How to add calibration data to camera before reconstruction in SDK?

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1

I would like to use the SDK to pre-load camera calibration data before doing reconstruction.  In the application, this can be done with XMP files, or manually, but cannot find an obvious way to do it in the SDK.

I can see that after adding images to a IStructureFromMotion object, one can read the SfmCameraCalibration, SfmCameraCalibrationFlags, and SfmLensDistortionModel parameters for each image via the classes and methods: ((IstructureFromMotion->GetImage).ISfmStreamInput->GetCalibration).
However, when I tried to change the calibration values there using the pointers returned, I have no success.  I can’t find another other structure or method in IStructureFromMotion besides possibly the  (__in_opt IWICMetadataQueryReader *pCustomMetadata) which would allow me to enter this information.

Is there a means of loading camera calibration data prior to reconstruction in the SDK?  What’s the best way? 

After reconstruction, it seems more clear how to modify the camera information, using the SetCamera method, or by directly accessing the camera model member variables.

2

Greetings.

 

You’re nearly there. Before alignment You can provide for each input camera calibration information, it’s position and orientation.

The position and orientation can be set after adding the image to IStructureFromMotion doing the following:

  • Obtain ISfmStreamInput for the added image with IStructureFromMotion->GetImage().
  • Use e.g. ISfmStreamInput->SetPriorPoseAbsolute().

Setting the calibration is a little bit tricky:

  • Once again, the ISfmStreamInput object for the to be setup camera is needed.
  • This object (in example held in CComPtr object) is needed to be cast to ISfmImage.
  • Then, one can set the camera calibration with the SetCalibration() function.

Example of acquiring ISfmImage from ISfmStreamInput with the CComPtr present in the SDK examples:

CComPtr< ISfmStreamInput > spInput; // must be fed

CComPtr< ISfmImage > spImage;

HRESULT hr = spInput.QueryInterface( &spImage );

if ( SUCCEEDED( hr ) )

{

    // setup camera calibration

}