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Version du 2 novembre 2015 à 10:08

Description

Tapas is a tool offering most of the posssibilities of Apero for computing purely relative orientations

Syntax

The global syntax for Tapas is
mm3d Tapas ModeCalib NamedArgs

Allowed commands

  • RadialBasic
  • RadialExtended
  • Fraser
  • FraserBasic
  • FishEyeEqui
  • FE_EquiSolBasic
  • Four
  • AddFour
  • AddPolyDeg

RadialBasic

a subset of previous model: radial distortion with limited degrees of freedom ; adapted when there is a risk of divergence of RadialExtended; in this model there are 5 degrees of freedom : 1 for focal length , 2 for principal point and distortion center 3 , 2 for coefficients of radial distortion (r3 and r5 ).

Help

You can access to the help by typing :

mm3d Tapas RadialBasic -help

Mandatory unnamed args :

  • string :: {Calibration model}
  • string :: {Full Directory (Dir+Pattern)}



Named args :

  • [Name=ExpTxt] INT :: {Export in text format (Def=false)}
  • [Name=Out] string :: {Directory of Output Orientation}
  • [Name=InCal] string :: {Directory of Input Internal Orientation (Calibration)}
  • [Name=InOri] string :: {Directory of Input External Orientation}
  • [Name=DoC] INT :: {Do Compensation}
  • [Name=ForCalib] INT :: {Is for calibration (Change def value of LMV and prop diag)?}
  • [Name=Focs] Pt2dr :: {Keep images with focal length inside range [A,B] (A,B in mm) (Def=keep all)}
  • [Name=VitesseInit] INT
  • [Name=PPRel] Pt2dr :: {Principal point shift}
  • [Name=Decentre] INT :: {Principal point is shifted (Def=false)}
  • [Name=PropDiag] REAL :: {Hemi-spherik fisheye diameter to diagonal ratio}
  • [Name=SauvAutom] string :: {Save intermediary results to, Set NONE if dont want any}
  • [Name=ImInit] string :: {Force first image}
  • [Name=MOI] bool :: {MOI}


RadialExtended

A model with radial distortion.

Help

You can access to the help by typing :
mm3d Tapas RadialExtended -help

Mandatory unnamed args :

  • string :: {Calibration model}
  • string :: {Full Directory (Dir+Pattern)}


Named args :

  • [Name=ExpTxt] INT :: {Export in text format (Def=false)}
  • [Name=Out] string :: {Directory of Output Orientation}
  • [Name=InCal] string :: {Directory of Input Internal Orientation (Calibration)}
  • [Name=InOri] string :: {Directory of Input External Orientation}
  • [Name=DoC] INT :: {Do Compensation}
  • [Name=ForCalib] INT :: {Is for calibration (Change def value of LMV and prop diag)?}
  • [Name=Focs] Pt2dr :: {Keep images with focal length inside range [A,B] (A,B in mm) (Def=keep all)}
  • [Name=VitesseInit] INT
  • [Name=PPRel] Pt2dr :: {Principal point shift}
  • [Name=Decentre] INT :: {Principal point is shifted (Def=false)}
  • [Name=PropDiag] REAL :: {Hemi-spherik fisheye diameter to diagonal ratio}
  • [Name=SauvAutom] string :: {Save intermediary results to, Set NONE if dont want any}
  • [Name=ImInit] string :: {Force first image}
  • [Name=MOI] bool :: {MOI}
  • [Name=DBF] INT :: {Debug (internal use : DebugPbCondFaisceau=true) }
  • [Name=Debug] bool :: {Partial file for debug}
  • [Name=DegRadMax] INT :: {Max degree of radial, default model dependent}
  • [Name=DegGen] INT :: {Max degree of general polynome, default model dependent (generally 0 or 1)}
  • [Name=LibAff] bool :: {Free affine parameter, Def=true}
  • [Name=LibDec] bool :: {Free decentric parameter, Def=true}
  • [Name=LibPP] bool :: {Free principal point, Def=true}
  • [Name=LibCP] bool :: {Free distorsion center, Def=true}
  • [Name=LibFoc] bool :: {Free focal, Def=true}
  • [Name=RapTxt] string :: {RapTxt}
  • [Name=LinkPPaPPs] REAL :: {Link PPa and PPs (double)}
  • [Name=FrozenPoses] string :: {List of frozen poses (pattern)}
  • [Name=SH] string :: {Set of Hom, Def="", give MasqFiltered for result of HomolFilterMasq}
  • [Name=RefineAll] bool :: {More refinement at all step, safer and more accurate, but slower, def=true}

