bundle-adjust-tool

The bundle-adjust-tool optimizes cameras and landmarks via a bundle adjustment algorithm.

The default configuration of this tool depends on algorithm implementations in the Ceres and MVG arrows which will only be available if the KWIVER_ENABLE_CERES and KWIVER_ENABLE_MVG CMake flags are enabled.

kwiver bundle-adjust-tool    [options]

Options are:

-h, --help
Display applet usage information.

-c, --config arg
Configuration file for tool.

-p, --GCP arg
Input 3D Ground Control Points (GCP) with corresponding 2D Camera Registration Points (CRP) as JSON file.

-v, --video arg
Input video file or image.txt list.

-t, --tracks arg
Input tracks.txt

-i, --cam_in arg
Input camera models.txt list.

-k, --cam_out arg
Output directory for camera models.

-l, --landmarks arg
Output landmarks.ply file.

-g, --geo-origin arg
Output geographic origin file.

-o, --output-config arg
Output a configuration, which may be seeded with a configuration file from -c/–config.

Default configuration

# Default configuration for the bundle_adjust_tool applet

block video_reader
  block base_camera
    include default_camera_intrinsics.conf
  endblock
endblock

block bundle_adjust
  type = ceres
  include ceres_bundle_adjuster.conf
endblock

block triangulator
  type = mvg
  mvg:homogeneous = true
  mvg:ransac = true
endblock