Keypoint location and properties

[CommonGibbon]

Does anyone know whether its possible to get more information regarding the keypoints found during the dense point cloud construction process? I'm specifically looking to recover the location of each point in 3D space paired with the 2D locations of that point in each of the input images it was found in.
The best I've found so far is that I can check how many points are visible in each frame and how many points there are total.

Thanks in advance!

NEW: As a less-preferably workaround, I'd like to be able to export the camera's positions as defined by the model's coordinate space. I know I can access this information by right-clicking any camera in the camera navigator and selecting "properties", but I can't find a method for exporting that information all at once.

[Andrea Alessi]

Hi CommonGibbon,

you can already export all these information in Zephyr.

The txt format may not be straightforward so here is a brief explanation - from the export menu, select "export cameras and points" to export the 3D and 2D information.



The samPointCloud.ply that will be exported is the 3D sparse cloud information.

The Visibility.txt text file, is related to the above ply file.

Here is a snippet:

[...]
Visibility for camera test000.jpg
1537
69 738.534 2141.16
375 1548.32 1501.02
1052 811.278 2118.27
1056 933.034 2128.65
1057 968.069 2140.75
1060 1085.91 2185.9
1063 1122.13 2199.27
1067 1320.22 2143.36
1071 1434.59 2133.22
1096 1691.15 1984.53
1097 1704.69 2012.06
.....
[...]

Means that the following 1537 matches are found at the iTh index of the ply.
So the 3D point at index 69 of the PLY ( so you'll find a line similar to -3.009776 0.517977 -15.380046 84 84 86 , where the coordinate is -3.009776 0.517977 -15.380046 ) has matches at the 2D coordinates 738.534, 2141.16

I hope this helps!

[CommonGibbon]

Hey Andrea,

This looks like just what I need, but I don't have an "export cameras and points" option in my version of Zephyr (steam lite), so I'll need to try pro or Arial to confirm. Thanks for the information!

[Andrea Alessi]

Oh my bad, i thought for some reason you had a pro license (similar name to another customer )

Yes, you need pro or aerial for that feature. Let me know if you need a trial key!