SimpleSfMViz

• Point Cloud render by OpenGL
• Mouse control view
• Point Cloud + Color Render (PCLPointCloud2 + Qt3D Renderer) => quite stupid method
• PCL PointCloud + OpenGL Render
• Improve camera control interface
• SfM plugin (GTSAM SfM/SimpleSfM)
• Update app Usage

Dependencies

• OpenCV 4
• Ceres Solver 2.0
• Eigen3
• Qt5.15.2

Build

mkdir build
cd build
cmake ..
make -j8

Use case

• Record bag file screen
• Load bag file and process screen (with some config input)

App demo

• Config file format

images_path : "/home/lacie/Data/COLMAP/gerrard-hall/images"
database_path : "/home/lacie/Data/COLMAP/gerrard-hall/gerrard-hall.db"


SIFTextractor.max_image_size : 3200
SIFTextractor.num_features   : 8024
# 0 for L1_ROOT, 1 for L2, 2 for ROOT_SIFT
SIFTextractor.normalization  : 0

# 0 for sequential match, 1 for brute match, 2 for vacabulary tree match(not support now)
SIFTmatch.match_type :  0
# if descriptor is normalizing, then distance between two descriptors in range [0.0, 2.0].
# so, lower max distance with higher correct matches rate but less number of matcher, vice versa.
SIFTmatch.max_distance : 0.7
# distance_ratio may be from 0.5 to 1.0, lower distance ratio with higher correct matches rate but less number of matcher, vice versa.
SIFTmatch.distance_ratio : 0.8
# 0 for not use cross_check, 1 for use cross_check
SIFTmatch.cross_check : 1

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV) 
Reconstruction.Camera.fx: 3838.27
Reconstruction.Camera.fy: 3737.22
Reconstruction.Camera.cx: 2808
Reconstruction.Camera.cy: 1872

Reconstruction.Camera.k1: -0.110339
Reconstruction.Camera.k2: 0.079547
Reconstruction.Camera.p1: 0.000116211
Reconstruction.Camera.p2: 0.00029483



Reconstrction.output_path : "./gerrard-hall"
Reconstruction.is_visualization : 1

Note

• Careful with the Qt3D version, it may cause some error with Qt and OpenCV version

References

[1] Snavely N, Seitz S M, Szeliski R. Photo Tourism: Exploring Photo Collections In 3D. Acm Transactions on Graphics, 2006, 25(3):págs. 835-846.

[2] Wu C. Towards Linear-Time Incremental Structure from Motion// International Conference on 3d Vision. IEEE Computer Society, 2013:127-134.

[3] Schönberger J L, Frahm J M. Structure-from-Motion Revisited// Computer Vision and Pattern Recognition. IEEE, 2016.

[4] 3dv_tutorial

[5] Mastering OpenCV with Practical Computer Vision Projects

[6] OpenCV Viz