Task04 Кирилл Доровских СПбГУ

[kerelGusb]

Перечислите идеи и коротко обозначьте мысли которые у вас возникали по мере выполнения задания, в частности попробуйте ответить на вопросы:

1. test_ceres_solver/FitLine: почему найденная прямая и эталонная - не совпадают? Как это исправить пост-обработкой? Как это исправить формулировкой задачи?

Пост-обработкой - нормируем коэффициенты по параметру c
Формулировкой задачи - переведем нашу прямую в другую систему координат - будем задавать ее углом отклонения от оси Х и смещением относительно оси Y.

2. BA: представьте что вы написали преобразование phg::Calibration -> блок параметров и обратное блок параметров -> phg::Calibration. Как проверить простым образом что эти преобразования сделаны корректно? Что должно быть в логе про процент inliers до/после BA если runBA() вызывать всегда два раза пордяд? Иначе говоря - что следует из того что в идеале runBA() должна быть (мне очень нравится это слово) - идемпотентна?

В идеальном мире, если мы вызываем runBA() дважды, то процент inliers не должен меняться, что значило бы, что мы делаем выравнивание настолько хорошо, что уже нечего выравнивать.

3. Какое максимальное число кадров у вас получилось хорошо выравнять для каждого из датасетов? (проверьте хотя бы saharov32 и herzjesu25) Не забудьте приложить скриншоты.

Сахарова удалось выровнять для всех камер, а вот церковь падала на 25-ой.

4. Если бы вычисления в double были абсолютно точны - можно ли было бы назвать вычисления в Calibration::project/unproject строго зеркальными?

Нет, потому что в функции unproject мы используем только приближенное вычисление радиальной дисторсии. Чтобы вычислять ее со сколь угодно высокой точностью, нужно проделывать итеративные вычисления, причем количество итераций будет зависеть от нужной нам точности.

5. Почему фокальная длина меняется от того что мы уменьшаем картинку? Почему именно f/downscale?

Потому что фокальная длина выражена в пикселях. И когда мы меняем размер по одной из осей, мы меняем параметры камеры линейно.

6. Имеет ли право BA двигать точку отсчета системы координат (т.е. добавить константу ко всем координатам)? Как это повлияет на суммарную Loss?

Будто бы BA способен на это, и это даже ничего не поломает. А раз он сдвигает все точки, то и loss не должен поменяться.

7. Каким образом можно гарантировать чтобы при сравнении нескольких последовательно построенных облаков точек одного и того же датасета (созданных по мере добавления фотографии за фотографией) в MeshLab - облака не были хаотично смещены/отмасштабированы/повернуты друг от друга?

Фиксируем первые две камеры в одной системе координат. Остальные камеры вместе с облаками будем двигать так, чтобы они считались в нашей системе.

100. Если есть - фидбек/идеи по улучшению задания.

