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Riga 1: ~~{{O\|informatica\|marzo 2017}}~~ [[File:DSM construction site.jpg\|thumb\|right\| Modello di superficie digitale di un sito di costruzione di una [[Intersezione a livelli sfalsati]] di un'autostrada ]] '''Structure from motion''' o '''SfM''' (in italiano: ''Struttura dal movimento'') è una tecnica di [[range imaging]] della [[computer vision]] e della [[Vista\|percezione visiva]], con cui il processo di stima di strutture tridimensionali da sequenze di immagini ~~bidimensional~~bidimensionali che può essere accoppiato con segnali di movimento locali. Nella visione biologica la SfM fa riferimento al fenomeno per cui gli esseri umani ( e altre creature viventi) posso ricostruire strutture 3D da un campo in movimento in proiezione 2D (retinale) di un oggetto o una scena in movimento. == Ottenere informazione 3D da immagini 2D == Gli esseri umani ricevono molte informazioni sulla struttura tridimensionale nel loro ambiente muovendosi attraverso. Quando l'osservatore si muove e gli oggetti intorno a lui si muovono, l'informazione è ottenuta da immagini nel tempo<ref>{{cita libro\|titolo=Computer Vision \|url=https://archive.org/details/computervision0000shap \|autore=Linda G. Shapiro, George C. Stockman \|editore=Prentice Hall \|anno=2001 \| isbn = 0-13-030796-3 }}</ref>. Trovare strutture dal movimento presenti problemi simili a trovare strutture dalla visione stereoscopica. In entrambi i casi, la corrispondenza tra immagini e la ricostruzione di oggetti 3D ha bisogno di essere trovata. Per trovare corrispondenza tra immagini, le caratteristiche (feature) come i punti d'angolo (lati con gradienti in direzioni multiple) sono tracciate da un'immagine alla prossima. ~~Una~~Uno ~~delle più~~dei rilevatori di caratteristiche più usati è il [[Scale-invariant feature transform\|SIFT]] (Scale-invariant feature transform). Usa come caratteristiche il massimo di una piramide di [[~~differenza~~Differenze di ~~gaussiane~~Gaussiane]] (DOG) Il primo passo nella SIFT è di trovare una direzione di gradiente dominante. Per renderla invariante alla rotazione, il [[Descrittore (informazione)\|descrittore]] è ruotato per adattarne l'orientamento<ref>{{Cita pubblicazione\|rivista=International Journal of Computer Vision \|titolo=Distinctive image features from scale-invariant keypoints \|autore=D. G. Lowe \|anno=2004 }}</ref>. Un altro rilevatore di caratteristiche molto comune è il SURF ([[Speeded Up Robust Features]]). Nel SURF, la DOG è sostituita da un rilevatore hessiano di [[Riconoscimento di regioni\|blob]] basato su matrici<ref>{{Cita pubblicazione\|rivista=9th European Conference on Computer Vision \|titolo=Surf: Speeded up robust features \|autore=H. Bay, T. Tuytelaars, and L. Van Gool \|anno=2006 }}</ref>. Riga 18 ⟶ 17: == SfM per l'analisi di struttura del patrimonio culturale == {{...\|informatica}} == Software Structure from Motion == {\| class="wikitable sortable" \|+Soluzioni Open source !Nome !Licenza !GUI !Linguaggio !Descrizione \|- \|[http://phototour.cs.washington.edu/bundler/ Bundler] \|[[GNU General Public License\|GNU GPL v2]] \|no \|C++ \|Structure from Motion for Unordered Photo Collections by Noah Snavely \|- \|[https://github.com/openMVG/openMVG openMVG] \|[[MPL 2.0\|MPL v2]] \|no \|C++ \|An Open Multiple View Geometry library + Structure from Motion demonstrators \|- \|[https://developer.blender.org/project/profile/59/ LibMV] \|[[Licenza MIT\|MIT]] \|no \|C++ \|Library for Multiview Reconstruction (LMV), libreria alla base degli algoritmi di SfM di [[Blender (programma)\|Blender]] \|- \|[https://web.archive.org/web/20151223064447/http://cs.ucsb.edu/~cmsweeney/theia/ Theia] \|[[Licenze BSD\|BSD]] \|no \|C++ \|A Fast and scalable structure-from-motion library \|- \|[http://logiciels.ign.fr/?Telechargement,20 MicMac] \|[[CeCILL\|CeCILL-B]] \|si \|C++ \|Programma di fotogrammetria de l'[[Institut national de l'information géographique et forestière]] \|- \|[https://web.archive.org/web/20141014235855/http://www.gris.informatik.tu-darmstadt.de/projects/multiview-environment/ MVE] \|[[GNU General Public License\|GNU GPL v3]] \|si \|C++ \|The Multi-View Environment \|- \|[https://colmap.github.io/ Colmap] \|[[Licenze BSD\|BSD]] \|si \|C++ \|Pipeline Structure-from-Motion (SfM) e Multi-View Stereo (MVS) a linea di comando e con interfaccia