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BaseGeometry.cpp
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/*
* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
/* BaseGeometry.cpp */
/* Various geometric functions */
#include <assert.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include "BaseApp.h"
#include "SifterUtil.h"
#include "defines.h"
#include "fit.h"
#include "matrix.h"
#include "qsort.h"
bool BaseApp::ReadTrackPairs(const char *filename)
{
FILE *f = fopen(filename, "rb");
if (!f) {
printf("[ReadTrackPairs] Error opening file %s for reading\n",
filename);
return false;
}
int num_images;
fread(&num_images, sizeof(int), 1, f);
if (num_images != GetNumImages()) {
printf("[ReadTrackPairs] Mismatch in number of images!\n");
return false;
}
unsigned long num_track_pairs = 0;
for (int i = 0; i < num_images; i++) {
int num_nbrs = 0;
fread(&num_nbrs, sizeof(int), 1, f);
num_track_pairs += num_nbrs;
for (int j = 0; j < num_nbrs; j++) {
int nbr = 0;
fread(&nbr, sizeof(int), 1, f);
SetMatch(i, nbr);
SetMatch(nbr, i);
}
}
fclose(f);
printf("[ReadTrackPairs] Read %lu track pairs\n", num_track_pairs);
fflush(stdout);
return true;
}
void BaseApp::WriteTrackPairs(const char *filename)
{
FILE *f = fopen(filename, "wb");
if (!f) {
printf("[WriteTrackPairs] Error opening file %s for writing\n",
filename);
return;
}
int num_images = GetNumImages();
fwrite(&num_images, sizeof(int), 1, f);
for (int i = 0; i < num_images; i++) {
// std::list<unsigned int> &nbrs = m_matches.GetNeighbors(i);
MatchAdjList &nbrs = m_matches.GetNeighbors(i);
int num_nbrs = (int) nbrs.size();
fwrite(&num_nbrs, sizeof(int), 1, f);
// std::list<unsigned int>::iterator iter;
MatchAdjList::iterator iter;
for (iter = nbrs.begin(); iter != nbrs.end(); iter++) {
// int nbr = *iter;
int nbr = iter->m_index;
fwrite(&nbr, sizeof(int), 1, f);
}
}
fclose(f);
}
void BaseApp::ReadGeometricConstraints(const char *filename) {
FILE *f = fopen(filename, "r");
int num_images; // = GetNumImages();
fscanf(f, "%d\n", &num_images);
if (num_images != GetNumImages()) {
printf("[ReadGeometricConstraints] Error: number of "
"images don't match!\n");
return;
}
#if 0
if (m_transforms == NULL) {
m_transforms = new TransformInfo * [num_images * num_images];
for (int i = 0; i < num_images * num_images; i++) {
m_transforms[i] = NULL;
}
}
#endif
m_transforms.clear();
// m_match_lists.clear();
// m_matches.Clear();
RemoveAllMatches();
// for (int i = 0; i < num_images; i++) {
// for (int j = 0; j < num_images; j++) {
// int match;
// fscanf(f, "%d", &match);
/* Read the number of transforms */
unsigned long long num_transforms;
fscanf(f, "%llu\n", &num_transforms);
for (unsigned long int count = 0; count < num_transforms; count++) {
int i, j;
fscanf(f, "%d %d\n", &i, &j);
MatchIndex idx = GetMatchIndex(i, j);
SetMatch(i, j);
// m_matches[idx] = true;
m_transforms[idx] = TransformInfo();
/* Read the transform information */
m_transforms[idx].ReadFromFile(f);
/* Read the matches */
// m_match_lists[idx].clear();
int num_matches;
fscanf(f, "%d\n", &num_matches);
for (int k = 0; k < num_matches; k++) {
int idx1, idx2;
fscanf(f, "%d %d\n", &idx1, &idx2);
#if 0
KeypointMatch match;
match.m_idx1 = idx1;
match.m_idx2 = idx2;
m_match_lists[idx].push_back(match);
#endif
}
}
/* Read the tracks */
int num_tracks = 0;
fscanf(f, "%d", &num_tracks);
printf("[ReadGeometricConstraints] Reading %d tracks\n",
num_tracks);
m_track_data.clear();
clock_t start = clock();
int count = 0;
for (int i = 0; i < num_tracks; i++) {
TrackData track;
track.Read(f);
int num_views = (int) track.m_views.size();
if (num_views < m_min_track_views)
continue;
if (num_views > m_max_track_views)
continue;
#if 0
for (int j = 0; j < num_views; j++) {
int img = track.m_views[j].first;
int key = track.m_views[j].second;
GetKey(img, key).m_track = i;
}
#endif
for (int j = 0; j < num_views; j++) {
int img = track.m_views[j].first;
int key = track.m_views[j].second;
