This tool reads an ASP match file in binary format as written by
ipmatch (Section 16.34),
(Section 16.5), or
stereo (Section 19), and
writes it as a text file, with each line having an interest point and
other associated information. The first half of the file has interest
points for the left image, and the second half has corresponding
points in the right image.
It is assumed that the version of Python in the path has the
argparse packages installed and that
parse_match_file.py is in the path.
python $(which parse_match_file.py) run/run-left__right.match \ run/run-matches.txt
The reverse of this operation can be performed as:
python $(which parse_match_file.py) -rev run/run-matches.txt \ run/run-left__right.match
Note that the second invocation does not result in exactly the same match file as the original one, as the descriptors for each interest point are ignored on reading the text file. In practice that is not important, as descriptors are needed only when the interest point matches are created.
Other functionality which may be used to understand interest points is
bundle_adjust which saves the
interest point matches in the plain text format used by ground control
points (GCP). This tool also saves a file named
final_residuals_pointmap.csv in the output directory which has for
each set of matching interest points the triangulated world position
and the error of re-projecting such a point back in the cameras