Deep merging of multiple tracks sets without using original matches

meshroom/aliceVision/TracksMerging.py

@@ -6,7 +6,9 @@
 import os.path
 
 
-class TracksMerging(desc.Node):
+class TracksMerging(desc.AVCommandLineNode):
+    commandLine = 'aliceVision_tracksMerging {allParams}'
+
     category = 'Utils'
     documentation = '''
 Merges multiple track files into one
@@ -42,30 +44,4 @@ class TracksMerging(desc.Node):
             value="{nodeCacheFolder}/tracks.json",
         )
     ]
-
-    def processChunk(self, chunk):
-        from pyalicevision import track
-
-        chunk.logManager.start(chunk.node.verboseLevel.value)
-
-        trackOutput = track.TracksMap()
-
-        #Loop over inputs
-        pos = 0
-        for input in chunk.node.inputs:
-
-            chunk.logger.info(f"Processing input file {input.value}")
-            trackInput = track.TracksMap()
-            if not track.loadTracks(trackInput, input.value):
-                chunk.logger.error("Cannot open input")
-                chunk.logManager.end()
-                raise RuntimeError()
-
-            for key, value in trackInput.items():
-                trackOutput[pos] = value
-                pos = pos + 1
-
-        chunk.logger.info(f"Save output to file {chunk.node.output.value}")
-        track.saveTracks(trackOutput, chunk.node.output.value)
-
-        chunk.logManager.end()
+

src/aliceVision/track/CMakeLists.txt

@@ -5,6 +5,7 @@ set(tracks_files_headers
     TracksHandler.hpp
     tracksUtils.hpp
     trackIO.hpp
+    TracksMerger.hpp
 )
 
 # Sources
@@ -13,6 +14,7 @@ set(tracks_files_sources
     TracksHandler.cpp
     tracksUtils.cpp
     trackIO.cpp
+    TracksMerger.cpp
 )
 
 alicevision_add_library(aliceVision_track

src/aliceVision/track/TracksMerger.cpp

@@ -0,0 +1,69 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2025 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/track/TracksMerger.hpp>
+
+namespace aliceVision
+{
+namespace track
+{
+
+bool TracksMerger::addTrackMap(const track::TracksMap & inputTracks)
+{
+    for (const auto & [idTrack, track]: inputTracks)
+    {
+        IndexT foundTrack = UndefinedIndexT;
+        size_t newSize = track.featPerView.size();
+
+        for (const auto & [idView, feat]: track.featPerView)
+        {
+            TuplePoint tp = std::make_tuple(track.descType, idView, feat.featureId);
+            auto it = _existingTracks.find(tp);
+            if (it != _existingTracks.end())
+            {
+                foundTrack = it->second;
+                break;
+            }
+        }
+
+        if (foundTrack == UndefinedIndexT)
+        {   
+            //Simply add track
+            foundTrack = _lastIndex;
+            _lastIndex++;
+        }
+
+        //New or old, assign the descType to make sure
+        auto & outputTrack = _tracks[foundTrack];
+        outputTrack.descType = track.descType;
+
+        //Previous Size is either 0 if new track, or the size of the matching track
+        size_t oldSize = outputTrack.featPerView.size();
+
+        //Append all features from existing track
+        for (const auto & [idView, feat]: track.featPerView)
+        {
+            TuplePoint tp = std::make_tuple(track.descType, idView, feat.featureId);
+            _existingTracks[tp] = foundTrack;
+
+            // Replace only if the new tracks is longer than the old one.
+            if (outputTrack.featPerView.find(idView) != outputTrack.featPerView.end())
+            {
+                if (newSize < oldSize)
+                {
+                    continue;
+                }
+            } 
+
+            outputTrack.featPerView[idView] = feat;
+        }
+    }
+
+    return true;
+}
+
+}
+}

src/aliceVision/track/TracksMerger.hpp

@@ -0,0 +1,48 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2025 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/.
+
+#pragma once
+
+#include <aliceVision/track/Track.hpp>
+#include <aliceVision/track/trackIO.hpp>
+
+
+namespace aliceVision
+{
+namespace track
+{
+
+class TracksMerger
+{
+public:
+    //viewId, featureId is a unique identifier for an observation
+    using TuplePoint = std::tuple<feature::EImageDescriberType, IndexT, std::size_t>;
+public:
+
+    /**
+     * @brief add a new set of tracks to the pool of merged tracks
+     * @param inputTracks the input track to append to the merged tracks
+     * @return true if everything went ok
+    */
+    bool addTrackMap(const track::TracksMap & inputTracks);
+
+    /**
+     * @brief get the tracks output
+     * @return a tracksMap const ref
+    */
+    const track::TracksMap & getOutputTracks()
+    {
+        return _tracks;
+    }
+
+private:
+    track::TracksMap _tracks;
+    std::map<TuplePoint, IndexT> _existingTracks;
+    size_t _lastIndex = 0;
+};
+
+}
+}

src/aliceVision/track/track_test.cpp

@@ -6,6 +6,7 @@
 // You can obtain one at https://mozilla.org/MPL/2.0/.
 