// assert(key >= 0 && key < m_image_data[img].GetNumKeys());
m_image_data[img].m_visible_points.push_back(count);
m_image_data[img].m_visible_keys.push_back(key);
}
m_track_data.push_back(track);
count++;
}
clock_t end = clock();
printf("[ReadGeometricConstraints] Reading tracks took %0.3fs\n",
(double) (end - start) / CLOCKS_PER_SEC);
#if 1
if (!ReadTrackPairs("track-pairs.txt")) {
start = clock();
num_tracks = (int) m_track_data.size();
for (int i = 0; i < num_tracks; i++) {
if ((i % 10000) == 0) {
printf("[ReadGeometricConstraints] "
"Processing track %d...\n", i);
fflush(stdout);
}
/* Set match flags */
// for (int j = 0; j < num_views; j++) {
TrackData &track = m_track_data[i];
ImageKeyVector::iterator iter1, iter2;
for (iter1 = track.m_views.begin();
iter1 != track.m_views.end(); iter1++) {
int img1 = iter1->first; // track.m_views[j].first;
// assert(img1 >= 0 && img1 < num_images);
// for (int k = j+1; k < num_views; k++) {
for (iter2 = iter1+1; iter2 != track.m_views.end(); iter2++) {
int img2 = iter2->first; // track.m_views[k].first;
// assert(img2 >= 0 && img2 < num_images);
if (img1 < img2) {
SetMatch(img1, img2);
SetMatch(img2, img1);
}
}
}
}
WriteTrackPairs("track-pairs.txt");
end = clock();
printf("[ReadGeometricConstraints] Computing track pairs "
"took %0.3fs\n", (double) (end - start) / CLOCKS_PER_SEC);
}
#endif
fclose(f);
// SetMatchesFromTracks();
// WriteGeometricConstraints("constraints_test.txt");
}
void BaseApp::WriteGeometricConstraints(const char *filename) {
FILE *f = fopen(filename, "w");
if (f == NULL) {
printf("Error opening file %s for writing\n", filename);
return;
}
unsigned int num_images = GetNumImages();
fprintf(f, "%d\n", num_images);
/* Count the number of transforms to write */
unsigned long long num_transforms = 0;
for (unsigned int i = 0; i < num_images; i++) {
// for (int j = 0; j < num_images; j++) {
// std::list<unsigned int> &nbrs = m_matches.GetNeighbors(i);
MatchAdjList &nbrs = m_matches.GetNeighbors(i);
int num_nbrs = (int) nbrs.size();
printf("num_nbrs[%d] = %d\n", i, num_nbrs);
// std::list<unsigned int>::iterator iter;
MatchAdjList::iterator iter;
for (iter = nbrs.begin(); iter != nbrs.end(); iter++) {
unsigned int j = iter->m_index; // *iter; // nbrs[nbr];
MatchIndex idx = GetMatchIndex(i, j);
if (m_transforms.find(idx) != m_transforms.end()) {
num_transforms++;
}
}
}
printf("[WriteGeometricConstraints] Writing %llu transforms\n",
num_transforms);
fprintf(f, "%llu\n", num_transforms);
for (unsigned int i = 0; i < num_images; i++) {
// std::list<unsigned int> &nbrs = m_matches.GetNeighbors(i);
MatchAdjList &nbrs = m_matches.GetNeighbors(i);
// std::list<unsigned int>::iterator iter;
MatchAdjList::iterator iter;
for (iter = nbrs.begin(); iter != nbrs.end(); iter++) {
unsigned int j = iter->m_index; // *iter; // nbrs[nbr];
MatchIndex idx = GetMatchIndex(i, j);
if (m_transforms.find(idx) != m_transforms.end()) {
fprintf(f, "%d %d\n", i, j);
#if 0
/* Write the transform information */
if (m_transforms.find(idx) == m_transforms.end()) {
m_transforms[idx] = TransformInfo();
}
#endif
m_transforms[idx].WriteToFile(f);
#if 0
/* Write the matches */
int num_matches = (int) m_match_lists[idx].size();
fprintf(f, "%d\n", num_matches);
for (int k = 0; k < num_matches; k++) {
fprintf(f, "%d %d\n",
m_match_lists[idx][k].m_idx1,
m_match_lists[idx][k].m_idx2);
}
#else
fprintf(f, "0\n");
#endif
// } else {
// fprintf(f, "0\n");
}
}
}
/* Write the tracks */
int num_tracks = (int) m_track_data.size();
fprintf(f, "%d\n", num_tracks);
for (int i = 0; i < num_tracks; i++) {
m_track_data[i].Write(f);
}
fclose(f);
}
void BaseApp::WriteTracks(char *filename)
{
FILE *f = fopen(filename, "w");
if (f == NULL) {
printf("Error opening file %s for writing\n", filename);
return;
}
int num_images = GetNumImages();
int num_tracks = (int) m_track_data.size();
fprintf(f, "%d %d\n", num_images, num_tracks);
/* Write the tracks */
for (int i = 0; i < num_tracks; i++) {
int num_views = (int) m_track_data[i].m_views.size();
