Add a DJI Mini 2 drone image sample dataset

- Instruction to process the dataset with GPS or no GPS and many variant of Image Matching are also shared
openMVG · Oct 20, 2021 · 84b70ff · 84b70ff
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diff --git a/360_dataset/360_Flat/images/README.md b/360_dataset/360_Flat/images/README.md
@@ -1 +1,3 @@
 Copyright 2016 Pierre MOULON http://imagine.enpc.fr/~moulonp/
+Device:
+- RICOH THETA S
diff --git a/360_dataset/360_school/images/README.md b/360_dataset/360_school/images/README.md
@@ -1 +1,3 @@
 Copyright 2017 Pierre MOULON http://imagine.enpc.fr/~moulonp/
+Device:
+- RICOH THETA S
diff --git a/Drone/Palm_Desert_Micro/DJI_0042.JPG b/Drone/Palm_Desert_Micro/DJI_0042.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0043.JPG b/Drone/Palm_Desert_Micro/DJI_0043.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0044.JPG b/Drone/Palm_Desert_Micro/DJI_0044.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0045.JPG b/Drone/Palm_Desert_Micro/DJI_0045.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0046.JPG b/Drone/Palm_Desert_Micro/DJI_0046.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0047.JPG b/Drone/Palm_Desert_Micro/DJI_0047.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0048.JPG b/Drone/Palm_Desert_Micro/DJI_0048.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0049.JPG b/Drone/Palm_Desert_Micro/DJI_0049.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0050.JPG b/Drone/Palm_Desert_Micro/DJI_0050.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0051.JPG b/Drone/Palm_Desert_Micro/DJI_0051.JPG
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diff --git a/Drone/Palm_Desert_Micro/DJI_0054.JPG b/Drone/Palm_Desert_Micro/DJI_0054.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0055.JPG b/Drone/Palm_Desert_Micro/DJI_0055.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0056.JPG b/Drone/Palm_Desert_Micro/DJI_0056.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0057.JPG b/Drone/Palm_Desert_Micro/DJI_0057.JPG
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diff --git a/Drone/Palm_Desert_Micro/DJI_0059.JPG b/Drone/Palm_Desert_Micro/DJI_0059.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0060.JPG b/Drone/Palm_Desert_Micro/DJI_0060.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0061.JPG b/Drone/Palm_Desert_Micro/DJI_0061.JPG
diff --git a/Drone/Palm_Desert_Micro/DJI_0062.JPG b/Drone/Palm_Desert_Micro/DJI_0062.JPG
diff --git a/Drone/Palm_Desert_Micro/README.md b/Drone/Palm_Desert_Micro/README.md
@@ -0,0 +1,5 @@
+Copyright 2021 Pierre MOULON
+Device:
+- DJI Mini 2
+Sensor size:
+- DJI FC7303;6.16
diff --git a/Drone/README.md b/Drone/README.md
@@ -0,0 +1,122 @@
+OpenMVG Drone image samples
+===============================
+
+- Palm_Desert_Micro (21 GPS images)
+
+# Associated demos (OpenMVG 2.0)
+- Processing with or without GPS priors
+- Processing with image similarity (VLAD or PRE-EMPTIVE matching)
+
+## SFM without GPS prior but adjust the scene to GPS datum by Rigid adjustment to GPS coordinates
+
+```console
+dataset=<i.e. FULL_PATH to Palm_Desert_Micro>
+dataset_out=<i.e.FULL_PATH Palm_Desert_Micro_output>
+
+mkdir $dataset_out
+
+# Initialize the scene
+openMVG_main_SfMInit_ImageListing -i $dataset -o $dataset_out/matches -d <PATH to sensor_width_camera_database.txt> -c 3
+
+# Compute of the features (you can add -n <THREAD_COUNT> to be faster)
+openMVG_main_ComputeFeatures -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches
+
+# Compute the image matches
+openMVG_main_ComputeMatches -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches/matches.putatives.bin
+
+# Filter matches
+openMVG_main_GeometricFilter -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches/matches.putatives.bin -g f -o $dataset_out/matches/matches.f.bin
+
+# Compute of the camera motion and structure of the scene
+openMVG_main_SfM --sfm_engine "INCREMENTAL" -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches -o $dataset_out/reconstruction
+
+# Rescale to GPS coordinates
+openMVG_main_geodesy_registration_to_gps_position -i $dataset_out/reconstruction/sfm_data.bin -o $dataset_out/reconstruction/sfm_data_adjusted.bin
+# Visualization in PLY
+openMVG_main_ConvertSfM_DataFormat -i $dataset_out/reconstruction/sfm_data_adjusted.bin -o $dataset_out/reconstruction/sfm_data_adjusted.ply
+
+# Load sfm_data_adjusted.ply and file GPS_position.ply to see side by side (priors and what SFM found)
+# Note preview could be 'strange' due to floating precision and large coordinates
+
+```
+
+## Using GPS prior for pair selection and SFM prior (optimize in GPS XYZ coordinates)
+
+```console
+mkdir $dataset_out
+
+# Initialize the scene with GPS prior
+openMVG_main_SfMInit_ImageListing -i $dataset -o $dataset_out/matches -d <PATH to sensor_width_camera_database.txt> -c 3 --use_pose_prior
