Script to 3D reconstruct the given data-set using multi view SFM

[MariusGhica]

closes #28

3D reconstruction of the dataset from moodle using multi view SFM

• [x] Multi view FSM using SURF detection of the features
• [x] ~Inclusion of the preprocessing step~
• [x] ~Inclusion of the script in the overall pipeline~

Test

• For reviewers, try running test_multiview and 80% of the time the output shoud be:

[danielsanjosepro]

For preprocessing steps and so on are on the last PR, if we merge the other soon you can use everything that is there

[danielsanjosepro]

• [x] Make modular similar to reconstruct3D.m
• [x] Put everything in a function that outputs a point cloud, camera poses and matched points.
• [x] Dont plot in the function

[danielsanjosepro]

@MariusGhica How does it look like here? Is this soon ready to merge?

[MariusGhica]

I still need to tidy up a bit to be more modular. I'll finish that tomorrow.

[danielsanjosepro]

Results for 6 pictures in delivery area: Results for 15 pictures: Cameras are pointing in wrong direction (rotated by 90°)

[danielsanjosepro]

This is for sure not ready -> Ive opened issues that should address what is still not working. But I think it would be nice to merge for now, since it works good enough. The problems will be adressed later.

Important for me in the review: run the test_multiview (you need the delivery_area data). I want your "quick" benchmark values:

• How long did it take?
• Did it crash?
• A screenshot of the PC
• Specs of your computer (OS is enough)

Modify the num of images you use if you want, for me it crashes otherwise.

[danielsanjosepro]

For delivery area with all images Running: tic; test_multiview; toc Elapsed time is 29.476334 seconds (on Battery, first time) Elapsed time is 25.519149 seconds. (on Battery second time) Elapsed time is 23.637916 seconds. (on Battery third time)

Elapsed time is 17.999542 seconds. (on power supply first time) Elapsed time is 19.014190 seconds. (on power supply second time) Elapsed time is 18.646462 seconds (on power supply third time) Elapsed time is 18.695795 seconds. (on power supply fourth time)

specs: OS: Windows 10 Pro 22H2 CPU: AMD Ryzen 7 4700U with Radeon Graphics 2.00 GHz RAM: 16,0 GB

Am I supposed to get a visual output (pc plot) because I get none, but it also does not crash

It should plot something. Try: plotting.plotPointCloud(denoisedPointCloud, camPoses, cameraSizePlotSize=0.2)

[lufixSch]

Benchmark Results: On Power supply:

• 39.61s
• 34.70s
• 32.84s

On Battery:

• 52.18s
• 48.54s
• 46.83s

Specs: OS: MacOS Ventura 13.4 (22F66) CPU: 2,6 GHz 6-Core Intel Core i7 with AMD Radeon Pro 5300M 4 GB RAM: 16,0 GB

Script Config:

• Dataset: delivery_area_dslr_undistorted
• numImages: 15

[lufixSch]

Benchmark Results: On Power supply:

• 12.23
• 10.36
• 10.06

specs: OS: Manjaro Linux - X11 KDE-Plasma (KDE Version: 5.27, Kernel Version: 6.1.31-2-MANJARO) CPU: 20 × 13th Gen Intel® Core™ i5-13500 with AMD Radeon RX 6750 XT 12GB RAM: 32,0 GB

Script Config:

• Dataset: delivery_area_dslr_undistorted
• numImages: 15

[danielsanjosepro]

Do you have any requests for this? or can we merge it? Some of the issues will be adressed later

[danielsanjosepro]

Last commit closes #28