[Kwiver-users] problems about maptk [maptk_bundle_adjust_tracks]
Matthew Leotta
matt.leotta at kitware.com
Fri Jul 3 09:23:25 EDT 2015
In this case the problem is likely related to the “min_track_length” parameter in the config file. The bundle adjust tool currently filters tracks shorter than “min_track_length” before running bundle adjustment. It looks like you don’t have any tracks longer than the current value of “min_track_length”. You could set this parameter to as low 2 to use all the relevant tracks. Setting it to 3 might be a little more robust. The problem with these small values is that you will generally be using a lot more data than you really need to optimize the cameras. It’s better to use a more minimal set of good long tracks first, and then go back and triangulate additional features later if desired.
The proper setting for the “min_track_length" parameter is very dependent on your data. If you have a slow moving camera and/or high frame rate you may end of with very long tracks and want this value to be high. If your scene changes more rapidly from frame to frame you need this value to be shorter. We are working on making this smarter so that it adapts to the data. For now, you’ll have to play with the parameter to find a value that suits your problem.
The fact that the executable seg faults when it gets 0 tracks should be considered a bug. It should handle this case more gracefully and exit cleanly. Could you report an issue on this on Github?
https://github.com/Kitware/maptk/issues <https://github.com/Kitware/maptk/issues>
Thanks,
Matt
> On Jul 3, 2015, at 7:37 AM, Stedraw <527063960 at qq.com> wrote:
>
> Hello! I returned with another problem... ( T ^ T )
>
> After using maptk_track_features, I got a feature tracks file.
> And then I want to use maptk_bundle_adjust_tracks to take feature tracks and produces cameras and 3D points (PLY file).
> But now I met a problem :
>
> stedraw at stedraw-PC:~/maptk/maptk/bin$ ./maptk_bundle_adjust_tracks -c adjust.conf
> File parsed! Contained 38 k/v entries.
> loading track file: ./output_tracks.txt
> loaded 36447 tracks
> filtered down to 0 long tracks
> track filtering: 0.010000 sec CPU, 0.009851 sec wall
> Initializing cameras and landmarks: 0.000000 sec CPU, 0.000008 sec wall
> Segmentation fault (core dumped)
>
> Features_track produced a big file, as "loaded 36447 tracks", however, it "filtered down to 0 long tracks", and cause "Segmentation fault".
> How could I solve this fault to get a PLY-file ?
>
> Thank you for helping!
>
>
>
> ------------------ 原始邮件 ------------------
> 发件人: "cz";<527063960 at qq.com>;
> 发送时间: 2015年7月3日(星期五) 下午4:20
> 收件人: "kwiver-users"<kwiver-users at public.kitware.com>;
> 主题: Re: [Kwiver-users] problems about maptk
>
> Oh my god....
> I'm so sorry that i missed a blank line at the last of the input_image_list.txt! ! !
> Now I could run maptk_track_features
> Thank you so much!
>
>
> ------------------ 原始邮件 ------------------
> 发件人: "cz";<527063960 at qq.com>;
> 发送时间: 2015年7月3日(星期五) 下午3:52
> 收件人: "kwiver-users"<kwiver-users at public.kitware.com>;
> 主题: Re: [Kwiver-users] problems about maptk
>
> Sorry, I have little experience about mailing list using.....Even this email , I'm not sure if I sent to the right place......^_^|||
>
> About VXL
> this is the download-link in the main page of the VXL,
> Download VXL-1.17 <http://sourceforge.net/projects/vxl/>
> but the version of VXL there which is available to me is 1.14
> <E70530EC at 672A4F5F.F7739655>
> So I went to github and git clone it. I take it as version 1.18 because of its CHANGES.txt <https://github.com/vxl/vxl/blob/master/CHANGES.txt> .
>
> About ctest
> I followed your advice to have enabled test in CMake, and had a OK result:
> ...
> 100% tests passed, 0 tests failed out of 162
> Total Test time (real) = 10.49 sec
>
> About imagelist
> These are from my track_feature.conf:
> # Path to an input file containing new-line separated paths to sequential image
> # files.
> image_list_file = /home/stedraw/maptk/maptk/bin/input_image_list.txt
>
> And these are from my input_image_list.txt:
> /home/stedraw/IMG/2015-07-02_04-13-10-89BB.bmp
> /home/stedraw/IMG/2015-07-02_04-12-39-130BB.bmp
> /home/stedraw/IMG/2015-07-02_04-13-05-690BB.bmp
> /home/stedraw/IMG/2015-07-02_04-12-55-668BB.bmp
> /home/stedraw/IMG/2015-07-02_04-12-56-481BB.bmp
> ...
> And in the input_image_list.txt, I'm sure that there is no blank line.
>
> By the way, my OS is Ubuntu 14.04.