Example

For example with the Mur Saint Martin dataset, you can launch :
Tapas RadialExtended "IMGP41((6[7-9])|([7-8][0-9])).JPG"

Fraser

a radial model, with decentric and affine parameters there are 12 degrees of freedom: 1 for focal length , 2 for principal point, 2 for distortion center , 3 for coefficients of radial distorsion (r3 , r5 r7 ), 2 for decentric parameters, 2 for affine parameters; the optional parameters LibAff and LibDec (def value true) can be set to false if decentric of affine parameters must stay frozen

Help

You can access to the help by typing :
mm3d Tapas Fraser -help

Mandatory unnamed args :

  • <span style="string :: {Calibration model} </span style>
  • <span style="string :: {Full Directory (Dir+Pattern)} </span style>


Named args :

  • [Name=ExpTxt] INT :: {Export in text format (Def=false)}
  • [Name=Out] string :: {Directory of Output Orientation}
  • [Name=InCal] string :: {Directory of Input Internal Orientation (Calibration)}
  • [Name=InOri] string :: {Directory of Input External Orientation}
  • [Name=DoC] INT :: {Do Compensation}
  • [Name=ForCalib] INT :: {Is for calibration (Change def value of LMV and prop diag)?}
  • [Name=Focs] Pt2dr :: {Keep images with focal length inside range [A,B] (A,B in mm) (Def=keep all)}
  • [Name=VitesseInit] INT
  • [Name=PPRel] Pt2dr :: {Principal point shift}
  • [Name=Decentre] INT :: {Principal point is shifted (Def=false)}
  • [Name=PropDiag] REAL :: {Hemi-spherik fisheye diameter to diagonal ratio}
  • [Name=SauvAutom] string :: {Save intermediary results to, Set NONE if dont want any}
  • [Name=ImInit] string :: {Force first image}
  • [Name=MOI] bool :: {MOI}
  • [Name=DBF] INT :: {Debug (internal use : DebugPbCondFaisceau=true) }
  • [Name=Debug] bool :: {Partial file for debug}
  • [Name=DegRadMax] INT :: {Max degree of radial, default model dependent}
  • [Name=DegGen] INT :: {Max degree of general polynome, default model dependent (generally 0 or 1)}
  • [Name=LibAff] bool :: {Free affine parameter, Def=true}
  • [Name=LibDec] bool :: {Free decentric parameter, Def=true}
  • [Name=LibPP] bool :: {Free principal point, Def=true}
  • [Name=LibCP] bool :: {Free distorsion center, Def=true}
  • [Name=LibFoc] bool :: {Free focal, Def=true}
  • [Name=RapTxt] string :: {RapTxt}
  • [Name=LinkPPaPPs] REAL :: {Link PPa and PPs (double)}
  • [Name=FrozenPoses] string :: {List of frozen poses (pattern)}
  • [Name=SH] string :: {Set of Hom, Def="", give MasqFiltered for result of HomolFilterMasq}
  • [Name=RefineAll] bool :: {More refinement at all step, safer and more accurate, but slower, def=true}
  • [Name=ImMinMax] vector :: {Image min and max (may avoid tricky pattern ...)}
  • [Name=EcMax] REAL :: {Final threshold for residual, def = 5.0 }


FraserBasic

same as previous with for principal point and distortion center constrained to have the same value (so 10 degree of freedom)

Help

You can access to the help by typing :
mm3d Tapas FraserBasic -help

Mandatory unnamed args :

  • string :: {Calibration model}
  • Istring :: {Full Directory (Dir+Pattern)}


Named args :

