| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
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| // | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| struct RANSACOptions; | |
| class Reconstruction; | |
| // 3D similarity transformation with 7 degrees of freedom. | |
| class SimilarityTransform3 { | |
| public: | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | |
| SimilarityTransform3(); | |
| explicit SimilarityTransform3(const Eigen::Matrix3x4d& matrix); | |
| explicit SimilarityTransform3( | |
| const Eigen::Transform<double, 3, Eigen::Affine>& transform); | |
| SimilarityTransform3(const double scale, const Eigen::Vector4d& qvec, | |
| const Eigen::Vector3d& tvec); | |
| void Write(const std::string& path); | |
| template <bool kEstimateScale = true> | |
| bool Estimate(const std::vector<Eigen::Vector3d>& src, | |
| const std::vector<Eigen::Vector3d>& dst); | |
| SimilarityTransform3 Inverse() const; | |
| void TransformPoint(Eigen::Vector3d* xyz) const; | |
| void TransformPose(Eigen::Vector4d* qvec, Eigen::Vector3d* tvec) const; | |
| Eigen::Matrix4d Matrix() const; | |
| double Scale() const; | |
| Eigen::Vector4d Rotation() const; | |
| Eigen::Vector3d Translation() const; | |
| static SimilarityTransform3 FromFile(const std::string& path); | |
| private: | |
| Eigen::Transform<double, 3, Eigen::Affine> transform_; | |
| }; | |
| // Robustly compute alignment between reconstructions by finding images that | |
| // are registered in both reconstructions. The alignment is then estimated | |
| // robustly inside RANSAC from corresponding projection centers. An alignment | |
| // is verified by reprojecting common 3D point observations. | |
| // The min_inlier_observations threshold determines how many observations | |
| // in a common image must reproject within the given threshold. | |
| bool ComputeAlignmentBetweenReconstructions( | |
| const Reconstruction& src_reconstruction, | |
| const Reconstruction& ref_reconstruction, | |
| const double min_inlier_observations, const double max_reproj_error, | |
| Eigen::Matrix3x4d* alignment); | |
| //////////////////////////////////////////////////////////////////////////////// | |
| // Implementation | |
| //////////////////////////////////////////////////////////////////////////////// | |
| template <bool kEstimateScale> | |
| bool SimilarityTransform3::Estimate(const std::vector<Eigen::Vector3d>& src, | |
| const std::vector<Eigen::Vector3d>& dst) { | |
| const auto results = | |
| SimilarityTransformEstimator<3, kEstimateScale>().Estimate(src, dst); | |
| if (results.empty()) { | |
| return false; | |
| } | |
| CHECK_EQ(results.size(), 1); | |
| transform_.matrix().topLeftCorner<3, 4>() = results[0]; | |
| return true; | |
| } | |
| } // namespace colmap | |
| EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(colmap::SimilarityTransform3) | |