1 // Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
2 // All rights reserved.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 //
7 // * Redistributions of source code must retain the above copyright
8 // notice, this list of conditions and the following disclaimer.
9 //
10 // * Redistributions in binary form must reproduce the above copyright
11 // notice, this list of conditions and the following disclaimer in the
12 // documentation and/or other materials provided with the distribution.
13 //
14 // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
15 // its contributors may be used to endorse or promote products derived
16 // from this software without specific prior written permission.
17 //
18 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
21 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
22 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
23 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
24 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
25 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
26 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
27 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
28 // POSSIBILITY OF SUCH DAMAGE.
29 //
30 // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
31
32 #include "ui/feature_matching_widget.h"
33
34 #include "feature/matching.h"
35 #include "ui/options_widget.h"
36 #include "ui/thread_control_widget.h"
37
38 namespace colmap {
39
40 class FeatureMatchingTab : public QWidget {
41 public:
42 FeatureMatchingTab(QWidget* parent, OptionManager* options);
43
44 virtual void Run() = 0;
45
46 protected:
47 void CreateGeneralOptions();
48
49 OptionManager* options_;
50 OptionsWidget* options_widget_;
51 QGridLayout* grid_layout_;
52 ThreadControlWidget* thread_control_widget_;
53 };
54
55 class ExhaustiveMatchingTab : public FeatureMatchingTab {
56 public:
57 ExhaustiveMatchingTab(QWidget* parent, OptionManager* options);
58 void Run() override;
59 };
60
61 class SequentialMatchingTab : public FeatureMatchingTab {
62 public:
63 SequentialMatchingTab(QWidget* parent, OptionManager* options);
64 void Run() override;
65 };
66
67 class VocabTreeMatchingTab : public FeatureMatchingTab {
68 public:
69 VocabTreeMatchingTab(QWidget* parent, OptionManager* options);
70 void Run() override;
71 };
72
73 class SpatialMatchingTab : public FeatureMatchingTab {
74 public:
75 SpatialMatchingTab(QWidget* parent, OptionManager* options);
76 void Run() override;
77 };
78
79 class TransitiveMatchingTab : public FeatureMatchingTab {
80 public:
81 TransitiveMatchingTab(QWidget* parent, OptionManager* options);
82 void Run() override;
83 };
84
85 class CustomMatchingTab : public FeatureMatchingTab {
86 public:
87 CustomMatchingTab(QWidget* parent, OptionManager* options);
88 void Run() override;
89
90 private:
91 std::string match_list_path_;
92 QComboBox* match_type_cb_;
93 };
94
FeatureMatchingTab(QWidget * parent,OptionManager * options)95 FeatureMatchingTab::FeatureMatchingTab(QWidget* parent, OptionManager* options)
96 : QWidget(parent),
97 options_(options),
98 options_widget_(new OptionsWidget(this)),
99 grid_layout_(new QGridLayout(this)),
100 thread_control_widget_(new ThreadControlWidget(this)) {}
101
CreateGeneralOptions()102 void FeatureMatchingTab::CreateGeneralOptions() {
103 options_widget_->AddSpacer();
104 options_widget_->AddSpacer();
105 options_widget_->AddSection("General Options");
106 options_widget_->AddSpacer();
107
108 options_widget_->AddOptionInt(&options_->sift_matching->num_threads,
