Initial ability to reconstruct from manual tracks

CMake/telesculptor-external-kwiver.cmake

@@ -18,7 +18,7 @@ ExternalProject_Add(kwiver
   BINARY_DIR ${TELESCULPTOR_EXTERNAL_DIR}/kwiver-build
   STAMP_DIR ${TELESCULPTOR_STAMP_DIR}
   GIT_REPOSITORY "https://github.com/Kitware/kwiver.git"
-  GIT_TAG 68709c321bd23cf541b9b3acbf8ef728754df5bc
+  GIT_TAG 0dc3f67c58df77909f463864f18068db6e645679
   #GIT_SHALLOW 1
   CMAKE_CACHE_ARGS
     -DBUILD_SHARED_LIBS:BOOL=ON

config/gui_manual_initialize.conf

@@ -0,0 +1,7 @@
+# Default configuration for the "Estimate Cameras/Landmarks" algorithm used in the GUI
+
+default_camera_config := gui_default_camera_intrinsics.conf
+
+block initializer
+  mvg:min_frame_to_frame_matches = 10
+endblock

gui/GroundControlPointsHelper.cxx

@@ -1162,6 +1162,63 @@ void GroundControlPointsHelper::setGroundControlPoints(
   emit this->pointCountChanged(d->groundControlPoints.size());
 }
 
+//-----------------------------------------------------------------------------
+void GroundControlPointsHelper::setGroundControlPoint(
+  id_t id, kwiver::vital::vector_3d const& loc)
+{
+  QTE_D();
+
+  if (auto* const gcp = qtGet(d->groundControlPoints, id))
+  {
+    if (gcp->second.gcp)
+    {
+      if (auto* const hp = qtGet(d->gcpIdToHandleMap, id))
+      {
+        auto const handleId = d->worldWidget->findHandleWidget(hp->second);
+        if (handleId < 0)
+        {
+          qWarning()
+            << "Failed to find the VTK ID associated with the VTK handle"
+            << hp->second << " and the point with ID" << id;
+          return;
+        }
+
+        d->movePoint(handleId, d->worldWidget, loc);
+        if (auto* const camera = d->mainWindow->activeCamera())
+        {
+          double cameraPt[2];
+          camera->ProjectPoint(loc, cameraPt);
+          d->movePoint(
+            handleId, d->cameraWidget, { cameraPt[0], cameraPt[1], 0.0 });
+        }
+        else
+        {
+          d->updatePoint(handleId);
+        }
+      }
+      else
+      {
+        qWarning() << "Failed to find the VTK handle associated with "
+                      "the point with ID" << id;
+      }
+
+      return;
+    }
+  }
+
+  auto const oldNextId = d->nextId;
+
+  auto gcp = std::make_shared<kv::ground_control_point>();
+  gcp->set_loc(loc);
+
+  d->addPoint(id, gcp);
+
+  d->nextId = std::max(id + 1, oldNextId);
+
+  emit this->pointAdded(id);
+  emit this->pointCountChanged(d->groundControlPoints.size());
+}
+
 //-----------------------------------------------------------------------------
 bool GroundControlPointsHelper::isEmpty() const
 {

gui/GroundControlPointsHelper.h

@@ -39,6 +39,7 @@ class GroundControlPointsHelper : public QObject
 
   // Set ground control points
   void setGroundControlPoints(kwiver::vital::ground_control_point_map const&);
+  void setGroundControlPoint(id_t, kwiver::vital::vector_3d const&);
 
   // Get ground control points
   std::vector<gcp_sptr> groundControlPoints() const;

gui/MainWindow.cxx

@@ -1355,6 +1355,7 @@ void MainWindowPrivate::setActiveTool(AbstractTool* tool)
     tool->setEnabled(enableTools);
   }
   this->UI.actionCancelComputation->setEnabled(enableCancel);
+  this->UI.actionRebuildScene->setEnabled(enableTools);
   this->UI.actionOpenProject->setEnabled(enableTools);
   // FIXME disable import actions
 }
@@ -1500,7 +1501,7 @@ MainWindow::MainWindow(QWidget* parent, Qt::WindowFlags flags)
 