fprintf(f, "%d ", num_views);
for (int j = 0; j < num_views; j++) {
int img = m_track_data[i].m_views[j].first;
int key = m_track_data[i].m_views[j].second;
fprintf(f, "%d %d ", img, key);
}
fprintf(f, "\n");
}
fclose(f);
}
void BaseApp::WriteTracks2(char *filename)
{
FILE *f = fopen(filename, "w");
if (f == NULL) {
printf("Error opening file %s for writing\n", filename);
return;
}
int num_images = GetNumImages();
int num_tracks = (int) m_track_data.size();
/* Load keys for all images */
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted)
m_image_data[i].LoadKeys(false);
}
fprintf(f, "%d %d\n", num_images, num_tracks);
/* Write the tracks */
for (int i = 0; i < num_tracks; i++) {
int num_views = (int) m_track_data[i].m_views.size();
int num_good_views = 0;
for (int j = 0; j < num_views; j++) {
int img = m_track_data[i].m_views[j].first;
if (!m_image_data[img].m_camera.m_adjusted)
continue;
num_good_views++;
}
if (num_good_views < 2)
continue;
fprintf(f, "%d ", num_good_views);
for (int j = 0; j < num_views; j++) {
int img = m_track_data[i].m_views[j].first;
int key = m_track_data[i].m_views[j].second;
if (!m_image_data[img].m_camera.m_adjusted)
continue;
double x = m_image_data[img].m_keys[key].m_x;
double y = m_image_data[img].m_keys[key].m_y;
fprintf(f, "%d %0.6e %0.6e ", img, x, y);
}
fprintf(f, "\n");
}
fclose(f);
}
/* Setup data structures storing the points and lines visible to
* each image */
void BaseApp::SetupImagePoints(int min_views)
{
/* Clear the views */
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
m_image_data[i].m_visible_points.clear();
}
int num_points = (int) m_point_data.size();
for (int i = 0; i < num_points; i++) {
PointData &p = m_point_data[i];
int num_views = (int) p.m_views.size();
if (num_views < min_views)
continue;
for (int j = 0; j < num_views; j++) {
int img = p.m_views[j].first;
int key = p.m_views[j].second;
m_image_data[img].m_visible_points.push_back(i);
m_image_data[img].m_visible_keys.push_back(key);
}
}
}
/* Fix cameras (reflection bug) */
void BaseApp::FixReflectionBug()
{
printf("[FixReflectionBug] Reflecting scene...\n");
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted)
m_image_data[i].m_camera.Reflect();
}
int num_points = (int) m_point_data.size();
for (int i = 0; i < num_points; i++) {
m_point_data[i].m_pos[2] = -m_point_data[i].m_pos[2];
}
}
/* Compute orientations for each image */
void BaseApp::ComputeImageRotations()
{
double center[3], up[3], x_axis[3], z_axis[3], scale;
SetupSceneGroundPlane(center, up, x_axis, z_axis, scale);
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) continue;
/* Project the up vector into the image */
double R[9];
m_image_data[i].m_camera.GetPose(R);
double x[2] = { 1.0, 0.0 };
double y[2] = { 0.0, 1.0 };
double up_camera[3];
matrix_transpose_product(3, 3, 3, 1, R, up, up_camera);
double x_dot, y_dot;
matrix_product(1, 2, 2, 1, up_camera, x, &x_dot);
matrix_product(1, 2, 2, 1, up_camera, y, &y_dot);
int rot;
if (fabs(x_dot) > fabs(y_dot)) {
printf("[ComputeImageRotations] "
"Rotating image %d [90]\n", i);
if (x_dot > 0.0) {
rot = 3;
} else {
rot = 1;
}
} else {
if (y_dot > 0.0) {
rot = 0;
} else {
printf("[ComputeImageRotations] "
"Rotating image %d [180]\n", i);
rot = 2;
}
}
m_image_data[i].m_rotation = rot;
}
}
/* Estimate the world axes based on the image orientations */
void BaseApp::EstimateAxes(double *xaxis, double *yaxis, double *zaxis)
{
printf("[EstimateAxes] Estimating axes\n");
double RTR[9] = { 0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0 };
int num_images = GetNumImages();
bool found = false;
double ref_axis[3];
double min_deg = 80.0;
double dot_threshold = cos(DEG2RAD(min_deg));
if (m_up_image != -1) {
found = true;
memcpy(ref_axis, m_image_data[m_up_image].m_camera.m_R + 3,
sizeof(double) * 3);
} else {
/* Find a good up image */
int max_inliers = 0;
int best_image = -1;
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) continue;
double Ri[9];
m_image_data[i].m_camera.