109 "num_threads", -1);
110 options_widget_->AddOptionBool(&options_->sift_matching->use_gpu, "use_gpu");
111 options_widget_->AddOptionText(&options_->sift_matching->gpu_index,
112 "gpu_index");
113 options_widget_->AddOptionDouble(&options_->sift_matching->max_ratio,
114 "max_ratio");
115 options_widget_->AddOptionDouble(&options_->sift_matching->max_distance,
116 "max_distance");
117 options_widget_->AddOptionBool(&options_->sift_matching->cross_check,
118 "cross_check");
119 options_widget_->AddOptionInt(&options_->sift_matching->max_num_matches,
120 "max_num_matches");
121 options_widget_->AddOptionDouble(&options_->sift_matching->max_error,
122 "max_error");
123 options_widget_->AddOptionDouble(&options_->sift_matching->confidence,
124 "confidence", 0, 1, 0.00001, 5);
125 options_widget_->AddOptionInt(&options_->sift_matching->max_num_trials,
126 "max_num_trials");
127 options_widget_->AddOptionDouble(&options_->sift_matching->min_inlier_ratio,
128 "min_inlier_ratio", 0, 1, 0.001, 3);
129 options_widget_->AddOptionInt(&options_->sift_matching->min_num_inliers,
130 "min_num_inliers");
131 options_widget_->AddOptionBool(&options_->sift_matching->multiple_models,
132 "multiple_models");
133 options_widget_->AddOptionBool(&options_->sift_matching->guided_matching,
134 "guided_matching");
135
136 options_widget_->AddSpacer();
137
138 QScrollArea* options_scroll_area = new QScrollArea(this);
139 options_scroll_area->setAlignment(Qt::AlignHCenter);
140 options_scroll_area->setWidget(options_widget_);
141 grid_layout_->addWidget(options_scroll_area, grid_layout_->rowCount(), 0);
142
143 QPushButton* run_button = new QPushButton(tr("Run"), this);
144 grid_layout_->addWidget(run_button, grid_layout_->rowCount(), 0);
145 connect(run_button, &QPushButton::released, this, &FeatureMatchingTab::Run);
146 }
147
ExhaustiveMatchingTab(QWidget * parent,OptionManager * options)148 ExhaustiveMatchingTab::ExhaustiveMatchingTab(QWidget* parent,
149 OptionManager* options)
150 : FeatureMatchingTab(parent, options) {
151 options_widget_->AddOptionInt(&options_->exhaustive_matching->block_size,
152 "block_size", 2);
153
154 CreateGeneralOptions();
155 }
156
Run()157 void ExhaustiveMatchingTab::Run() {
158 options_widget_->WriteOptions();
159
160 Thread* matcher = new ExhaustiveFeatureMatcher(*options_->exhaustive_matching,
161 *options_->sift_matching,
162 *options_->database_path);
163 thread_control_widget_->StartThread("Matching...", true, matcher);
164 }
165
SequentialMatchingTab(QWidget * parent,OptionManager * options)166 SequentialMatchingTab::SequentialMatchingTab(QWidget* parent,
167 OptionManager* options)
168 : FeatureMatchingTab(parent, options) {
169 options_widget_->AddOptionInt(&options_->sequential_matching->overlap,
170 "overlap");
171 options_widget_->AddOptionBool(
172 &options_->sequential_matching->quadratic_overlap, "quadratic_overlap");
173 options_widget_->AddOptionBool(&options_->sequential_matching->loop_detection,
174 "loop_detection");
175 options_widget_->AddOptionInt(
176 &options_->sequential_matching->loop_detection_period,
177 "loop_detection_period");
178 options_widget_->AddOptionInt(
179 &options_->sequential_matching->loop_detection_num_images,
180 "loop_detection_num_images");
181 options_widget_->AddOptionInt(
182 &options_->sequential_matching->loop_detection_num_nearest_neighbors,
183 "loop_detection_num_nearest_neighbors");
184 options_widget_->AddOptionInt(
185 &options_->sequential_matching->loop_detection_num_checks,
186 "loop_detection_num_checks", 1);