   d->toolMenu = d->UI.menuCompute;
   d->toolSeparator =
-    d->UI.menuCompute->insertSeparator(d->UI.actionCancelComputation);
+    d->UI.menuCompute->insertSeparator(d->UI.actionRebuildScene);
   QAction * runAllSep = d->UI.menuCompute->insertSeparator(d->toolSeparator);
 
   d->addTool(new TrackFeaturesTool(this), this);
@@ -1700,6 +1701,8 @@ MainWindow::MainWindow(QWidget* parent, Qt::WindowFlags flags)
           });
   connect(d->UI.cameraView, &CameraView::cameraComputationRequested,
           this, &MainWindow::computeCamera);
+  connect(d->UI.actionRebuildScene, &QAction::triggered,
+          this, &MainWindow::rebuildScene);
 
   // Ruler widget
   d->rulerHelper = new RulerHelper(this);
@@ -3576,6 +3579,77 @@ void MainWindow::computeCamera()
   }
 }
 
+//-----------------------------------------------------------------------------
+void MainWindow::rebuildScene()
+{
+  QTE_D();
+
+  if (!d->activeTool)
+  {
+    InitCamerasLandmarksTool tool{this};
+    QEventLoop eventLoop;
+
+    QObject::connect(&tool, &AbstractTool::completed,
+                     &eventLoop, &QEventLoop::quit);
+    QObject::connect(&tool, &AbstractTool::failed,
+                     &eventLoop, &QEventLoop::quit);
+    QObject::connect(&tool, &AbstractTool::failed,
+                     this, &MainWindow::reportToolError);
+
+    auto const constraints =
+      std::make_shared<kv::sfm_constraints>(*d->sfmConstraints);
+    constraints->set_metadata(nullptr);
+
+    auto features = d->groundControlPointsHelper->registrationTracks();
+    auto landmarks = d->groundControlPointsHelper->registrationLandmarks();
+
+    tool.setTracks(features);
+    tool.setLandmarks(landmarks);
+    tool.setSfmConstraints(constraints);
+    tool.setVideoPath(stdString(d->videoPath));
+    tool.setMaskPath(stdString(d->maskPath));
+
+    auto config = readConfig("gui_manual_initialize.conf");
+    config->merge_config(d->project->config);
+
+    tool.setConfig(config);
+
+    if (tool.execute())
+    {
+      d->setActiveTool(&tool);
+      d->updateProgress(&tool, tool.description(), 0);
+
+      eventLoop.exec();
+
+      if (auto const& data = tool.data())
+      {
+        if (data->cameras && data->cameras->size())
+        {
+          d->updateCameras(data->cameras);
+        }
+        if (data->landmarks && data->landmarks->size())
+        {
+          auto lm = data->landmarks->landmarks();
+          for (auto const& li : lm)
+          {
+            if (li.second)
+            {
+              using gcp_id_t = kwiver::vital::ground_control_point_id_t;
+
+              auto const i = li.first;
+              d->groundControlPointsHelper->setGroundControlPoint(
+                static_cast<gcp_id_t>(i), li.second->loc());
+            }
+          }
+        }
+      }
+
+      d->setActiveTool(nullptr);
+      d->updateProgress(&tool, tool.description(), 100);
+    }
+  }
+}
+
 //-----------------------------------------------------------------------------
 void MainWindow::updateToolProgress(QString const& desc, int progress)
 {

gui/MainWindow.h

@@ -85,6 +85,7 @@ public slots:
 
   void applySimilarityTransform();
   void computeCamera();
+  void rebuildScene();
 
   void saveWebGLScene();
 

gui/MainWindow.ui

@@ -122,6 +122,8 @@
      <addaction name="actionVariableLens"/>
      <addaction name="actionFixGeoOrigin"/>
     </widget>
+    <addaction name="actionRebuildScene"/>
+    <addaction name="separator"/>
     <addaction name="actionCancelComputation"/>
     <addaction name="separator"/>
     <addaction name="menuAdvanced"/>
@@ -670,6 +672,14 @@
     <string>.</string>
    </property>
   </action>
+  <action name="actionRebuildScene">
+   <property name="text">
+    <string>Reb&amp;uild Scene</string>
+   </property>
+   <property name="toolTip">
+    <string>Reconstruct cameras and ground control points from camera registration points</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>