csps frustum_v0.3

Overview

The csps-frustum software expects an input file, that belong to OpenMVG input files, containing the list of images used for three dimensional reconstruction. This software is designed to determine a priori image pairs, i.e. image that have a common scene, based on their frustums. It then engages the camera calibration and positioning.

The OpenMVG list input file provides images engaged in the reconstruction process line by line. The images name that starts each line has to respect the following format : the unix timestamp followed by an underscore, the micro-seconde part followed by a minus and the image channel number. The output file is built also by line giving the index of the considered image followed by the indexes of all images that passed the a priori filtering.

Usage

The csps-frustum software expects the following parameters. Starting with the stream arguments and parameters :

--path -p

Path to the CSPS directory structure.

--list -l

Path to OpenMVG input list file.

--pairs -r

Path to OpenMVG output a priori pairs file.

--mount-point -t

Standard directory structure mount point on the local filesystem for
calibration data access.

--camera -a

MAC address of the considered camera device (unsensitive to case).

The a priori filtering configuration expects the following arguments and parameters :

--cam-tag -c, --cam-mod -m

CSPS-tag of the camera device and CSPS-module to consider for query on
CSPS, respectively.

--gps-tag -g, --gps-mod -n

CSPS-tag of the GPS device and CSPS-module to consider for query on
CSPS, respectively.

--imu-tag -i, --imu-mod -s

CSPS-tag of the IMU device and CSPS-module to consider for query on
CSPS, respectively.

--plane-near -e, --plane-far -f

Near and far plane distance to the lens focal point, in metres, used
to build the sensors frustums.

The standard directory structure is specific to FOXEL for data storage and processing.

Demonstration

A typical call to the software is given by the following command :

csps-frustum -p /some/path/csps \
             -t /some/mount/point \
             -l /some/other/path/list.txt \
             -r /some/third/path/pairs.txt \
             -a AA-BB-CC-DD-EE-FF \
             -c eyesis4pi -m mod-DSIDE \
             -g ls20031 -n mod-SGNQF \
             -i adis16375 -s mod-IFETI \
             -e 2.0 -f 50.0

where the used camera address has to be given for calibration data access and where the CSPS is used to determine camera position and orientation during images capture. An example of input file is given by :

1404376712_014657-00-RECT-SENSOR.tiff;2592;1936; ...
1404376712_014657-01-RECT-SENSOR.tiff;2592;1936; ...
1404376712_014657-02-RECT-SENSOR.tiff;2592;1936; ...
1404376712_014657-03-RECT-SENSOR.tiff;2592;1936; ...
1404376712_014657-04-RECT-SENSOR.tiff;2592;1936; ...
...

An example of computed a priori image pairs is given by :

0 7 9 12 13
1 8 11
2 33 35 41
...

Note that if the (0,7) a priori pair as been exported as above, the (7,0) pair is not exported.

Compilation

The software binary can be build using its specific makefile by simply typing in its base directory :

$ make clean && make build [OPENMP=false]

The binary is placed in the local bin directory and is not copied in the csps-suite main bin directory. To generate the documentation, use the command :

$ make clean-documentation && make documentation

To install or uninstall the binaries on the local computer, use the commands :

# make install
# make uninstall