grafica. \|- \|[https://alicevision.github.io/ AliceVision] \|[[MPL 2.0\|MPL v2]] \|no \|C++ \|Libreria software per la fotogrammetria \|- \|[http://vision.ucsd.edu/~vrabaud/toolbox/doc/overview.html Structure from Motion toolbox for Matlab] {{Webarchive\|url=https://web.archive.org/web/20080524044956/http://vision.ucsd.edu/~vrabaud/toolbox/doc/overview.html \|date=24 maggio 2008 }} \|[[GNU General Public License\|GNU GPL v3]] \|si \|Matlab \|Toolbox creato da Vincent Rabaud \|- \|[http://www.robots.ox.ac.uk/~vgg/hzbook/code/ Matlab Functions for Multiple View Geometry] \|[[Licenza MIT\|MIT]] \|si \|Matlab \|Toolbox creato da Andrew Zissermann \|- \|[http://www.robots.ox.ac.uk/~vgg/hzbook/code/ Structure and Motion Toolkit] \|MSR-EULA \|si \|Matlab \|Toolbox creato da Phil Torr \|- \|[http://www.cs.dartmouth.edu/~lorenzo/projects/learning-nr-shape/em-sfm.zip Matlab Code for Non-Rigid Structure from Motion] \|n.a. \|si \|Matlab \|Toolbox creato da Lorenzo Torresani \|- \|[[AliceVision Meshroom]] \|[[MPL 2.0\|MPL v2]] \|si \|Python \|Applicazione GUI ([[Qt (toolkit)\|Qt]]/PySide) basata sulla libreria AliceVision \|} === Altri software === [http://www.acute3d.com/ Smart3DCapture], a complete photogrammetry solution by Acute3D. [http://www.3dflow.net/technology/samantha-structure-from-motion/ 3DF Samantha - Command line structure from Motion pipeline for Windows], by 3Dflow srl. Free for non-commercial purposes. [http://www.zjucvg.net/acts/acts.html Automatic Camera Tracking System (ACTS)], a structure-from-motion with dense depth recovery system for Microsoft Windows, by Vision Group of State Key Lab of CAD&CG, Zhejiang University. [http://www.zjucvg.net/ls-acts/ls-acts.html Large-Scale Automatic Camera Tracking System (LS-ACTS)], a large-scale structure-from-motion system for Microsoft Windows, by Vision Group of State Key Lab of CAD&CG, Zhejiang University. [http://ccwu.me/vsfm VisualSFM: A Visual Structure from Motion System], by Changchang Wu {{cita web\|http://www.visual-experiments.com/demos/sfmtoolkit/\|SFMToolkit a complete photogrammetry solution based on open-source software}} [https://web.archive.org/web/20160131001254/http://www.digitalsurf.fr/en/mntsem.html MountainsMap SEM] software for [[Scanning Electron Microscope]]s. 3D is obtained by tilting the specimen + photogrammetry. [http://www.viscoda.com/index.php/en/products/non-commercial/voodoo-camera-tracker Voodoo Camera Tracker] {{Webarchive\|url=https://web.archive.org/web/20160430142226/http://www.viscoda.com/index.php/en/products/non-commercial/voodoo-camera-tracker \|date=30 aprile 2016 }}, non-commercial tool for the integration of virtual and real scenes.<br />Original site, archived: [https://web.archive.org/web/20120423112957/http://www.digilab.uni-hannover.de/docs/manual.html Laboratorium für Informationstechnologie, University of Hannover] [https://web.archive.org/web/20140224230522/http://dev.metaio.com/sdk/toolbox/ MetaIO Toolbox] SfM for augmented reality on mobile devices. [http://www.2d3sensing.com/content/tacitview TacitView] {{Webarchive\|url=https://web.archive.org/web/20150402093429/http://www.2d3sensing.com/content/tacitview \|date=2 aprile 2015 }} by [[2d3\|2d3 Sensing]] [https://catena.googlecode.com/ Catena] {{Webarchive\|url=https://archive.is/20140402020553/http://catena.googlecode.com/# \|data=2 aprile 2014 }} Python Abstract Workflow Framework with SfM components. [https://web.archive.org/web/20160304130300/http://ptak.felk.cvut.cz/sfmservice/websfm.pl?menu=cmpmvs CMPMVS] Multi-View Reconstruction Software == Note == Riga 24 ⟶ 125: == Bibliografia == * {{cita libro\|autore=Richard Hartley and Andrew Zisserman \|titolo=Multiple View Geometry in Computer Vision \|url=https://archive.org/details/multipleviewgeom0000hart \|editore=Cambridge University Press\|anno=2003 \|isbn=0-521-54051-8}} * {{cita libro\|autore=Olivier Faugeras and Quang-Tuan Luong and Theodore Papadopoulo \|titolo=The Geometry of Multiple Images \|editore=MIT Press\|anno=2001 \|isbn=0-262-06220-8}} {{cita libro\|titolo=An Invitation to 3-D Vision: From Images to Geometric Models \|anno=2003 \|url=https://archive.org/details/invitationto3dvi0000unse \|autore=Yi Ma, S. Shankar Sastry, Jana Kosecka, Stefano Soatto, Jana Kosecka \|editore=Springer-Verlag New York, LLC \|data=novembre 2003\|isbn=0-387-00893-4\|trasmissione=Interdisciplinary Applied Mathematics