CameraRigLocalization

Description

This node retrieves the transformation between the tracked and the optical reference frames.(?) https://alicevision.github.io/#photogrammetry/localization

settings

Name

Description

SfM Data

The sfmData file

Media Path

The path to the video file, the folder of the image sequence or a text file (one image path per line) for each camera of the rig (eg. –mediapath /path/to/cam1.mov /path/to/cam2.mov)

Rig Calibration File

The file containing the calibration data for the rig (subposes)

Camera Intrinsics

The intrinsics calibration file for each camera of the rig. (eg. –cameraIntrinsics /path/to/calib1.txt /path/to/calib2.txt)

Descriptor Path

Folder containing the .desc

Match Describer Types

The describer types to use for the matching (sift’, ‘sift*float’, ‘sift*upright’, ‘akaze’, ‘akaze*liop’, ‘akaze*mldb’, ‘cctag3’, ‘cctag4’, ‘sift*ocv’, ‘akaze*ocv’)

Preset

Preset for the feature extractor when localizing a new image (low, medium, normal, high, ultra)

Resection Estimator

The type of /sac framework to use for resection (acransac, loransac)

Matching Estimator

The type of /sac framework to use for matching (acransac, loransac)

Refine Intrinsics

Enable/Disable camera intrinsics refinement for each localized image

Reprojection Error

Maximum reprojection error (in pixels) allowed for resectioning. If set to 0 it lets the ACRansac select an optimal value (0 - 10)

Use Localize Rig Naive

Enable/Disable the naive method for rig localization: naive method tries to localize each camera separately

Angular Threshold

The maximum angular threshold in degrees between feature bearing vector and 3D point direction. Used only with the opengv method (0 - 10)

Voctree

[voctree] Filename for the vocabulary tree

Voctree Weights

[voctree] Filename for the vocabulary tree weights

Algorithm

[voctree] Algorithm type: {FirstBest, AllResults}

Nb Image Match

[voctree] Number of images to retrieve in the database

Max Results

[voctree] For algorithm AllResults, it stops the image matching when this number of matched images is reached. If 0 it is ignored (0 - 100)

Matching Error

[voctree] Maximum matching error (in pixels) allowed for image matching with geometric verification. If set to 0 it lets the ACRansac select an optimal value (0 - 10)

N Nearest Key Frames

[cctag] Number of images to retrieve in database (0 - 50)

Output Alembic

Filename for the SfMData export file (where camera poses will be stored) desc.Node.internalFolder + ‘trackedcameras.abc