  • [Name=ExpTxt] INT :: {Export in text format (Def=false)}
  • [Name=Out] string :: {Directory of Output Orientation}
  • [Name=InCal] string :: {Directory of Input Internal Orientation (Calibration)}
  • [Name=InOri] string :: {Directory of Input External Orientation}
  • [Name=DoC] INT :: {Do Compensation}
  • [Name=ForCalib] INT :: {Is for calibration (Change def value of LMV and prop diag)?}
  • [Name=Focs] Pt2dr :: {Keep images with focal length inside range [A,B] (A,B in mm) (Def=keep all)}
  • [Name=VitesseInit] INT
  • [Name=PPRel] Pt2dr :: {Principal point shift}
  • [Name=Decentre] INT :: {Principal point is shifted (Def=false)}
  • [Name=PropDiag] REAL :: {Hemi-spherik fisheye diameter to diagonal ratio}
  • [Name=SauvAutom] string :: {Save intermediary results to, Set NONE if dont want any}
  • [Name=ImInit] string :: {Force first image}
  • [Name=MOI] bool :: {MOI}
  • [Name=DBF] INT :: {Debug (internal use : DebugPbCondFaisceau=true) }
  • [Name=Debug] bool :: {Partial file for debug}
  • [Name=DegRadMax] INT :: {Max degree of radial, default model dependent}
  • [Name=DegGen] INT :: {Max degree of general polynome, default model dependent (generally 0 or 1)}
  • [Name=LibAff] bool :: {Free affine parameter, Def=true}
  • [Name=LibDec] bool :: {Free decentric parameter, Def=true}
  • [Name=LibPP] bool :: {Free principal point, Def=true}
  • [Name=LibCP] bool :: {Free distorsion center, Def=true}
  • [Name=LibFoc] bool :: {Free focal, Def=true}
  • [Name=RapTxt] string :: {RapTxt}
  • [Name=LinkPPaPPs] REAL :: {Link PPa and PPs (double)}
  • [Name=FrozenPoses] string :: {List of frozen poses (pattern)}
  • [Name=SH] string :: {Set of Hom, Def="", give MasqFiltered for result of HomolFilterMasq}
  • [Name=RefineAll] bool :: {More refinement at all step, safer and more accurate, but slower, def=true}
  • [Name=ImMinMax] vector :: {Image min and max (may avoid tricky pattern ...)}
  • [Name=EcMax] REAL :: {Final threshold for residual, def = 5.0 }


FishEyeEqui

a model adapted for diagonal fisheyes equilinear ( with atan physicall model com- pleted with polynomial parameters there are 14 degrees of freedom: 1 for focal length , 2 for principal point, 2 for distorsion center , 5 for coefficients of radial distortion (r3 , r5 r7 ), 2 for decentric parameters, 2 for affine parameters; by default the ray defining the useful mask is 95% of the diagonal.

Help

You can access to the help by typing :
mm3d Tapas FishEyeEqui -help

Mandatory unnamed args :

  • string :: {Calibration model}
  • string :: {Full Directory (Dir+Pattern)}


Named args :

