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31 <br>
32 Image Processing Software
33 <br>
34 <br>
36 <br><br>
37 <big>
38 Local Operation
39 </big>
40 <hr>
41 localhost<br>
43 </table>
52 projective transformations do not allow, such as registering frames having
53 different viewpoints over a non-flat or specular scene, or recovery of depth
54 from frames having different viewpoints. ALE's implementation of 3D scene
55 reconstruction is considered experimental in versions prior to 0.8.3.
60 regions of interest, followed by iterative update of the estimated occupancy
61 and color of each region of interest. (For a general discussion of occupancy,
62 see Hans Moravec's work on depth recovery.) In 0.8.1, the method of modeling
63 is decomposition and deformation of a surface. In earlier versions, a
64 per-frame, per-pixel model of depth is used.
68 <p>The color and depth output options provide a reconstruction of the scene as
69 viewed from a particular frame's vantage point, or from an arbitrary camera
71 accumulated occupancy can optionally be disabled for unfiltered views. Version
73 cropping applications. --et specifies the minimum accumulated weight required
74 for a pixel to be defined, allowing refinements of crops based on clip planes
76 reconstruction, whereas --3dpx specifies a region of space to be removed
77 after scene reconstruction. 0.8.3 uses depth image pixels to determine such spatial regions,
78 leaving the pixels undefined, whereas 0.8.4 removes scene geometry prior to
79 rendering, allowing rendering of background objects after the foreground has been removed.
81 <pre>
84 --3dvp <args> <o> Render, to file <o>, colors viewed with projective <args>. [0.8.2 and later]
85 --3ddp <args> <o> Render, to file <o>, depths viewed with projective <args>. [0.8.2 and later]
87 W image width.
88 H image height.
89 V camera view angle.
90 x translation x component.
91 y translation y component.
92 z translation z component.
93 P rotation around x-axis.
94 Y rotation around y-axis.
95 R rotation around z-axis.
96 --occ-norm Normalize output with accumulated occupancy. [default] [0.8.2 and later]
97 --occ-nonorm Don't normalize output with accumulated occupancy. [0.8.2 and later]
100 reconstruction, assuming a single depth at each point
106 </pre>
110 Version 0.8.4 adds support for filtering color values from the inputs to
111 produce final color renderings. This is now the default. Determining surface
112 depth and gradient for filtering the inputs draws from a set of depth pixels
114 options.
116 Filtering color from views distributed on a disc (about the camera origin) of
117 specified aperture allows simulation of focus effects; such effects can be
118 controlled with the --focus option.
120 <pre>
126 Focus type:
129 Space-separated options may include zero or more of:
143 aperture per aperture [default]
144 pixel per pixel
146 mean mean of views [default]
147 median median of views
148 </pre>
154 control points to decrease the error between points in different frames.
155 Perturbation bounds for adjustment can be specified, including an additional
156 upper bound on view angle perturbation, and a stereo threshold can be set for
157 discarding control points after adjustment is complete. An initial camera view
158 angle can also be specified. Versions 0.8.2 and later allow calculation of
159 error by median rather than mean, and also allow disabling of adjustment of
160 orientation and/or position.
162 <pre>
164 (Default is 43.7 degrees or device-specific.)
166 in pixels or degrees [default is 32]
168 in pixels or degrees [default is 0.125]
169 --va-upper=<x> View-angle perturbation upper bound in degrees [default is 32] [0.8.1 and later]
171 --cpp-err-mean Use RMS error to determine camera parameters. [default] [0.8.2 and later]
172 --cpp-err-median Use median error to determine camera parameters. [0.8.2 and later]
173 --vp-adjust Adjust the view point [default] [0.8.2 and later]
174 --vp-noadjust Do not adjust the view point [0.8.2 and later]
175 --vo-adjust Adjust the view orientation [default] [0.8.2 and later]
176 --vo-noadjust Do not adjust the view orientation [0.8.2 and later]
177 </pre>
181 Transformation data file options allow reading and writing of camera position,
182 orientation, and view angle information.
184 <pre>
187 </pre>
191 <p>The transformation data file uses the following format, starting with a version
192 command, and then describing view angle and euclidean transformation of each
193 frame in turn:
195 <pre>
196 W 0
201 .
202 .
203 .
206 </pre>
211 reduce local cost measures, calculated from angles between neighboring
212 triangles, edge lengths, and differences in color between different views.
213 Multipliers for edge length and angle costs can be specified on the
214 command line.</p>
216 <pre>
219 </pre>
224 exponent for pairwise occupancy estimation can be specified. Larger exponents
225 are more forgiving of color differences between pixels in different frames.
226 In versions 0.8.3 and later, error contributions from cameras outside of the
228 number of occupancy and color update iterations can be specified
233 <pre>
234 --di-upper <x> Decimate primary input resolution by at most 2^x [default is 0] [0.8.4 and later]
237 --oc Clip scene to output regions. [0.8.4 and later]
238 --no-oc Do not clip scene to output regions. [default] [0.8.4 and later]
246 auto Determine comparisons automatically. [default]
247 all Perform all comparisons.
249 </pre>
251 <br>
252 <hr>
253 <i>Copyright 2004, 2005, 2006 <a href="mailto:dhilvert@auricle.dyndns.org">David Hilvert</a></i>
254 <p>Verbatim copying and distribution of this entire article is permitted in any medium, provided this notice is preserved.
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