Github Actions CI

Running main() from /home/kerelGusb/Studies/photogrammetry/libs/3rdparty/libgtest/googletest/src/gtest_main.cc
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from SFM
[ RUN      ] SFM.ReconstructNViews
32 images
detecting points...
matching points...
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61% - Cameras 10-14 (IMG_3033.JPG-IMG_3037.JPG): 4 matches
67% - Cameras 18-12 (IMG_3041.JPG-IMG_3035.JPG): 18 matches
68% - Cameras 18-13 (IMG_3041.JPG-IMG_3036.JPG): 110 matches
69% - Cameras 18-14 (IMG_3041.JPG-IMG_3037.JPG): 154 matches
70% - Cameras 18-15 (IMG_3041.JPG-IMG_3038.JPG): 309 matches
71% - Cameras 18-16 (IMG_3041.JPG-IMG_3039.JPG): 1139 matches
71% - Cameras 2-28 (IMG_3025.JPG-IMG_3051.JPG): 26 matches
71% - Cameras 18-17 (IMG_3041.JPG-IMG_3040.JPG): 1646 matches
72% - Cameras 2-29 (IMG_3025.JPG-IMG_3052.JPG): 177 matches
72% - Cameras 15-2 (IMG_3038.JPG-IMG_3025.JPG): 1 matches
72% - Cameras 18-19 (IMG_3041.JPG-IMG_3042.JPG): 1339 matches
72% - Cameras 2-30 (IMG_3025.JPG-IMG_3053.JPG): 367 matches
73% - Cameras 18-20 (IMG_3041.JPG-IMG_3043.JPG): 321 matches
73% - Cameras 2-31 (IMG_3025.JPG-IMG_3054.JPG): 777 matches
74% - Cameras 18-21 (IMG_3041.JPG-IMG_3044.JPG): 109 matches
74% - Cameras 3-0 (IMG_3026.JPG-IMG_3023.JPG): 170 matches
75% - Cameras 26-19 (IMG_3049.JPG-IMG_3042.JPG): 35 matches
75% - Cameras 3-1 (IMG_3026.JPG-IMG_3024.JPG): 361 matches
76% - Cameras 26-20 (IMG_3049.JPG-IMG_3043.JPG): 97 matches
76% - Cameras 3-2 (IMG_3026.JPG-IMG_3025.JPG): 1188 matches
76% - Cameras 23-19 (IMG_3046.JPG-IMG_3042.JPG): 45 matches
77% - Cameras 26-21 (IMG_3049.JPG-IMG_3044.JPG): 195 matches
77% - Cameras 3-4 (IMG_3026.JPG-IMG_3027.JPG): 1525 matches
77% - Cameras 23-20 (IMG_3046.JPG-IMG_3043.JPG): 253 matches
77% - Cameras 30-27 (IMG_3053.JPG-IMG_3050.JPG): 6 matches
77% - Cameras 7-3 (IMG_3030.JPG-IMG_3026.JPG): 83 matches
78% - Cameras 3-5 (IMG_3026.JPG-IMG_3028.JPG): 717 matches
78% - Cameras 26-22 (IMG_3049.JPG-IMG_3045.JPG): 333 matches
78% - Cameras 23-21 (IMG_3046.JPG-IMG_3044.JPG): 663 matches
78% - Cameras 30-28 (IMG_3053.JPG-IMG_3051.JPG): 604 matches
78% - Cameras 7-4 (IMG_3030.JPG-IMG_3027.JPG): 276 matches
78% - Cameras 23-22 (IMG_3046.JPG-IMG_3045.JPG): 1334 matches
78% - Cameras 3-6 (IMG_3026.JPG-IMG_3029.JPG): 300 matches
79% - Cameras 26-23 (IMG_3049.JPG-IMG_3046.JPG): 455 matches
79% - Cameras 30-29 (IMG_3053.JPG-IMG_3052.JPG): 957 matches
79% - Cameras 15-11 (IMG_3038.JPG-IMG_3034.JPG): 75 matches
79% - Cameras 7-5 (IMG_3030.JPG-IMG_3028.JPG): 993 matches
79% - Cameras 11-4 (IMG_3034.JPG-IMG_3027.JPG): 84 matches
79% - Cameras 23-24 (IMG_3046.JPG-IMG_3047.JPG): 1367 matches
79% - Cameras 3-7 (IMG_3026.JPG-IMG_3030.JPG): 74 matches
79% - Cameras 30-31 (IMG_3053.JPG-IMG_3054.JPG): 970 matches
79% - Cameras 26-24 (IMG_3049.JPG-IMG_3047.JPG): 733 matches
80% - Cameras 15-12 (IMG_3038.JPG-IMG_3035.JPG): 257 matches
80% - Cameras 7-6 (IMG_3030.JPG-IMG_3029.JPG): 1569 matches
80% - Cameras 11-5 (IMG_3034.JPG-IMG_3028.JPG): 143 matches
80% - Cameras 23-25 (IMG_3046.JPG-IMG_3048.JPG): 889 matches
80% - Cameras 31-0 (IMG_3054.JPG-IMG_3023.JPG): 1142 matches
80% - Cameras 3-8 (IMG_3026.JPG-IMG_3031.JPG): 13 matches
80% - Cameras 15-13 (IMG_3038.JPG-IMG_3036.JPG): 841 matches
80% - Cameras 7-8 (IMG_3030.JPG-IMG_3031.JPG): 1214 matches
80% - Cameras 11-6 (IMG_3034.JPG-IMG_3029.JPG): 149 matches
81% - Cameras 31-1 (IMG_3054.JPG-IMG_3024.JPG): 1576 matches
81% - Cameras 26-25 (IMG_3049.JPG-IMG_3048.JPG): 935 matches
81% - Cameras 23-26 (IMG_3046.JPG-IMG_3049.JPG): 430 matches
81% - Cameras 15-14 (IMG_3038.JPG-IMG_3037.JPG): 1308 matches
81% - Cameras 7-9 (IMG_3030.JPG-IMG_3032.JPG): 770 matches
81% - Cameras 11-7 (IMG_3034.JPG-IMG_3030.JPG): 140 matches
81% - Cameras 31-2 (IMG_3054.JPG-IMG_3025.JPG): 860 matches
82% - Cameras 23-27 (IMG_3046.JPG-IMG_3050.JPG): 232 matches
82% - Cameras 15-16 (IMG_3038.JPG-IMG_3039.JPG): 1313 matches
82% - Cameras 7-10 (IMG_3030.JPG-IMG_3033.JPG): 414 matches
82% - Cameras 11-8 (IMG_3034.JPG-IMG_3031.JPG): 207 matches
82% - Cameras 26-27 (IMG_3049.JPG-IMG_3050.JPG): 880 matches