 #include "aliceVision/track/TracksBuilder.hpp"
+#include "aliceVision/track/TracksMerger.hpp"
 #include "aliceVision/track/tracksUtils.hpp"
 #include "aliceVision/matching/IndMatch.hpp"
 
@@ -221,3 +222,47 @@ BOOST_AUTO_TEST_CASE(Track_GetCommonTracksInImages)
         BOOST_CHECK_EQUAL(base.size(), set_visibleTracks.size());
     }
 }
+
+BOOST_AUTO_TEST_CASE(Track_Merger)
+{
+    TracksMerger merger;
+
+    TracksMap map1, map2;
+
+    map1[0].descType = EImageDescriberType::UNKNOWN;
+    map1[0].featPerView[0].featureId = 100;
+    map1[0].featPerView[1].featureId = 101;
+    map1[0].featPerView[2].featureId = 102;
+    map1[0].featPerView[3].featureId = 103;
+
+    map1[1].descType = EImageDescriberType::SIFT;
+    map1[1].featPerView[0].featureId = 200;
+    map1[1].featPerView[1].featureId = 201;
+    map1[1].featPerView[2].featureId = 202;
+    map1[1].featPerView[3].featureId = 203;
+
+    map2[0].descType = EImageDescriberType::UNKNOWN;
+    map2[0].featPerView[0].featureId = 100;
+    map2[0].featPerView[4].featureId = 104;
+    map2[0].featPerView[5].featureId = 105;
+    map2[0].featPerView[6].featureId = 106;
+
+    map2[1].descType = EImageDescriberType::UNKNOWN;
+    map2[1].featPerView[0].featureId = 200;
+    map2[1].featPerView[1].featureId = 204;
+    map2[1].featPerView[2].featureId = 205;
+    map2[1].featPerView[3].featureId = 206;
+
+    merger.addTrackMap(map1);
+    merger.addTrackMap(map2);
+
+    const auto & result = merger.getOutputTracks();
+
+    BOOST_CHECK_EQUAL(result.size(), 3);
+
+    size_t max = result.at(0).featPerView.size();
+    max = std::max(max, result.at(1).featPerView.size());
+    max = std::max(max, result.at(2).featPerView.size());
+
+    BOOST_CHECK_EQUAL(max, 7);
+}

src/software/utils/CMakeLists.txt

@@ -282,6 +282,16 @@ if (ALICEVISION_BUILD_SFM)
               Boost::program_options
     )
 
+    # Tracks Merge
+    alicevision_add_software(aliceVision_tracksMerging
+        SOURCE main_tracksMerging.cpp
+        FOLDER ${FOLDER_SOFTWARE_UTILS}
+        LINKS aliceVision_system
+              aliceVision_cmdline
+              aliceVision_track
+              Boost::program_options
+    )
+
     # SfM Pose Injecting
     alicevision_add_software(aliceVision_sfmPoseInjecting
         SOURCE main_sfmPoseInjecting.cpp

src/software/utils/main_tracksMerging.cpp

@@ -0,0 +1,91 @@
+// This file is part of the AliceVision project.
+// Copyright (c) 2025 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/cmdline/cmdline.hpp>
+#include <aliceVision/system/main.hpp>
+#include <boost/program_options.hpp>
+
+#include <aliceVision/track/Track.hpp>
+#include <aliceVision/track/trackIO.hpp>
+#include <aliceVision/track/TracksMerger.cpp>
+
+#include <string>
+#include <sstream>
+#include <random>
+
+// These constants define the current software version.
+// They must be updated when the command line is changed.
+#define ALICEVISION_SOFTWARE_VERSION_MAJOR 1
+#define ALICEVISION_SOFTWARE_VERSION_MINOR 0
+
+using namespace aliceVision;
+
+namespace po = boost::program_options;
+
+int aliceVision_main(int argc, char** argv)
+{
+    // command-line parameters
+    std::vector<std::string> tracksFilenames;
+    std::string outFilename;
+
+    // clang-format off
+    po::options_description requiredParams("Required parameters");
+    requiredParams.add_options()
+        ("inputs,i", po::value<std::vector<std::string>>(&tracksFilenames)->multitoken(),
+         "Path to sfmDatas to merge.")
+        ("output,o", po::value<std::string>(&outFilename)->required(),
+         "Output SfMData scene.");
+    // clang-format on
+
+    CmdLine cmdline("AliceVision sfmMerge");
+    cmdline.add(requiredParams);
+    if (!cmdline.execute(argc, argv))
+    {
+        return EXIT_FAILURE;
+    }
+
+    if (tracksFilenames.empty())
+    {
+        ALICEVISION_LOG_ERROR("At least one tracks input should be given.");
+        return EXIT_FAILURE;
+    }
+
+    //viewId, featureId is a unique identifier for an observation
+    using TuplePoint = std::tuple<feature::EImageDescriberType, IndexT, std::size_t>;
+
+    track::TracksMerger merger;
+
+    for (const auto & path : tracksFilenames)
+    {
+        track::TracksMap mapTracks;
+
+        ALICEVISION_LOG_INFO("Loading " << path);
+        if (!track::loadTracks(mapTracks, path))
+        {
+            continue;
+        }
+
+        ALICEVISION_LOG_INFO("File has " << mapTracks.size() << " tracks.");
+
+        if (!merger.addTrackMap(mapTracks))
+        {
+            ALICEVISION_LOG_ERROR("addTrackMap failed, abort");
+            return EXIT_FAILURE;
+        }
+    }
+
+    const auto & resultTracks = merger.getOutputTracks();
+
+    ALICEVISION_LOG_INFO("Saving to " << outFilename);
+    ALICEVISION_LOG_INFO("File has " << resultTracks.size() << " tracks.");
+    if (!track::saveTracks(resultTracks, outFilename))
+    {
+        ALICEVISION_LOG_ERROR("Failed to save file");
+        return EXIT_FAILURE;
+    }
+
+    return EXIT_SUCCESS;
+}