[Kwiver-users] Important

Thu Dec 22 13:14:57 EST 2016

Can you please provide an executable file or suggest the steps which i
should follow and files to use to obtain trajectory of the camera on the
image itself as i am a newbie?

What does the values in .krtd files signify?

Can u please provide an executable file or suggest steps to follow to
convert the information obtained from vision into gps coordinates?

On Thu, Dec 22, 2016 at 3:45 AM, Matt Leotta <matt.leotta at kitware.com>
wrote:

> Please reply to the kwiver-users address as well as mine. Someone else on
> the list may chime in with additional info.  My answers are inline below.
>
>
> On Wed, Dec 21, 2016 at 4:11 PM, Sukhad Anand <sukhad.anand at gmail.com>
> wrote:
>
>> I am using the first dataset in the list "Horizontal mappong with eBee".
>>
>
> I'll try to process that and see what issues I have.
>
>
>>
>>
>> Is it possible to obtain the trajectory of the camera on the image itself?
>>
>
> Yes it is, up to a similarity transform.  In other words, you won't know
> the final scale, geo-position, or geo-orientation of the solution without
> either GPS or ground control points, but you can get a relative trajectory
> of the cameras.
>
>
>>
>> For what purpose is .pos file given as input in bundle_adjust_tracks?
>>
>
> The .pos files are currently the format for input metadata (GPS, INS) that
> we can use for initialization and geo-location.  These are optional inputs.
>
>
>>
>> Is it possible to use the tool for  real time navigation?
>>
>
> No, not yet.  Our current focus is offline optimization for best quality
> 3D reconstruction.  We are interesting in exploring real-time in the
> future, but don't have any funding to do that at the moment.
>
>
>>
>> How can i produce geo coordinates using current camera view?
>>
>
> You'll need either GPS measurements for some of the images, or you'll need
> to manually select some ground control points.  This will allow you to get
> a geo-registered result.  Unfortunately, that part is not very intuitive or
> well documented at the moment, but we are working on improving it.
>
>
>>
>> How to load my own plugins?
>>
>
> The plugin framework is still evolving (this is a relatively new and
> quickly growing project).  In MAP-Tk 0.8.0 and 0.9.0 the plugins are
> installed in ${INSTALL_PATH}/lib/maptk.  Everything in that directory is
> loaded.  You can add plugins there or specify additional paths with the
> environment variable KWIVER_PLUGIN_PATH.  As of the master branch of MAP-Tk
> (and future releases) all the MAP-Tk plugins have moved into the KWIVER
> project.  The install path might change before the next release, but the
> environment variable is still the same.
>
> The next obvious question is "How do I create my own plugin?".  We'll need
> to write a blog post on that in the future and put together a template to
> get people started, but that hasn't happened yet.  For now, the best way is
> to look at the existing plugins.  These plugins have been called "arrows"
> after moving into KWIVER.
>
>
>>
>> It would be a great help if you could provide a good tutorial link for
>> the tool.
>>
>
> Here is one tutorial:
>
> https://blog.kitware.com/getting-started-with-map-tk-
> for-aerial-photogrammetry/
>
> and this one describes more recent changes:
>
> https://blog.kitware.com/map-tk-0-9-0-release-provides-
> dense-3d-better-loop-closure-and-opencv-3-support/
>
> We'll try to release more tutorials and updates like these in the future
> as things continue to change.
>
> --Matt
>
>
>
>>
>>
>> On Wed, Dec 21, 2016 at 10:41 PM, Matthew Leotta <matt.leotta at kitware.com
>> > wrote:
>>
>>>
>>> On Dec 21, 2016, at 10:42 AM, Sukhad Anand <sukhad.anand at gmail.com>
>>> wrote:
>>>
>>> Matt,
>>>
>>> I am using MAP-Tk 0.8.0.
>>>
>>>
>>> I suggest you use the latest MAP-Tk, 0.9.0.  It has options for much
>>> improved loop closure that you will probably need.
>>>
>>>
>>> This is the link for the dataset which i am using.
>>> https://www.sensefly.com/drones/example-datasets.html
>>>
>>>
>>> Thanks for the link.  Which specific data set are you trying?  It would
>>> be helpful to know in order to reproduce this.
>>>
>>>
>>> Is it possible to run this tool on a drone making linear motion instead
>>> of orbital motion as in kwiwer_fmv_set1 ?
>>>
>>>
>>> Yes, but we’ve done far less testing on that type of data.  Also the
>>> current pipeline is optimized for video instead of images capture at a
>>> lower frame rate.  You will likely need to adjust the configuration
>>> settings to make it work in these cases.
>>>
>>>
>>> i would be obliged if you could provide the link for detailed
>>> explanation of the loop closures used by MAP-Tk
>>>
>>>
>>> There a multiple algorithms that you can configure for different needs,
>>> and the whole framework is extensible so you can even write your own loop
>>> closure algorithm to plug in.  The current “best” available algorithm (as
>>> of 0.9,0) is a key frame based method.  It’s an image-to-image matching
>>> approach.  In short, the algorithm matches each frame to the previous
>>> frames and a list of key frames.  When none of the key frames match it
>>> establishes a new key frame.  it’s a bit more complicated, but that’s the
>>> basic idea.
>>>
>>> If I can find some time I’ll try get things running on these sensefly
>>> data sets.
>>>
>>> —Matt
>>>
>>>
>>> Thanks
>>>
>>> On Wed, Dec 21, 2016 at 7:30 PM, Matt Leotta <matt.leotta at kitware.com>
>>> wrote:
>>>
>>>> Sukhad,
>>>>
>>>> My guess is that the maptk_track_features tool is not finding enough
>>>> features or enough feature matches.  Which version of MAP-Tk are you
>>>> using?  What is the public dataset?
>>>>
>>>> --Matt
>>>>
>>>> On Wed, Dec 21, 2016 at 3:12 AM, Sukhad Anand <sukhad.anand at gmail.com>
>>>> wrote:
>>>>
>>>>> when i run track_features on a public dataset , after each frame it
>>>>> outputs writing invalid homography.
>>>>> And when i run adjust_track then it displays this :
>>>>>
>>>>> no landmark projections for new camera
>>>>> current reprojection RMSE: -nan
>>>>> frame 0 - num landmarks = 0
>>>>> frame 0 uses reference 0
>>>>>  and further processing does not takes place as if the program goes
>>>>> into infinite loop.
>>>>>
>>>>> Please suggest how to get rid of such problems.
>>>>>
>>>>> _______________________________________________
>>>>> Kwiver-users mailing list
>>>>> Kwiver-users at public.kitware.com
>>>>> http://public.kitware.com/mailman/listinfo/kwiver-users
>>>>>
>>>>>
>>>>
>>>
>>>
>>
>
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