Get the camera parameters as OPENCV_SPHERICAL about openmvg HOT 2 OPEN

Hello, OpenMVG can take Spherical image as input.
All OpenMVG camera information are saved in a file called sfm_data.json first and then sfm_data.bin.
You can convert the sfm_data.bin to json using the openMVG_main_ConvertSfM_DataFormat binary.

See here for how to run the pipeline https://github.com/openMVG/Image_datasets/tree/main/360_dataset (I need to update the command line there -> openMVG_main_ComputeMatches is not taking -g a but adding the binary openMVG_main_GeometricFilter will take it)

from openmvg.

Thank you very much! I could get the camera parameters following your instructions. But there are other two questions.

1. What is the default mode of "Structure-from-Motion specific methods"? I mean there are three patterns in OpenMVG: INCREMENTAL, INCREMENTALV2, and GLOBAL (except the "from known poses").

2. Could the GLOBAL method not apply to the spherical images?
   I could get results "sfm_data.bin" when using default mode and INCREMENTAL. However, when I use GLOBAL mode, I get errors, and I will show the log as follows.

1. Initialize the scene (spherical camera model)
--focal 1
--intrinsics
--camera_model 7
--group_camera_model 1
--use_pose_prior 0
--prior_weights 1.0;1.0;1.0
--gps_to_xyz_method 0
INFO: [loggerprogress.hpp:79] [- Listing images -] 10%
INFO: [loggerprogress.hpp:79] [- Listing images -] 20%
INFO: [loggerprogress.hpp:79] [- Listing images -] 30%
INFO: [loggerprogress.hpp:79] [- Listing images -] 40%
INFO: [loggerprogress.hpp:79] [- Listing images -] 50%
INFO: [loggerprogress.hpp:79] [- Listing images -] 60%
INFO: [loggerprogress.hpp:79] [- Listing images -] 70%
INFO: [loggerprogress.hpp:79] [- Listing images -] 80%
INFO: [loggerprogress.hpp:79] [- Listing images -] 90%
INFO: [loggerprogress.hpp:79] [- Listing images -] 100%
INFO: [main_SfMInit_ImageListing.cpp:478] SfMInit_ImageListing report:
listed #File(s): 100
usable #File(s) listed in sfm_data: 100
usable #Intrinsic(s) listed in sfm_data: 1

2. Compute features
--describerMethod SIFT
--upright 0
--describerPreset NORMAL
--force 0
--numThreads 0

INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 10%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 20%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 30%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 40%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 50%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 60%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 70%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 80%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 90%
INFO: [loggerprogress.hpp:79] [- EXTRACT FEATURES -] 100%
INFO: [main_ComputeFeatures.cpp:343] Task done in (s): 36

3. Compute matching pairs
Optional parameters
--pair_mode : EXHAUSTIVE
--contiguous_count : -1

Loading scene.Computing pairs.
Saving pairs.

4. Compute image matches
Optional parameters:
--force 0
--ratio 0.8
--nearest_matching_method AUTO
--cache_size unlimited
--preemptive_feature_used/count 0 / 200
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 10%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 20%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 30%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 40%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 50%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 60%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 70%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 80%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 90%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 100%
INFO: [main_ComputeMatches.cpp:216] - PUTATIVE MATCHES -
INFO: [main_ComputeMatches.cpp:237] Using FAST_CASCADE_HASHING_L2 matcher
INFO: [main_ComputeMatches.cpp:316] Running matching on #pairs: 4950
INFO: [Cascade_Hashing_Matcher_Regions.cpp:238] Using the OPENMP thread interface
INFO: [loggerprogress.hpp:79] [- Matching -] 0%
INFO: [loggerprogress.hpp:79] [- Matching -] 10%
INFO: [loggerprogress.hpp:79] [- Matching -] 20%
INFO: [loggerprogress.hpp:79] [- Matching -] 30%
INFO: [loggerprogress.hpp:79] [- Matching -] 40%
INFO: [loggerprogress.hpp:79] [- Matching -] 50%
INFO: [loggerprogress.hpp:79] [- Matching -] 60%
INFO: [loggerprogress.hpp:79] [- Matching -] 70%
INFO: [loggerprogress.hpp:79] [- Matching -] 80%
INFO: [loggerprogress.hpp:79] [- Matching -] 90%
INFO: [loggerprogress.hpp:79] [- Matching -] 100%
INFO: [main_ComputeMatches.cpp:362] Task (Regions Matching) done in (s): 3
INFO: [main_ComputeMatches.cpp:365] #Putative pairs: 4950
INFO: [graph_stats.hpp:53] Graph statistics:
#nodes: 100
#cc: 1
#singleton: 0
Node degree statistics: min: 99, max: 99, mean: 99, median: 99