  • [Name=ExpTxt] INT :: {Export in text format (Def=false)}
  • [Name=Out] string :: {Directory of Output Orientation}
  • [Name=InCal] string :: {Directory of Input Internal Orientation (Calibration)}
  • [Name=InOri] string :: {Directory of Input External Orientation}
  • [Name=DoC] INT :: {Do Compensation}
  • [Name=ForCalib] INT :: {Is for calibration (Change def value of LMV and prop diag)?}
  • [Name=Focs] Pt2dr :: {Keep images with focal length inside range [A,B] (A,B in mm) (Def=keep all)}
  • [Name=VitesseInit] INT
  • [Name=PPRel] Pt2dr :: {Principal point shift}
  • [Name=Decentre] INT :: {Principal point is shifted (Def=false)}
  • [Name=PropDiag] REAL :: {Hemi-spherik fisheye diameter to diagonal ratio}
  • [Name=SauvAutom] string :: {Save intermediary results to, Set NONE if dont want any}
  • [Name=ImInit] string :: {Force first image}
  • [Name=MOI] bool :: {MOI}
  • [Name=DBF] INT :: {Debug (internal use : DebugPbCondFaisceau=true) }
  • [Name=Debug] bool :: {Partial file for debug}
  • [Name=DegRadMax] INT :: {Max degree of radial, default model dependent}
  • [Name=DegGen] INT :: {Max degree of general polynome, default model dependent (generally 0 or 1)}
  • [Name=LibAff] bool :: {Free affine parameter, Def=true}
  • [Name=LibDec] bool :: {Free decentric parameter, Def=true}
  • [Name=LibPP] bool :: {Free principal point, Def=true}
  • [Name=LibCP] bool :: {Free distorsion center, Def=true}
  • [Name=LibFoc] bool :: {Free focal, Def=true}
  • [Name=RapTxt] string :: {RapTxt}
  • [Name=LinkPPaPPs] REAL :: {Link PPa and PPs (double)}
  • [Name=FrozenPoses] string :: {List of frozen poses (pattern)}
  • [Name=SH] string :: {Set of Hom, Def="", give MasqFiltered for result of HomolFilterMasq}
  • [Name=RefineAll] bool :: {More refinement at all step, safer and more accurate, but slower, def=true}
  • [Name=ImMinMax] vector :: {Image min and max (may avoid tricky pattern ...)}

[Name=EcMax] REAL :: {Final threshold for residual, def = 5.0 }


HemiEqui

same model as previous, but by default the ray defining the useful mask s 52% of the diagonal; adapted to hemispheric equilinear fisheye.

Help

You can access to the help by typing :
mm3d Tapas HemiEqui -help

Mandatory unnamed args :

  • string :: {Calibration model}
  • string :: {Full Directory (Dir+Pattern)}


Named args :

  • [Name=ExpTxt] INT :: {Export in text format (Def=false)}
  • [Name=Out] string :: {Directory of Output Orientation}
  • [Name=InCal] string :: {Directory of Input Internal Orientation (Calibration)}
  • [Name=InOri] string :: {Directory of Input External Orientation}
  • [Name=DoC] INT :: {Do Compensation}
  • [Name=ForCalib] INT :: {Is for calibration (Change def value of LMV and prop diag)?}
  • [Name=Focs] Pt2dr :: {Keep images with focal length inside range [A,B] (A,B in mm) (Def=keep all)}
  • [Name=VitesseInit] INT
  • [Name=PPRel] Pt2dr :: {Principal point shift}
  • [Name=Decentre] INT :: {Principal point is shifted (Def=false)}
  • [Name=PropDiag] REAL :: {Hemi-spherik fisheye diameter to diagonal ratio}
  • [Name=SauvAutom] string :: {Save intermediary results to, Set NONE if dont want any}
  • [Name=ImInit] string :: {Force first image}
  • [Name=MOI] bool :: {MOI}
  • [Name=DBF] INT :: {Debug (internal use : DebugPbCondFaisceau=true) }
  • [Name=Debug] bool :: {Partial file for debug}
  • [Name=DegRadMax] INT :: {Max degree of radial, default model dependent}
  • [Name=DegGen] INT :: {Max degree of general polynome, default model dependent (generally 0 or 1)}
  • [Name=LibAff] bool :: {Free affine parameter, Def=true}
  • [Name=LibDec] bool :: {Free decentric parameter, Def=true}
  • [Name=LibPP] bool :: {Free principal point, Def=true}
  • [Name=LibCP] bool :: {Free distorsion center, Def=true}
  • [Name=LibFoc] bool :: {Free focal, Def=true}
  • [Name=RapTxt] string :: {RapTxt}
  • [Name=LinkPPaPPs] REAL :: {Link PPa and PPs (double)}
  • [Name=FrozenPoses] string :: {List of frozen poses (pattern)}
  • [Name=SH] string :: {Set of Hom, Def="", give MasqFiltered for result of HomolFilterMasq}
  • [Name=RefineAll] bool :: {More refinement at all step, safer and more accurate, but slower, def=true}
  • [Name=ImMinMax] vector :: {Image min and max (may avoid tricky
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