187 options_widget_->AddOptionInt(
188 &options_->sequential_matching
189 ->loop_detection_num_images_after_verification,
190 "loop_detection_num_images_after_verification", 0);
191 options_widget_->AddOptionInt(
192 &options_->sequential_matching->loop_detection_max_num_features,
193 "loop_detection_max_num_features", -1);
194 options_widget_->AddOptionFilePath(
195 &options_->sequential_matching->vocab_tree_path, "vocab_tree_path");
196
197 CreateGeneralOptions();
198 }
199
Run()200 void SequentialMatchingTab::Run() {
201 options_widget_->WriteOptions();
202
203 if (options_->sequential_matching->loop_detection &&
204 !ExistsFile(options_->sequential_matching->vocab_tree_path)) {
205 QMessageBox::critical(this, "", tr("Invalid vocabulary tree path."));
206 return;
207 }
208
209 Thread* matcher = new SequentialFeatureMatcher(*options_->sequential_matching,
210 *options_->sift_matching,
211 *options_->database_path);
212 thread_control_widget_->StartThread("Matching...", true, matcher);
213 }
214
VocabTreeMatchingTab(QWidget * parent,OptionManager * options)215 VocabTreeMatchingTab::VocabTreeMatchingTab(QWidget* parent,
216 OptionManager* options)
217 : FeatureMatchingTab(parent, options) {
218 options_widget_->AddOptionInt(&options_->vocab_tree_matching->num_images,
219 "num_images");
220 options_widget_->AddOptionInt(
221 &options_->vocab_tree_matching->num_nearest_neighbors,
222 "num_nearest_neighbors");
223 options_widget_->AddOptionInt(&options_->vocab_tree_matching->num_checks,
224 "num_checks", 1);
225 options_widget_->AddOptionInt(
226 &options_->vocab_tree_matching->num_images_after_verification,
227 "num_images_after_verification", 0);
228 options_widget_->AddOptionInt(
229 &options_->vocab_tree_matching->max_num_features, "max_num_features", -1);
230 options_widget_->AddOptionFilePath(
231 &options_->vocab_tree_matching->vocab_tree_path, "vocab_tree_path");
232
233 CreateGeneralOptions();
234 }
235
Run()236 void VocabTreeMatchingTab::Run() {
237 options_widget_->WriteOptions();
238
239 if (!ExistsFile(options_->vocab_tree_matching->vocab_tree_path)) {
240 QMessageBox::critical(this, "", tr("Invalid vocabulary tree path."));
241 return;
242 }
243
244 Thread* matcher = new VocabTreeFeatureMatcher(*options_->vocab_tree_matching,
245 *options_->sift_matching,
246 *options_->database_path);
247 thread_control_widget_->StartThread("Matching...", true, matcher);
248 }
249
SpatialMatchingTab(QWidget * parent,OptionManager * options)250 SpatialMatchingTab::SpatialMatchingTab(QWidget* parent, OptionManager* options)
251 : FeatureMatchingTab(parent, options) {
252 options_widget_->AddOptionBool(&options_->spatial_matching->is_gps, "is_gps");
253 options_widget_->AddOptionBool(&options_->spatial_matching->ignore_z,
254 "ignore_z");
255 options_widget_->AddOptionInt(&options_->spatial_matching->max_num_neighbors,
256 "max_num_neighbors");
257 options_widget_->AddOptionDouble(&options_->spatial_matching->max_distance,
258 "max_distance");
259
260 CreateGeneralOptions();
261 }
262
Run()263 void SpatialMatchingTab::Run() {
264 options_widget_->WriteOptions();
265
266 Thread* matcher = new SpatialFeatureMatcher(*options_->spatial_matching,
267 *options_->sift_matching,
268 *options_->database_path);
269 thread_control_widget_->StartThread("Matching...", true, matcher);
270 }
271
TransitiveMatchingTab(QWidget * parent,OptionManager * options)272 TransitiveMatchingTab::TransitiveMatchingTab(QWidget* parent,
273 OptionManager* options)
274 : FeatureMatchingTab(parent, options) {