5. Filter matches
Optional parameters:
--input_pairs
--output_pairs
--force false
--geometric_model a
--guided_matching 0
--cache_size unlimited
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 10%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 20%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 30%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 40%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 50%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 60%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 70%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 80%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 90%
INFO: [loggerprogress.hpp:79] [- Regions Loading -] 100%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 0%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 10%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 20%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 30%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 40%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 50%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 60%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 70%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 80%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 90%
INFO: [loggerprogress.hpp:79] [- Geometric filtering -] 100%
INFO: [graph_stats.hpp:53] Graph statistics:
#nodes: 100
#cc: 1
#singleton: 0
Node degree statistics: min: 71, max: 98, mean: 88, median: 89
INFO: [main_GeometricFilter.cpp:383] Task done in (s): 1
INFO: [main_GeometricFilter.cpp:386]
Export Adjacency Matrix of the pairwise's geometric matches

6. Compute camera motion and structure of the scene
INFO: [main_SfM.cpp:157]
Structure from Motion:
INFO: [loggerprogress.hpp:79] [- Features Loading -] 10%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 20%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 30%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 40%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 50%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 60%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 70%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 80%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 90%
INFO: [loggerprogress.hpp:79] [- Features Loading -] 100%
INFO: [connectedComponent.hpp:99] CleanGraph_KeepLargestBiEdge_Nodes():: => connected Component: 1
INFO: [connectedComponent.hpp:118] Connected component of size: 100
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 10%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 20%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 30%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 40%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 50%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 60%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 70%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 80%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 90%
INFO: [loggerprogress.hpp:79] [- Relative pose computation -] 100%
INFO: [relative_pose_engine.cpp:224] Relative motion computation took: 11 (s)
INFO: [sfm_global_engine_relative_motions.cpp:195]

Global rotations computation:
#relative rotations: 4057
#global rotations: 100
INFO: [GlobalSfM_rotation_averaging.cpp:245] Statistics about rotation triplets:
min: 0.0362165
mean: 8.51812
median: 7.05981
max: 31.4766
0 | 12645
1.57 | 11781
3.15 | 9255
4.72 | 7888
6.3 | 7098
7.87 | 6429
9.44 | 5848
11 | 5279
12.6 | 4705
14.2 | 4329
15.7 | 3822
17.3 | 3402
18.9 | 2749
20.5 | 1885
22 | 1322
23.6 | 884
25.2 | 436
26.8 | 232
28.3 | 153
29.9 | 88
31.5

Triplets filtering based on unit cycle rotation composition error:
#Triplets before: 90230
#Triplets after: 35122
INFO: [GlobalSfM_rotation_averaging.cpp:251]
#Edges removed by triplet inference: 0
INFO: [connectedComponent.hpp:99] CleanGraph_KeepLargestBiEdge_Nodes():: => connected Component: 1
INFO: [connectedComponent.hpp:118] Connected component of size: 100
INFO: [sfm_global_engine_relative_motions.cpp:212] Found #global_rotations: 100
Timing: 0 seconds
INFO: [sfm_global_engine_relative_motions.cpp:241]
Relative/Global degree rotations residual errors {0,3.27187}:
0 | 1058
0.164 | 1799
0.327 | 724
0.491 | 245
0.654 | 104
0.818 | 52
0.982 | 23
1.15 | 17
1.31 | 11
1.47 | 6
1.64 | 4
1.8 | 5
1.96 | 3
2.13 | 1
2.29 | 1
2.45 | 2
2.62 | 0
2.78 | 0
2.94 | 0
3.11 | 2
3.27

INFO: [sfm_global_engine_relative_motions.cpp:247]
Relative/Global degree rotations residual errors {0,5}:
0 | 2135
0.25 | 1468
0.5 | 297
0.75 | 83
1 | 33
1.25 | 17
1.5 | 10
1.75 | 5
2 | 4
2.25 | 2
2.5 | 1
2.75 | 0
3 | 1
3.25 | 1
3.5 | 0
3.75 | 0
4 | 0
4.25 | 0
4.5 | 0
4.75 | 0
5

INFO: [sfm_global_engine_relative_motions.cpp:254]
Statistics about global rotation evaluation:
min: 0.0120378
mean: 0.29551
median: 0.241442
max: 3.27187

INFO: [GlobalSfM_translation_averaging.cpp:348]
Relative translations computation:
INFO: [GlobalSfM_translation_averaging.cpp:407] #Triplets: 116713
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 10%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 20%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 30%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 40%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 50%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 60%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 70%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 80%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 90%
INFO: [loggerprogress.hpp:79] [Relative translations computation (edge coverage algorithm)] 100%
INFO: [GlobalSfM_translation_averaging.cpp:624] TRIPLET COVERAGE TIMING:

-- #Relative triplet of translations estimates: 0 computed from 116713 triplets.
-- resulting in 0 translations estimation.
-- time to compute triplets of relative translations: 28 seconds.

INFO: [connectedComponent.hpp:99] CleanGraph_KeepLargestBiEdge_Nodes():: => connected Component: 0
INFO: [GlobalSfM_translation_averaging.cpp:150]

Global translations computation:

• Ready to compute 0 global translations.
  from #relative translations: 0
  ERROR: [GlobalSfM_translation_averaging.cpp:157] Motion averaging is not possible. The image graph is not BiEdge compatible.
  ERROR: [sfm_global_engine_relative_motions.cpp:141] GlobalSfM:: Translation Averaging failure!

from openmvg.