Series, #26}} == Voci correlate == Riga 35 ⟶ 136: == Collegamenti esterni == {{cita web\|~~http~~https://exporttocanoma.blogspot.it/2012/11/sfm-structure-from-motion-prima-parte.html\|Structure from motion in exporttocanoma.blogspot.it}} ~~=== Software Structure from Motion ===~~ ~~==== Soluzioni Open source ====~~ ~~C++~~ [http://phototour.cs.washington.edu/bundler/ Bundler - Structure from Motion for Unordered Photo Collections] by Noah Snavely [https://github.com/openMVG/openMVG openMVG] An Open Multiple View Geometry library + Structure from Motion demonstrators {{cita web\|https://developer.blender.org/project/profile/59/\|Libmv - A Structure from Motion library}} [http://cs.ucsb.edu/~cmsweeney/theia Theia]: A Fast and scalable structure-from-motion library released under the BSD license [http://logiciels.ign.fr/?Telechargement,20 MicMac, a SFM open-source code released] by the [[Institut national de l'information géographique et forestière]] [https://vision.in.tum.de/lsdslam LSD-SLAM]: Large-Scale Direct Monocular SLAM in real-time, by Jakob Engel [http://www.gris.informatik.tu-darmstadt.de/projects/multiview-environment/ MVE - The Multi-View Environment] by Simon Fuhrmann, TU Darmstadt. [http://ceres-solver.org/ ceres-solver for general non-linear least squares]. Has features for bundle adjustment. Previously used by Google internally for google maps. Released to the public in 2012. [https://www.ics.forth.gr/~lourakis/sba SBA] for generic bundle adjustment by Manolis Lourakis. [https://github.com/pyp22/NuxSFM-2.0 NuxSFM] NuxSFM 2.0 pacman X86_64 build scripts. ~~Matlab~~ [http://vision.ucsd.edu/~vrabaud/toolbox/doc/overview.html Structure from Motion toolbox for Matlab] by Vincent Rabaud [http://www.robots.ox.ac.uk/~vgg/hzbook/code/ Matlab Functions for Multiple View Geometry] by Andrew Zissermann [https://web.archive.org/web/20090731180952/http://cms.brookes.ac.uk/staff/PhilipTorr/Code/code_page_4.htm Structure and Motion Toolkit] by Phil Torr [http://www.cs.dartmouth.edu/~lorenzo/projects/learning-nr-shape/em-sfm.zip Matlab Code for Non-Rigid Structure from Motion] by Lorenzo Torresani ~~Python~~ [http://www.arc-team.homelinux.com/arcteam/ppt.php Python Photogrammetry Toolbox GUI] - an open-source SFM GUI (Easy SfM and dense point cloud estimation launcher) by Pierre Moulon and Arc-Team ~~====Altri software====~~ [http://www.acute3d.com/ Smart3DCapture], a complete photogrammetry solution by Acute3D. [http://www.3dflow.net/technology/samantha-structure-from-motion/ 3DF Samantha - Command line structure from Motion pipeline for Windows], by 3Dflow srl. Free for non-commercial purposes. [http://www.zjucvg.net/acts/acts.html Automatic Camera Tracking System (ACTS)], a structure-from-motion with dense depth recovery system for Microsoft Windows, by Vision Group of State Key Lab of CAD&CG, Zhejiang University. [http://www.zjucvg.net/ls-acts/ls-acts.html Large-Scale Automatic Camera Tracking System (LS-ACTS)], a large-scale structure-from-motion system for Microsoft Windows, by Vision Group of State Key Lab of CAD&CG, Zhejiang University. [http://ccwu.me/vsfm VisualSFM: A Visual Structure from Motion System], by Changchang Wu {{cita web\|http://www.visual-experiments.com/demos/sfmtoolkit/\|SFMToolkit a complete photogrammetry solution based on open-source software}} [http://www.digitalsurf.fr/en/mntsem.html MountainsMap SEM] software for [[Scanning Electron Microscope]]s. 3D is obtained by tilting the specimen + photogrammetry. [http://www.viscoda.com/index.php/en/products/non-commercial/voodoo-camera-tracker Voodoo Camera Tracker], non-commercial tool for the integration of virtual and real scenes.<br />Original site, archived: [https://web.archive.org/web/20120423112957/http://www.digilab.uni-hannover.de/docs/manual.html Laboratorium für Informationstechnologie, University of Hannover] [https://dev.metaio.com/sdk/toolbox MetaIO Toolbox] SfM for augmented reality on mobile devices. [http://www.2d3sensing.com/content/tacitview TacitView] by [[2d3\|2d3 Sensing]] {{collegamento interrotto\|1=[http://catena.googlecode.com Catena] \|date=gennaio 2018 \|bot=InternetArchiveBot }} Python Abstract Workflow Framework with SfM components. *[http://ptak.felk.cvut.cz/sfmservice/websfm.pl?menu=cmpmvs CMPMVS] Multi-View Reconstruction Software {{portale\|informatica}} [[Categoria:Elaborazione digitale delle immagini]]