for image: " << sView_filename << ';'
            << "Stopping feature extraction.";
          preemptive_exit = true;
          continue;
        }
      }
      ++my_progress_bar;
    }
    OPENMVG_LOG_INFO << "Task done in (s): " << timer.elapsed();
  }
  return EXIT_SUCCESS;
}