[localization] Calibrated Camera RIG localization in an existing reconstruction using CCTag #13

fabiencastan · 2015-08-10T16:10:20Z

Resectioning from externally calibrated camera RIG: all cameras are calibrated both internally (intrinsics) and externally (extrinsics):

We collect 2d-3D association from each camera,
apply the camera subpose to the 3D points of each camera
- ie we collect the 2d-3d correspondences for the camera 1 (which has pose1 wrt camera 0)
- we apply the pose1 transformation to those 3D points so
do a global resectioning with all the 3D-2D associations from all the cameras of the rig
- we need to undistort all the 2D points and put them in normalized coordinate system (ie inv(K)*feat) as they must be independent from their camera parameters (we are considering the associations as if they were from the same camera)

Do the same for SIFT #69

…ture. #13

…ult now #12 #13

* to be tested * missing alembic support * only works for cctag (localizeRig() is not implemented yet for voctree_localizer #13

* it only saves the position of the rig (main camera) as we don't have (yet) the support for animated cameras in alembic #13

simogasp · 2015-11-24T15:25:44Z

A naive version of the rig localizer is now available for testing. For now we just localize the cameras of the rig independently and we eventually run a BA in the end to refine the global pose of the rig

* also using range loop for #13

… svg images #13

#13

* move out of the loading loop to not interfere with progress bar #13

#13

…tected cctag * it generates a svg image with the same name as the input image * does not work with videos, as we are using a link to the image, the image is not saved inside the svg file #13

#13

… the score #13

#13

simogasp · 2015-12-02T23:00:04Z

Needs to be tested. Another issue?

it can only compile with cuda #13

just changed the order, if not detected generate the fatal error otherwise go on with the same stuff as before #13

#13

fix #13

#13

fabiencastan added this to the D-4 milestone Sep 28, 2015

fabiencastan assigned simogasp Oct 11, 2015

fabiencastan modified the milestones: D-3, D-4 Oct 11, 2015

fabiencastan added lead:IRT prio:major labels Oct 20, 2015

simogasp added the in progress label Oct 22, 2015

lcalvet added a commit that referenced this issue Oct 22, 2015

[software] Delete old script main_localization.cpp

0802724

#13

lcalvet added a commit that referenced this issue Oct 22, 2015

[Localization] Rename localization.* files to VoctreeLocalizer.*.

ccf20b9

#13

lcalvet added a commit that referenced this issue Oct 22, 2015

[Localization] Comment attributes in Image_Localizer_Match_Data struc…

71c77b1

…ture. #13

lcalvet added a commit that referenced this issue Oct 22, 2015

[Localization] Add LocalizationResult class.

b2f2438

#13

simogasp changed the title ~~Known Camera RIG localization in an existing reconstruction~~ Calibrated Camera RIG localization in an existing reconstruction Oct 22, 2015

This was referenced Oct 22, 2015

[localization] Resectioning for camera RIG externally not calibrated #47

Closed

[localization] Partially calibrated Camera RIG localization in an existing reconstruction #46

Closed

simogasp changed the title ~~Calibrated Camera RIG localization in an existing reconstruction~~ [localization] Calibrated Camera RIG localization in an existing reconstruction Oct 22, 2015

simogasp added a commit that referenced this issue Oct 22, 2015

[localization] moved refineSequence out

2aaca8c

#13

simogasp added a commit that referenced this issue Oct 23, 2015

[localization] missing check on valid localizationResult

f3c0e4e

#12 #13

simogasp added a commit that referenced this issue Oct 23, 2015

[localization] refactoring for voctreeLocalizer using LocalizationRes…

5a67c4e

…ult now #12 #13

simogasp added a commit that referenced this issue Oct 23, 2015

[localization] removed static function and cleaning

80a9b0a

#12 #13

lcalvet added a commit that referenced this issue Oct 24, 2015

[localization] Add intrinsics in LocalizationResult.

c109d83

#12 #13

simogasp added a commit that referenced this issue Oct 24, 2015

[features] added enumToString for EDESCRIBER_PRESET

5730f6b

#12 #13

simogasp added a commit that referenced this issue Oct 24, 2015

[software] added feature extraction preset as command line parameter

9a0b7d6

#12 #13

lcalvet added a commit that referenced this issue Oct 25, 2015

[localization] Pinhole_Intrinsinc -> Pinhole_Intrinsinc_Radial_K3.