+
+# Initialize a View Graph for image matching using image GPS positions and X neighbors (here X equals 10)
+openMVG_main_ListMatchingPairs -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches --gps_mode --neighbor_count 10 -o $dataset_out/matches/pairs.txt
+
+# Compute of the features (you can add -n <THREAD_COUNT> to be faster)
+openMVG_main_ComputeFeatures -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches
+
+# Compute the image matches
+openMVG_main_ComputeMatches -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches/matches.putatives.bin --pair_list $dataset_out/matches/pairs.txt
+
+# Filter matches
+openMVG_main_GeometricFilter -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches/matches.putatives.bin -g f -o $dataset_out/matches/matches.f.bin
+
+# Compute of the camera motion and structure of the scene (scene will be in GPS prior coordinates)
+openMVG_main_SfM --sfm_engine "INCREMENTAL" -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches -o $dataset_out/reconstruction --prior_usage
+# Note: Ignoring the --prior_usage (will ignore GPS coordinates priors -- so you could register to GPS position manually using openMVG_main_geodesy_registration_to_gps_position)
+# Note preview could be 'strange' due to large difference of coordinates with the GPS position and SFM point cloud that will be displayed side by side
+
+```
+
+## Using VLAD similarity image pair selection (demo -- no GPS consideration)
+
+```console
+mkdir $dataset_out
+
+# Initialize the scene with GPS prior
+openMVG_main_SfMInit_ImageListing -i $dataset -o $dataset_out/matches -d <PATH to sensor_width_camera_database.txt> -c 3
+
+# Compute of the features (you can add -n <THREAD_COUNT> to be faster)
+openMVG_main_ComputeFeatures -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches
+
+# Compute a VLAD dictionary, compute a VLAD descriptor for each image, and retrieve the closest images by using VLAD similarity
+openMVG_main_ComputeVLAD -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches --pair_file $dataset_out/matches/vlad_pairs.txt
+# Notes:
+# Visualize for each image, the closest image retrieved, you can open $dataset_out/matches/retrieval_matches_matrix.svg
+# Visualize the retrieved adjacency matrix, you can open  $dataset_out/matches/retrieval_matches_matrix.svg
+
+# Compute matches for the selected VLAD image pairs
+openMVG_main_ComputeMatches -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches/matches.putatives_vlad.bin --pair_list $dataset_out/matches/vlad_pairs.txt
+
+# Filter matches
+openMVG_main_GeometricFilter -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches/matches.putatives_vlad.bin -g f -o $dataset_out/matches/matches.f.bin
+
+# Compute of the camera motion and structure of the scene (scene will be in GPS prior coordinates)
+openMVG_main_SfM --sfm_engine "INCREMENTAL" -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches/ -o $dataset_out/reconstruction
+
+```
+
+## Using Preemptive matching for image pair selection (demo -- no GPS consideration)
+
+```console
+mkdir $dataset_out
+
+# Initialize the scene with GPS prior
+openMVG_main_SfMInit_ImageListing -i $dataset -o $dataset_out/matches -d <PATH to sensor_width_camera_database.txt> -c 3
+
+# Compute of the features (you can add -n <THREAD_COUNT> to be faster)
+openMVG_main_ComputeFeatures -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches
+
+# Compute matches with preemptive matching to select only some image pairs
+# i.e here we keep per image 4000 features with the largest scale
+openMVG_main_ComputeMatches --preemptive_feature_count 4000 -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches/matches.putatives_preemptive_V1.bin --pair_list $dataset_out/matches/preemptive_pairs.txt
+
+# Compute matches for the selected preemptive pairs
+openMVG_main_ComputeMatches -i $dataset_out/matches/sfm_data.json -o $dataset_out/matches/matches.putatives_preemptive_V2.bin --pair_list $dataset_out/matches/preemptive_pairs.txt
+
+# Filter matches
+openMVG_main_GeometricFilter -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches/matches.putatives_preemptive_V2.bin -g f -o $dataset_out/matches/matches.f.bin
+
+# Compute of the camera motion and structure of the scene (scene will be in GPS prior coordinates)
+openMVG_main_SfM --sfm_engine "INCREMENTAL" -i $dataset_out/matches/sfm_data.json -m $dataset_out/matches/ -o $dataset_out/reconstruction
+
+```
diff --git a/README.md b/README.md
@@ -10,3 +10,7 @@ Spherical datasets
 ------------------
 - [Flat (11 indoor images)](360_dataset/README.md)
 - [School (4 outdoor images)](360_dataset/README.md)
+
+Drone datasets
+------------------
+- [Palm Desert Micro (21 DJI Mini2 images)](Drone/Palm_Desert_Micro/)