srm rectile cloud_v0.4.1

Overview

The srm-rectile-cloud cluster module is designed to compute three dimensional reconstruction of the environment based on rectilinear images. The modules can use different reconstruction mode and produce dense point cloud.

Presentation

In addition to the standard interface arguments and parameters, this module expects the following execution mode arguments and parameters :

-m [parameter]

The parameter of this argument simply specifies the software
used to compute the visual odometry of the provided rectilinear
image. If 'openmvg' is provided, the software of the same name
is considered. When 'openmvgrig' is provided, the specific mode
of openMVG is considered for visual odometry estimation. In this
case, the estimated visual odometry should be metric, and so,
the dense point cloud.

-o [parameter]

The parameter of this argument defines, when considering elphel
eyesis4pi camera, which of the sensor configuration has to be
considered for visual odometry computation. 

If 'front' or 'back' are provided, the module only considers the
front or back sensor of the middle crown. Those two mode are
only available for non-rig visual odometry estimation.

If 'crown' is provided, the modules takes the eight sensor that
belong to the middle crown.

When 'sp1024' or 'sp1425' are provided, the first or second
stereo-pairs are considered, respectively.

-d [parameter]

The parameter of this argument gives the software to use for
the production of the dense point cloud based on the visual
odometry. When 'openmvs' is provided, the software of the same
name is considered.

As described in the standard interface documentation, this module expects a parameter to the '-n' argument to determine the parentage of the data.

Demonstration

The following command shows a module call on two range provided by two MMSR ranges. It then trigger the three dimensional reconstruction of the environment based on rectilinear tiles :

srm-rectile-cloud --mount-point /path/to/storage\
                  -m openmvg -o crown -d omvs\
                  -n ed14ba8afc9164ad\
                  --address\
                  00-0e-64-08-1b-6e/1434060322/1434060325/\
                  1434061060_772040-1434061076_772040,\
                  00-0e-64-08-1b-6e/1434060322/1434060325/\
                  1434061132_772040-1434061154_772040\
                  --thread 4

This module being a cluster module, the consideration of the thread number allocated for the processing depends on the underlying software. In this case, openMVG and openMVS considers the four thread provided as parameter.