GetUprightRotation(m_image_data[i].m_rotation, Ri);
memcpy(ref_axis, Ri + 3, sizeof(double) * 3);
int inliers = 0;
for (int j = 0; j < num_images; j++) {
if (!m_image_data[j].m_camera.m_adjusted) continue;
if (i == j) continue;
double Rj[9];
m_image_data[j].m_camera.
GetUprightRotation(m_image_data[j].m_rotation, Rj);
/* How orthogonal is Rj's xaxis to Ri's yaxis? */
double dot;
matrix_product(1, 3, 3, 1, ref_axis, Rj + 0, &dot);
/* Within 10 degrees of 90? */
if (fabs(dot) > dot_threshold)
continue;
inliers++;
}
if (inliers > max_inliers) {
max_inliers = inliers;
best_image = i;
}
}
printf(" best image: %d with %d inliers\n", best_image, max_inliers);
double Rbest[9];
m_image_data[best_image].m_camera.
GetUprightRotation(m_image_data[best_image].m_rotation, Rbest);
memcpy(ref_axis, Rbest + 3, sizeof(double) * 3);
}
/* Compute the x-axis moment matrix */
std::vector<int> agree;
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) continue;
double R[9];
m_image_data[i].m_camera.
GetUprightRotation(m_image_data[i].m_rotation, R);
double dot;
matrix_product(1, 3, 3, 1, R + 0, ref_axis, &dot);
if (fabs(dot) > dot_threshold) {
printf(" outlier: %d\n", i);
continue;
}
agree.push_back(i);
double T[9];
matrix_transpose_product(1, 3, 1, 3, R, R, T);
matrix_sum(3, 3, 3, 3, RTR, T, RTR);
}
/* Find the smallest eigenvalue/vector of RTR. This is our y-axis */
matrix_minimum_unit_norm_solution(3, 3, RTR, yaxis);
/* Check if we should flip the axis */
int num_agree = (int) agree.size();
int num_pos = 0, num_neg = 0;
for (int i = 0; i < num_agree; i++) {
double dot;
matrix_product(1, 3, 3, 1, m_image_data[agree[i]].m_camera.m_R + 3,
yaxis, &dot);
if (dot < -0.707106781186548)
num_neg++;
else if (dot > 0.707106781186548)
num_pos++;
double R[9];
m_image_data[agree[i]].m_camera.
GetUprightRotation(m_image_data[agree[i]].m_rotation, R);
matrix_product(1, 3, 3, 1, R, yaxis, &dot);
// double angle = acos(dot);
// printf(" Twist angle[%d] = %0.3f\n", agree[i], RAD2DEG(angle));
// fflush(stdout);
}
if (num_neg > num_pos) {
printf("[EstimateAxes] Flipping y-axis (%d, %d)\n",
num_pos, num_neg);
matrix_scale(3, 1, yaxis, -1.0, yaxis);
} else {
printf("[EstimateAxes] Not flipping\n");
}
#if 0
zaxis[0] = yaxis[1];
zaxis[1] = -yaxis[0];
zaxis[2] = 0.0;
#endif
/* Compute the average z-axis */
zaxis[0] = zaxis[1] = zaxis[2] = 0.0;
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted) continue;
double *zi = m_image_data[i].m_camera.m_R + 6;
matrix_sum(1, 3, 1, 3, zaxis, zi, zaxis);
}
matrix_print(1, 3, zaxis);
double dot;
matrix_product(1, 3, 3, 1, yaxis, zaxis, &dot);
printf("dot = %0.3f\n", dot / matrix_norm(3, 1, zaxis));
matrix_cross(yaxis, zaxis, xaxis);
double norm = matrix_norm(3, 1, xaxis);
matrix_scale(3, 1, xaxis, 1.0 / norm, xaxis);
matrix_cross(xaxis, yaxis, zaxis);
}
/* Analyze the scene and return various attributes */
void BaseApp::SetupSceneGroundPlane(double *center, double *up,
double *x_axis, double *z_axis,
double &scale)
{
int num_images = GetNumOriginalImages();
/* Estimate a plane through all the camera centers */
int num_cameras = 0;
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted)
num_cameras++;