82% - Cameras 31-3 (IMG_3054.JPG-IMG_3026.JPG): 235 matches
82% - Cameras 23-28 (IMG_3046.JPG-IMG_3051.JPG): 55 matches
83% - Cameras 7-11 (IMG_3030.JPG-IMG_3034.JPG): 140 matches
83% - Cameras 15-17 (IMG_3038.JPG-IMG_3040.JPG): 869 matches
83% - Cameras 31-4 (IMG_3054.JPG-IMG_3027.JPG): 69 matches
83% - Cameras 11-9 (IMG_3034.JPG-IMG_3032.JPG): 470 matches
83% - Cameras 26-28 (IMG_3049.JPG-IMG_3051.JPG): 316 matches
83% - Cameras 3-12 (IMG_3026.JPG-IMG_3035.JPG): 3 matches
84% - Cameras 15-18 (IMG_3038.JPG-IMG_3041.JPG): 296 matches
84% - Cameras 11-10 (IMG_3034.JPG-IMG_3033.JPG): 1095 matches
84% - Cameras 15-19 (IMG_3038.JPG-IMG_3042.JPG): 119 matches
85% - Cameras 11-12 (IMG_3034.JPG-IMG_3035.JPG): 1289 matches
85% - Cameras 11-13 (IMG_3034.JPG-IMG_3036.JPG): 491 matches
86% - Cameras 11-14 (IMG_3034.JPG-IMG_3037.JPG): 164 matches
87% - Cameras 11-15 (IMG_3034.JPG-IMG_3038.JPG): 124 matches
87% - Cameras 11-16 (IMG_3034.JPG-IMG_3039.JPG): 34 matches
87% - Cameras 27-0 (IMG_3050.JPG-IMG_3023.JPG): 29 matches
88% - Cameras 31-12 (IMG_3054.JPG-IMG_3035.JPG): 4 matches
91% - Cameras 19-13 (IMG_3042.JPG-IMG_3036.JPG): 32 matches
91% - Cameras 15-28 (IMG_3038.JPG-IMG_3051.JPG): 1 matches
91% - Cameras 19-14 (IMG_3042.JPG-IMG_3037.JPG): 70 matches
92% - Cameras 19-15 (IMG_3042.JPG-IMG_3038.JPG): 99 matches
93% - Cameras 19-16 (IMG_3042.JPG-IMG_3039.JPG): 229 matches
93% - Cameras 19-17 (IMG_3042.JPG-IMG_3040.JPG): 840 matches
94% - Cameras 19-18 (IMG_3042.JPG-IMG_3041.JPG): 998 matches
95% - Cameras 19-20 (IMG_3042.JPG-IMG_3043.JPG): 915 matches
95% - Cameras 19-21 (IMG_3042.JPG-IMG_3044.JPG): 382 matches
95% - Cameras 19-22 (IMG_3042.JPG-IMG_3045.JPG): 179 matches
96% - Cameras 19-23 (IMG_3042.JPG-IMG_3046.JPG): 97 matches
96% - Cameras 19-24 (IMG_3042.JPG-IMG_3047.JPG): 97 matches
96% - Cameras 3-29 (IMG_3026.JPG-IMG_3052.JPG): 62 matches
97% - Cameras 19-25 (IMG_3042.JPG-IMG_3048.JPG): 42 matches
97% - Cameras 19-26 (IMG_3042.JPG-IMG_3049.JPG): 21 matches
97% - Cameras 3-30 (IMG_3026.JPG-IMG_3053.JPG): 128 matches
97% - Cameras 3-31 (IMG_3026.JPG-IMG_3054.JPG): 244 matches
98% - Cameras 31-28 (IMG_3054.JPG-IMG_3051.JPG): 129 matches
98% - Cameras 31-29 (IMG_3054.JPG-IMG_3052.JPG): 553 matches
98% - Cameras 31-30 (IMG_3054.JPG-IMG_3053.JPG): 937 matches
99% - Cameras 27-20 (IMG_3050.JPG-IMG_3043.JPG): 22 matches
99% - Cameras 27-21 (IMG_3050.JPG-IMG_3044.JPG): 101 matches
99% - Cameras 27-22 (IMG_3050.JPG-IMG_3045.JPG): 200 matches
99% - Cameras 27-23 (IMG_3050.JPG-IMG_3046.JPG): 288 matches
99% - Cameras 27-24 (IMG_3050.JPG-IMG_3047.JPG): 413 matches
99% - Cameras 27-25 (IMG_3050.JPG-IMG_3048.JPG): 528 matches
100% - Cameras 27-26 (IMG_3050.JPG-IMG_3049.JPG): 847 matches
100% - Cameras 27-28 (IMG_3050.JPG-IMG_3051.JPG): 773 matches
100% - Cameras 27-29 (IMG_3050.JPG-IMG_3052.JPG): 248 matches
100% - Cameras 27-30 (IMG_3050.JPG-IMG_3053.JPG): 39 matches
100% - Cameras 27-31 (IMG_3050.JPG-IMG_3054.JPG): 29 matches
Initial alignment from cameras #0 and #1 (IMG_3023.JPG, IMG_3024.JPG)
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 89% inliers with MSE=1.71016
    Camera #0 projections: 89% inliers (1037/1159) with MSE=1.68797
    Camera #1 projections: 89% inliers (1035/1159) with MSE=1.73239
After BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Camera #0 center: [0, 0, 0] -> [0, 0, 0]
Camera #1 center: [-0.981112, 0.0066058, 0.193329] -> [-0.981112, 0.0066058, 0.193329]
After BA tie poits: 0% old + 11% new = 11% total outliers
After BA projections: 89% inliers with MSE=0.36941
    Camera #0 projections: 89% inliers (1027/1159) with MSE=0.374369
    Camera #1 projections: 89% inliers (1028/1159) with MSE=0.364456
Append camera #2 (IMG_3025.JPG) to alignment via 789 common points
Before BA camera: k1=0, k2=0, f=1585.5, cx=364, cy=546
Before BA projections: 63% inliers with MSE=0.824452
    Camera #0 projections: 83% inliers (1107/1336) with MSE=0.438259
    Camera #1 projections: 77% inliers (1373/1793) with MSE=0.72779
    Camera #2 projections: 31% inliers (506/1638) with MSE=1.93163