28032a5

#12 #13

lcalvet added a commit that referenced this issue Oct 25, 2015

[localization] Refactor: New accessors in LocalizationResult.

38d16c2

#12 #13

lcalvet added a commit that referenced this issue Oct 25, 2015

[localization] Pinhole_Intrinsinc -> Pinhole_Intrinsinc_Radial_K3.

0874557

#12 #13

simogasp changed the title ~~[localization] Calibrated Camera RIG localization in an existing reconstruction~~ [localization] Calibrated Camera RIG localization in an existing reconstruction using CCTag Nov 1, 2015

simogasp closed this as completed Nov 1, 2015

simogasp removed the in progress label Nov 1, 2015

simogasp added a commit that referenced this issue Nov 5, 2015

[rig] removed unused include

602c487

#13

simogasp added a commit that referenced this issue Nov 5, 2015

[localization] removed empty copy constructor

df3ebe6

#13

simogasp added a commit that referenced this issue Nov 24, 2015

[localization] added localizeRig() method for ILocalizer

fe8ac41

#13

simogasp added a commit that referenced this issue Nov 24, 2015

[software] added main script for rigLocalizer()

9153644

* to be tested * missing alembic support * only works for cctag (localizeRig() is not implemented yet for voctree_localizer #13

simogasp added a commit that referenced this issue Nov 24, 2015

[software] added alembic support for rig localizer

b2fb19f

* it only saves the position of the rig (main camera) as we don't have (yet) the support for animated cameras in alembic #13

simogasp added a commit that referenced this issue Nov 25, 2015

[localization] debug info: print the cctag for each dataset image

bf8e5d0

* also using range loop for #13

simogasp added a commit that referenced this issue Nov 25, 2015

[localization] debug: added optional image name to be use to generate…

71a69fb

… svg images #13

simogasp added a commit that referenced this issue Nov 25, 2015

[localization] added function to for display detected cctags

b830ddf

#13

simogasp added a commit that referenced this issue Nov 25, 2015

fixup! [localization] debug info: print the cctag for each dataset image

6f80214

* move out of the loading loop to not interfere with progress bar #13

simogasp added a commit that referenced this issue Nov 25, 2015

[dataio] added isVideo() to know when we are using a video

aadbea5

#13

simogasp added a commit that referenced this issue Nov 25, 2015

[localization] added a flag for visual debugging

f31f4f0

#13

simogasp added a commit that referenced this issue Nov 25, 2015

[localization] added function to for display matched cctags

d02622a

#13

simogasp added a commit that referenced this issue Nov 25, 2015

[localization] now save also matched cctags

23f3171

#13

simogasp added a commit that referenced this issue Nov 25, 2015

[localization] option to show unmatched cctags

14992d5

#13

simogasp added a commit that referenced this issue Nov 27, 2015

[localization] added the possibility to filter similar kframe through…

a75ee42

… the score #13

simogasp added a commit that referenced this issue Nov 27, 2015

[localization] doc

07051d0

#13

simogasp closed this as completed Dec 2, 2015

simogasp removed the in progress label Dec 2, 2015

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] unused definition WITH_CUDA

25f069a

it can only compile with cuda #13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] simplified if for cuda detection

f2d96aa

just changed the order, if not detected generate the fatal error otherwise go on with the same stuff as before #13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] add project version

669a1d2

#13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] using target_include_directories

9c15d7a

#13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] header not needed for executable

323ed40

#13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] added configuration files and install rules

bf7c5df

#13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] just formatting

e54fc35

#13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] allow debug

22ffee3

fix #13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] fix

e335c85

#13

gregoire-dl pushed a commit that referenced this issue Mar 6, 2023

[cmake] make install in travis #13

b779429

wangziji mentioned this issue May 24, 2023

Running fault: SIGSEGV, Segmentation fault during runing aliceVision_incrementalSfM #1440

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[localization] Calibrated Camera RIG localization in an existing reconstruction using CCTag #13

[localization] Calibrated Camera RIG localization in an existing reconstruction using CCTag #13

fabiencastan commented Aug 10, 2015

simogasp commented Nov 24, 2015

simogasp commented Dec 2, 2015

[localization] Calibrated Camera RIG localization in an existing reconstruction using CCTag #13

[localization] Calibrated Camera RIG localization in an existing reconstruction using CCTag #13

Comments

fabiencastan commented Aug 10, 2015

simogasp commented Nov 24, 2015

simogasp commented Dec 2, 2015