__version__ = "1.0"
import os
from meshroom.core import desc
class CameraLocalization(desc.AVCommandLineNode):
commandLine = 'aliceVision_cameraLocalization {allParams}'
category = 'Utils'
documentation = '''
'''
inputs = [
desc.File(
name="sfmdata",
label="SfMData",
description="The SfMData file generated by AliceVision.",
value="",
uid=[0],
),
desc.File(
name="mediafile",
label="Media File",
description="The folder path or the filename for the media to track.",
value="",
uid=[0],
),
desc.File(
name="visualDebug",
label="Visual Debug Folder",
description="If a folder is provided, this enables visual debug and all the debugging information will be saved in that folder.",
value="",
uid=[0],
),
desc.File(
name="descriptorPath",
label="Descriptor Path",
description="Folder containing the descriptors for all the images (ie. the *.desc.).",
value="",
uid=[0],
),
desc.ChoiceParam(
name="matchDescTypes",
label="Match Desc Types",
description="Describer types to use for the matching.",
value=["dspsift"],
values=["sift", "sift_float", "sift_upright", "dspsift", "akaze", "akaze_liop", "akaze_mldb", "cctag3", "cctag4", "sift_ocv", "akaze_ocv"],
exclusive=False,
uid=[0],
joinChar=",",
),
desc.ChoiceParam(
name="preset",
label="Preset",
description="Preset for the feature extractor when localizing a new image (low, medium, normal, high, ultra).",
value="normal",
values=["low", "medium", "normal", "high", "ultra"],
exclusive=True,
uid=[0],
),
desc.ChoiceParam(
name="resectionEstimator",
label="Resection Estimator",
description="The type of *sac framework to use for resection (acransac, loransac).",
value="acransac",
values=["acransac", "loransac"],
exclusive=True,
uid=[0],
),
desc.ChoiceParam(
name="matchingEstimator",
label="Matching Estimator",
description="The type of *sac framework to use for matching (acransac, loransac).",
value="acransac",
values=["acransac", "loransac"],
exclusive=True,
uid=[0],
),
desc.File(
name="calibration",
label="Calibration",
description="Calibration file.",
value="",
uid=[0],
),
desc.BoolParam(
name="refineIntrinsics",
label="Refine Intrinsics",
description="Enable/Disable camera intrinsics refinement for each localized image.",
value=False,
uid=[0],
),
desc.FloatParam(
name="reprojectionError",
label="Reprojection Error",
description="Maximum reprojection error (in pixels) allowed for resectioning. If set to 0, it lets the ACRansac select an optimal value.",
value=4.0,
range=(0.1, 50.0, 0.1),
uid=[0],
),
desc.IntParam(
name="nbImageMatch",
label="Nb Image Match",
description="[voctree] Number of images to retrieve in database.",
value=4,
range=(1, 1000, 1),
uid=[0],
),
desc.IntParam(
name="maxResults",
label="Max Results",
description="[voctree] For algorithm AllResults, it stops the image matching when this number of matched images is reached. If 0 it is ignored.",
value=10,
range=(1, 100, 1),
uid=[0],
),
desc.IntParam(
name="commonviews",
label="Common Views",
description="[voctree] Number of minimum images in which a point must be seen to be used in cluster tracking.",
value=3,
range=(2, 50, 1),
uid=[0],
),
desc.File(
name="voctree",
label="Voctree",
description="[voctree] Filename for the vocabulary tree.",
value="${ALICEVISION_VOCTREE}",
uid=[0],
),
desc.File(
name="voctreeWeights",
label="Voctree Weights",
description="[voctree] Filename for the vocabulary tree weights.",
value="",
uid=[0],
),
desc.ChoiceParam(
name="algorithm",
label="Algorithm",
description="[voctree] Algorithm type: FirstBest, AllResults.",
value="AllResults",
values=["FirstBest", "AllResults"],
exclusive=True,
uid=[0],
),
desc.FloatParam(
name="matchingError",
label="Matching Error",
description="[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.",
value=4.0,
range=(0.0, 50.0, 1.0),
uid=[0],
),
desc.IntParam(
name="nbFrameBufferMatching",
label="Nb Frame Buffer Matching",
description="[voctree] Number of previous frames of the sequence to use for matching (0 = Disable).",
value=10,
range=(0, 100, 1),
uid=[0],
),
desc.BoolParam(
name="robustMatching",
label="Robust Matching",
description="[voctree] Enable/Disable the robust matching between query and database images, all putative matches will be considered.",
value=True,
uid=[0],
),
desc.IntParam(
name="nNearestKeyFrames",
label="N Nearest Key Frames",
description="[cctag] Number of images to retrieve in the database. Parameters specific for final (optional) bundle adjustment optimization of the sequence.",
value=5,
range=(1, 100, 1),
uid=[0],
),
desc.StringParam(
name="globalBundle",
label="Global Bundle",
description="[bundle adjustment] If --refineIntrinsics is not set, this option allows to run a final global bundle adjustment to refine the scene.",
value="",
uid=[0],
),
desc.BoolParam(
name="noDistortion",
label="No Distortion",
description="[bundle adjustment] It does not take into account distortion during the BA, it considers the distortion coefficients to all be equal to 0.",
value=False,
uid=[0],
),
desc.BoolParam(
name="noBArefineIntrinsics",
label="No BA Refine Intrinsics",
description="[bundle adjustment] If set to true, does not refine intrinsics during BA.",
value=False,
uid=[0],
),
desc.IntParam(
name="minPointVisibility",
label="Min Point Visibility",
description="[bundle adjustment] Minimum number of observations that a point must have in order to be considered for bundle adjustment.",
value=2,
range=(2, 50, 1),
uid=[0],
),
desc.ChoiceParam(
name="verboseLevel",
label="Verbose Level",
description="Verbosity level (fatal, error, warning, info, debug, trace).",
value="info",
values=["fatal", "error", "warning", "info", "debug", "trace"],
exclusive=True,
uid=[],
),
]
outputs = [
desc.File(
name="outputAlembic",
label="Alembic",
description="Filename for the SfMData export file (where camera poses will be stored).",
value=desc.Node.internalFolder + "trackedCameras.abc",
uid=[],
),
desc.File(
name="outputJSON",
label="JSON File",
description="Filename for the localization results as .json.",
value=desc.Node.internalFolder + "trackedCameras.json",
uid=[],
),
]