Bundle adjust parameter ranges and/or cost function?

[Rainey Aberle]

Hello!

Is there a list of the potential parameter values for bundle adjust somewhere in the documentation? I haven't been able to find it. I'm wondering specifically what the ranges of --camera-position-weight and --tri-weight values are and how these are weighted with --heights-from-dem and --heights-from-dem-uncertainty. 

Also, is there a way to see the specific cost function being used? I see a link to the generic function, but not with all of the specific parameters. 

Thank you! 

[Oleg Alexandrov]

The full list of options of bundle_adjust is in https://stereopipeline.readthedocs.io/en/latest/tools/bundle_adjust.html#command-line-options.

The  --camera-position-weight option has a complicated explanation and is not easy to set right. 

The implementation of --tri-weight is here: https://stereopipeline.readthedocs.io/en/latest/tools/bundle_adjust.html#ground-constraints

The implementation of --heights-from-dem is described here: https://stereopipeline.readthedocs.io/en/latest/bundle_adjustment.html#heights-from-dem

The --heights-from-dem-uncertainty is in units of meter. Any measured discrepancy between a point being optimized and its initial value is normalized by this to convert to units compatible to pixel units. 

The cost function is described here: https://stereopipeline.readthedocs.io/en/latest/tools/bundle_adjust.html#how-bundle-adjustment-works

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[Rainey Aberle]

Hi Oleg,

Great, thank you! I'll play around with the --camera-position-weight. 

[Rainey Aberle]

Hello! 

I have another bundle adjustment question when you have time. Is there a way to provide a list of images associated with each camera to optimize their orientations? I see that you can do what I'm looking for with the intrinsics, where the same intrinsics are applied to all images for each camera (e.g., 12.2.2), but I don't see an analogous solution for extrinsics. When I provide the --camera-list without the --solve-intrinsics parameter, it returns an error because I don't have the initial intrinsics parameters (which I don't want adjusted). For reference, I have ~70 SkySat triplet stereo images and the orientation varies quite a bit for a given camera, resulting in some artifacts between frames in the final DEM. Keeping orientations consistent might help. 

Thanks again!

[Alexandrov, Oleg (ARC-TI)[KBR Wyle Services, LLC]]

>Is there a way to provide a list of images associated with each camera to optimize their orientations?

It depends on what you mean by "camera". Normally, there are N images and N cameras, so one camera per image. You should be able to use the --fixed-image-list option to fix poses of desired images.

If you are talking about sensor properties, then a single sensor can acquire multiple images, each with its own camera orientation, but all these will share the same intrinsics.

>When I provide the --camera-list without the --solve-intrinsics parameter

Interesting. You should be able to provide --image-list and --camera-list without any mention of intrinsics. If no luck, you can share the exact command you use.

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From: ames-stereo-pi...@googlegroups.com <ames-stereo-pi...@googlegroups.com> on behalf of Rainey Aberle <rainey...@u.boisestate.edu>
Sent: Tuesday, February 11, 2025 1:40 PM
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Subject: [EXTERNAL] [BULK] Re: Bundle adjust parameter ranges and/or cost function?

 

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