275 options_widget_->AddOptionInt(&options->transitive_matching->batch_size,
276 "batch_size");
277 options_widget_->AddOptionInt(&options->transitive_matching->num_iterations,
278 "num_iterations");
279
280 CreateGeneralOptions();
281 }
282
Run()283 void TransitiveMatchingTab::Run() {
284 options_widget_->WriteOptions();
285
286 Thread* matcher = new TransitiveFeatureMatcher(*options_->transitive_matching,
287 *options_->sift_matching,
288 *options_->database_path);
289 thread_control_widget_->StartThread("Matching...", true, matcher);
290 }
291
CustomMatchingTab(QWidget * parent,OptionManager * options)292 CustomMatchingTab::CustomMatchingTab(QWidget* parent, OptionManager* options)
293 : FeatureMatchingTab(parent, options) {
294 match_type_cb_ = new QComboBox(this);
295 match_type_cb_->addItem(QString("Image pairs"));
296 match_type_cb_->addItem(QString("Raw feature matches"));
297 match_type_cb_->addItem(QString("Inlier feature matches"));
298 options_widget_->AddOptionRow("type", match_type_cb_, nullptr);
299
300 options_widget_->AddOptionFilePath(&match_list_path_, "match_list_path");
301 options_widget_->AddOptionInt(&options_->image_pairs_matching->block_size,
302 "block_size", 2);
303
304 CreateGeneralOptions();
305 }
306
Run()307 void CustomMatchingTab::Run() {
308 options_widget_->WriteOptions();
309
310 if (!ExistsFile(match_list_path_)) {
311 QMessageBox::critical(this, "", tr("Path does not exist!"));
312 return;
313 }
314
315 Thread* matcher = nullptr;
316 if (match_type_cb_->currentIndex() == 0) {
317 ImagePairsMatchingOptions matcher_options;
318 matcher_options.match_list_path = match_list_path_;
319 matcher = new ImagePairsFeatureMatcher(
320 matcher_options, *options_->sift_matching, *options_->database_path);
321 } else {
322 FeaturePairsMatchingOptions matcher_options;
323 matcher_options.match_list_path = match_list_path_;
324 if (match_type_cb_->currentIndex() == 1) {
325 matcher_options.verify_matches = true;
326 } else if (match_type_cb_->currentIndex() == 2) {
327 matcher_options.verify_matches = false;
328 }
329
330 matcher = new FeaturePairsFeatureMatcher(
331 matcher_options, *options_->sift_matching, *options_->database_path);
332 }
333
334 thread_control_widget_->StartThread("Matching...", true, matcher);
335 }
336
FeatureMatchingWidget(QWidget * parent,OptionManager * options)337 FeatureMatchingWidget::FeatureMatchingWidget(QWidget* parent,
338 OptionManager* options)
339 : parent_(parent) {
340 // Do not change flag, to make sure feature database is not accessed from
341 // multiple threads
342 setWindowFlags(Qt::Window);
343 setWindowTitle("Feature matching");
344
345 QGridLayout* grid = new QGridLayout(this);
346
347 tab_widget_ = new QTabWidget(this);
348 tab_widget_->addTab(new ExhaustiveMatchingTab(this, options),
349 tr("Exhaustive"));
350 tab_widget_->addTab(new SequentialMatchingTab(this, options),
351 tr("Sequential"));
352 tab_widget_->addTab(new VocabTreeMatchingTab(this, options), tr("VocabTree"));
353 tab_widget_->addTab(new SpatialMatchingTab(this, options), tr("Spatial"));
354 tab_widget_->addTab(new TransitiveMatchingTab(this, options),
355 tr("Transitive"));
356 tab_widget_->addTab(new CustomMatchingTab(this, options), tr("Custom"));
357
358 grid->addWidget(tab_widget_, 0, 0);
359 }
360
showEvent(QShowEvent * event)361 void FeatureMatchingWidget::showEvent(QShowEvent* event) {
362 parent_->setDisabled(true);
363 }
364
hideEvent(QHideEvent * event)365 void FeatureMatchingWidget::hideEvent(QHideEvent* event) {
366 parent_->setEnabled(true);
367 }
368
369 } // namespace colmap
370