Bundle temporal smoothness constraint

meshroom/aliceVision/SfmExpanding.py

@@ -77,6 +77,101 @@ class SfMExpanding(desc.AVCommandLineNode):
                         "by avoiding computation of the Bundle Adjustment on areas that are not changing.",
             value=True,
         ),
+        desc.BoolParam(
+            name="useTemporalConstraint",
+            label="Temporal Constraint",
+            description="Adds a temporal smoothness constraint to the bundle adjustment.",
+            value=False,
+        ),
+        desc.FloatParam(
+            name="tscPositionWeight",
+            label="Temporal Constraint Position Weight",
+            description="Controls the weight of the temporal constraint applied to camera positions. Higher values enforce smoother camera path.",
+            value=10.0,
+            range=(0.0, 100.0, 0.1),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscOrientationWeight",
+            label="Temporal Constraint Orientation Weight",
+            description="Controls the weight of the temporal constraint applied to camera orientations. Higher values enforce smoother camera rotation.",
+            value=10.0,
+            range=(0.0, 100.0, 0.1),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscRegularizationWeight",
+            label="Temporal Constraint Regularization Weight",
+            description="Controls the strength of regularization applied to the temporal constraint.",
+            value=0.0,
+            range=(0.0, 100.0, 0.1),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscC0positionWeight",
+            label="Temporal Constraint C0 Position Weight",
+            description="Controls the weight of the continuity constraint on camera positions in the temporal constraint. Higher values enforce smoother transitions in position, reducing abrupt changes of position.",
+            value=0.0,
+            range=(0.0, 1.0, 0.01),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscC1positionWeight",
+            label="Temporal Constraint C1 Position Weight",
+            description="Controls the weight of the first derivative of camera position in the temporal constraint. Higher values enforce continuity of the camera velocity, reducing abrupt changes of velocity.",
+            value=1.0,
+            range=(0.0, 1.0, 0.01),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscC2positionWeight",
+            label="Temporal Constraint C2 Position Weight",
+            description="Controls the weight of the second derivative of camera position in the temporal constraint. Higher values enforce continuity of the camera acceleration, reducing abrupt changes of acceleration.",
+            value=1.0,
+            range=(0.0, 1.0, 0.01),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscC0orientationWeight",
+            label="Temporal Constraint C0 Orientation Weight",
+            description="Controls the weight of the continuity constraint on camera orientation in the temporal constraint. Higher values enforce smoother transitions, reducing abrupt changes of the camera orientation.",
+            value=0.0,
+            range=(0.0, 1.0, 0.01),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscC1orientationWeight",
+            label="Temporal Constraint C1 Orientation Weight",
+            description="Controls the weight of the first derivative of camera orientation in the temporal constraint. Higher values enforce continuity of the rotation velocity, reducing abrupt changes of rotation velocity.",
+            value=1.0,
+            range=(0.0, 1.0, 0.01),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.FloatParam(
+            name="tscC2orientationWeight",
+            label="Temporal Constraint C2 Orientation Weight",
+            description="Controls the weight of the second derivative of camera orientation in the temporal constraint. Higher values enforce continuity of the rotation acceleration, reducing abrupt changes of rotation acceleration.",
+            value=1.0,
+            range=(0.0, 1.0, 0.01),
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
+        desc.BoolParam(
+            name="exitAfterPoseInterpolation",
+            label="Only Pose Interpolation",
+            description="Exit after pose interpolation, before bundle adjustment. (for debug)",
+            value=False,
+            advanced=True,
+            enabled=lambda node: node.useTemporalConstraint.value,
+        ),
         desc.IntParam(
             name="localBAGraphDistance",
             label="LocalBA Graph Distance",

meshroom/aliceVision/TracksSimulating.py

@@ -43,6 +43,14 @@ class TracksSimulating(desc.AVCommandLineNode):
             invalidate=True,
             advanced=True,
         ),
+        desc.BoolParam(
+            name="randomNoiseVariancePerView",
+            label="Random Variance Per View",
+            description="Use different noise variance per view.",
+            value=False,
+            invalidate=True,
+            advanced=True,
+        ),
         desc.ChoiceParam(
             name="verboseLevel",
             label="Verbose Level",

src/aliceVision/sfm/CMakeLists.txt

@@ -2,11 +2,13 @@
 set(sfm_bundle_files_headers
     bundle/BundleAdjustment.hpp
     bundle/BundleAdjustmentCeres.hpp
+    utils/poseFilter.hpp
 )
 
 # Sources
 set(sfm_bundle_files_sources
     bundle/BundleAdjustmentCeres.cpp
+    utils/poseFilter.cpp
 )
 
 set(sfm_files_headers

src/aliceVision/sfm/bundle/BundleAdjustment.hpp

@@ -75,6 +75,19 @@ inline std::istream& operator>>(std::istream& in, EFeatureConstraint& m)
     return in;
 }
 
+struct TemporalConstraintParams
+{
+    double positionWeight = 10.0;
+    double orientationWeight = 10.0;
+    double regularizationWeight = 0.0;
+    double c0positionWeight = 0.0;
+    double c1positionWeight = 1.0;
+    double c2positionWeight = 1.0;
+    double c0orientationWeight = 0.0;
+    double c1orientationWeight = 1.0;
+    double c2orientationWeight = 1.0;
+};
+
 class BundleAdjustment
 {
   public:
@@ -102,6 +115,7 @@ class BundleAdjustment
         REFINE_INTRINSICS_OPTICALOFFSET_IF_ENOUGH_DATA = 32,  //< refine the optical offset only if we have a minimum number of cameras
         REFINE_INTRINSICS_DISTORTION = 64,                    //< refine the distortion parameters
         REFINE_STRUCTURE_AS_NORMALS = 128,                    //< Structure lies on a sphere (Pure rotation)
+        REFINE_TEMPORAL_SMOOTHNESS_CONSTRAINT = 256,          //< add a temporal constraint to smooth camera positions/orientation
         /// Refine all intrinsics parameters
         REFINE_INTRINSICS_ALL = REFINE_INTRINSICS_FOCAL | REFINE_INTRINSICS_OPTICALOFFSET_IF_ENOUGH_DATA | REFINE_INTRINSICS_DISTORTION,
         /// Refine all parameters