>
> Thanks！
>
>
>
> ------------------ Original ------------------
> From: "matt.leotta";<matt.leotta at kitware.com>;
> Date: Thu, Jul 2, 2015 09:38 PM
> To: "Stedraw"<527063960 at qq.com>;
> Cc: "kwiver-users"<kwiver-users at public.kitware.com>;
> Subject: Re: problems about maptk
>
> Thanks for your interest in MAP-Tk. In the future, please join the kwiver-users mailing list (MAP-Tk is a component of KWIVER) and post questions there. This will allow more than just myself to respond, it will also archive the responses so that others who have similar questions can benefit. The mailing list sign-up page is here:
>
> http://public.kitware.com/mailman/listinfo/kwiver-users <http://public.kitware.com/mailman/listinfo/kwiver-users>
>
> It is linked from both www.kwiver.org <http://www.kwiver.org/> and the README.md in MAP-Tk.
>
>
> In response to your message: First, your dependency versions look okay, though we haven’t tested that exact combination. You may want to enable tests in CMake and then run “ctest” in your build tree to verify that the tests pass. There are some known issues with the last official release of VXL (1.17), but the master branch should work. You said VXL 1.18, I’m not sure that that exists.
>
> The correct way to call maptk_track_features (or any MAP-Tk tool) is with the “-c” to specify the config file. In your last example without the “-c" the config check failures are because the tool is not reading the config file and just using the default config values.
>
> In the case where you are correctly using “-c”, the exception you are getting indicates “Path does not exist”. This is most likely related to loading image files. Your config file should have “image_list_file” set to a path to a text file in which each line in the file is a path to one image to load (i.e. each frame of video). What is the contents of your image list file? Is it empty or does it have a blank line?
>
> —Matt
>
>
>
>> On Jul 1, 2015, at 11:30 PM, Stedraw <527063960 at qq.com <mailto:527063960 at qq.com>> wrote:
>>
>> Hello, thank you for reading (^_^)
>> I have installed :
>> Boost 1.58 ,
>> Eigen 3.25 ,
>> opencv 2.4.11 (the latest version 3.0 can't work with maptk, because it doesn't have Algorithm::_create() ),
>> proj 4.91 ,
>> VXL 1.18 .
>> Then I built maptk sucessfully.
>>
>> But when I ran maptk_track_features , I can't get the output
>>
>> stedraw at stedraw-PC:~/maptk/maptk/bin$ ./maptk_track_features -c track_feature.conf -o track_feature.conf
>> File parsed! Contained 102 k/v entries.
>> OpenCV Error: Bad argument (Unknown matcher name) in create, file /home/stedraw/opencv-2.4.11/modules/features2d/src/matchers.cpp, line 497
>> [---] Ignore the above error message, it will be handled. OpenCV is silly.
>> OpenCV Error: Bad argument (Unknown matcher name) in create, file /home/stedraw/opencv-2.4.11/modules/features2d/src/matchers.cpp, line 497
>> [---] Ignore the above error message, it will be handled. OpenCV is silly.
>> INFO: Configuration file contained valid parameters and may be used for running
>>
>> It seems like I can run then. But:
>> stedraw at stedraw-PC:~/maptk/maptk/bin$ ./maptk_track_features -c track_feature.conf
>> File parsed! Contained 102 k/v entries.
>> OpenCV Error: Bad argument (Unknown matcher name) in create, file /home/stedraw/opencv-2.4.11/modules/features2d/src/matchers.cpp, line 497
>> [---] Ignore the above error message, it will be handled. OpenCV is silly.
>> OpenCV Error: Bad argument (Unknown matcher name) in create, file /home/stedraw/opencv-2.4.11/modules/features2d/src/matchers.cpp, line 497
>> [---] Ignore the above error message, it will be handled. OpenCV is silly.
>> Exception caught: Path does not exist: ""
>>
>> And I also tried :
>> stedraw at stedraw-PC:~/maptk/maptk/bin$ ./maptk_track_features track_feature.conf
>> Config Check Fail: Config needs value image_list_file
>> Config Check Fail: Config needs value output_tracks_file
>> Configuration Failure: invalid option
>> feature_tracker:type =
>> valid options are
>> core
>> Config Check Fail: feature_tracker configuration check failed
>> Configuration Failure: invalid option
>> image_reader:type =
>> valid options are
>> ocv
>> vxl
>> Config Check Fail: image_reader configuration check failed
>> Configuration Failure: invalid option
>> convert_image:type =
>> valid options are
>> bypass
>> Config Check Fail: convert_image configuration check failed
>> ERROR: Configuration not valid.
>>
>> I swear that these three options have been set with the valid value !...
>> So now I don't know how to kill this error, and I really want to try this maptk for "efficiently processing aerial video"...
>> Thank you very much !
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