openMVG_main_ComputeStructureFromKnownPoses¶
This application compute corresponding features and robustly triangulate them according the geometry of the known camera intrinsics & poses.
Algorithm of the application
Require: internal + external camera calibration
Require: image description regions (features + descriptors)
Ensure: 3D point cloud
compute image visibility
list all the pair that share common visual content
- camera frustum based
- or structure visbility (SfM tracks) based
list triplets of view from pairs
for each triplets compute 3 view tracks
if tracks triangulable add correspondences to p
link 3 views validated matches (p) as tracks
robustly triangulate them
Information and usage¶
The chain is designed to run on a sfm_data.json file and some pre-computed matches. The sfm_data file should contains: - valid view with some defined intrinsics and camera poses, - (optional existing structure).
$ openMVG_main_ComputeStructureFromKnownPoses -i Dataset/out_Reconstruction/sfm_data.json -o Dataset/out_Reconstruction/robustFitting.json
Arguments description:
Required parameters:
[-i|–input_file]
a SfM_Data file with valid intrinsics and poses and optional structure
[-m|–matchdir]
path were image descriptions were stored
[-o|–outdir]
path where the updated scene data will be stored
Optional parameters:
[-f|–match_file]
path to a matches file (pairs of the match files will be listed and used)