... (полный лог не помещался в PR)

After BA tie poits: 48% old + 2% new = 50% total outliers
After BA projections: 60% inliers with MSE=0.103546
    Camera #0 projections: 45% inliers (1359/3048) with MSE=0.423916
    Camera #1 projections: 67% inliers (1706/2560) with MSE=0.242818
    Camera #2 projections: 65% inliers (1708/2635) with MSE=0.130833
    Camera #3 projections: 58% inliers (1604/2779) with MSE=0.0953949
    Camera #4 projections: 54% inliers (1732/3216) with MSE=0.110297
    Camera #5 projections: 54% inliers (1690/3157) with MSE=0.0954856
    Camera #6 projections: 58% inliers (2085/3599) with MSE=0.137282
    Camera #7 projections: 65% inliers (1982/3030) with MSE=0.0832403
    Camera #8 projections: 62% inliers (2001/3238) with MSE=0.0784768
    Camera #9 projections: 59% inliers (2010/3410) with MSE=0.0694699
    Camera #10 projections: 58% inliers (1928/3316) with MSE=0.068304
    Camera #11 projections: 53% inliers (1573/2993) with MSE=0.120287
    Camera #12 projections: 39% inliers (1011/2565) with MSE=0.0835204
    Camera #13 projections: 48% inliers (1171/2441) with MSE=0.0798896
    Camera #14 projections: 62% inliers (1420/2294) with MSE=0.0619198
    Camera #15 projections: 52% inliers (1662/3226) with MSE=0.0526807
    Camera #16 projections: 48% inliers (1847/3875) with MSE=0.0635922
    Camera #17 projections: 44% inliers (1829/4160) with MSE=0.0434502
    Camera #18 projections: 49% inliers (1695/3435) with MSE=0.0679871
    Camera #19 projections: 61% inliers (1644/2696) with MSE=0.0773878
    Camera #20 projections: 65% inliers (1249/1916) with MSE=0.106946
    Camera #21 projections: 61% inliers (1105/1810) with MSE=0.0884067
    Camera #22 projections: 56% inliers (1289/2306) with MSE=0.0947055
    Camera #23 projections: 53% inliers (1519/2841) with MSE=0.0791895
    Camera #24 projections: 61% inliers (1920/3149) with MSE=0.0552214
    Camera #25 projections: 70% inliers (2135/3032) with MSE=0.0522422
    Camera #26 projections: 81% inliers (2190/2718) with MSE=0.0510787
    Camera #27 projections: 84% inliers (2180/2608) with MSE=0.0623829
    Camera #28 projections: 78% inliers (1954/2504) with MSE=0.118568
    Camera #29 projections: 78% inliers (2138/2753) with MSE=0.170908
    Camera #30 projections: 56% inliers (2605/4668) with MSE=0.135707
    Camera #31 projections: 93% inliers (3734/4018) with MSE=0.134307
[       OK ] SFM.ReconstructNViews (170647 ms)
[----------] 1 test from SFM (170647 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (170647 ms total)
[  PASSED  ] 1 test.

[simiyutin]

задача зачтена, 8/10 баллов