}
v3_t *cc = new v3_t[num_cameras]; /* Camera centers */
/* Marshall the camera centers */
int count = 0;
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted) {
double pos[3];
m_image_data[i].m_camera.GetPosition(pos);
if (count >= num_cameras)
printf("error!\n");
cc[count] = v3_new(pos[0], pos[1], pos[2]);
count++;
}
}
/* Compute mean and "scale" of the camera center locations */
double mean[3] = { 0.0, 0.0, 0.0 };
count = 0;
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted) {
double pos[3];
m_image_data[i].m_camera.GetPosition(pos);
mean[0] += pos[0];
mean[1] += pos[1];
mean[2] += pos[2];
count++;
}
}
mean[0] /= num_cameras;
mean[1] /= num_cameras;
mean[2] /= num_cameras;
double distance = 0.0;
count = 0;
for (int i = 0; i < num_images; i++) {
if (m_image_data[i].m_camera.m_adjusted) {
double pos[3];
m_image_data[i].m_camera.GetPosition(pos);
double dx = mean[0] - pos[0];
double dy = mean[1] - pos[1];
double dz = mean[2] - pos[2];
distance += dx * dx + dy * dy + dz * dz;
if (count >= num_cameras)
printf("error!\n");
Vx(cc[count]) -= mean[0];
Vy(cc[count]) -= mean[1];
Vz(cc[count]) -= mean[2];
count++;
}
}
double rms_distance = sqrt(distance / num_cameras);
/* Fit the plane */
double plane[4];
double U[9], S[3], VT[9];
double norm;
if (m_up_image == -1) {
int inliers_out;
// fit_3D_plane_through_origin(num_cameras, cc, plane);
#ifndef WIN32
double scale_factor = 0.05; /* For Trevi */
// double scale_factor = 0.005; /* For Notre Dame */
#else
double scale_factor = 0.05;
#endif
fit_3D_plane_ortreg_ransac(num_cameras, cc,
1024, scale_factor * rms_distance,
&inliers_out, plane);
printf("inliers: %d / %d\n", inliers_out, num_cameras);
v3_svd(num_cameras, cc, U, S, VT);
norm = matrix_norm(3, 1, plane);
plane[0] /= norm;
plane[1] /= norm;
plane[2] /= norm;
} else {
if (!m_image_data[m_up_image].m_camera.m_adjusted) {
printf("[SetupScene] Error: user refered to an "
"unadjusted camera\n");
exit(1);
}
/* Multiply the y-axis by the camera matrix */
double yaxis[3] = { 0.0, 1.0, 0.0 };
matrix_transpose_product(3, 3, 3, 1, m_image_data[m_up_image].m_camera.m_R,
yaxis, plane);
norm = matrix_norm(3, 1, plane);
plane[0] /= norm;
plane[1] /= norm;
plane[2] /= norm;
/* Project all the camera centers onto the plane */
for (int i = 0; i < num_cameras; i++) {
double pt[3] = { Vx(cc[i]), Vy(cc[i]), Vz(cc[i]) };
double pt_par[3], pt_perp[3];
double dot;
matrix_product(1, 3, 3, 1, pt, plane, &dot);
matrix_scale(3, 1, plane, dot, pt_par);
matrix_diff(3, 1, 3, 1, pt, pt_par, pt_perp);
cc[i] = v3_new(pt_perp[0], pt_perp[1], pt_perp[2]);
}
v3_svd(num_cameras, cc, U, S, VT);
}
center[0] = mean[0];
center[1] = mean[1];
center[2] = mean[2];
/* Find out which orientation of the plane agrees with the most up
* vectors */
int num_neg = 0;
int num_pos = 0;
double y_axis[3] = { 0.0, 1.0, 0.0 };
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted)
continue;
double R[9];
m_image_data[i].m_camera.GetPose(R);
double up_cam[3];
matrix_product(3, 3, 3, 1, R, y_axis, up_cam);
double dot;
matrix_product(1, 3, 3, 1, up_cam, plane, &dot);
if (fabs(dot) < 0.8) continue;
if (dot < 0.0)
num_neg++;
else
num_pos++;
}
printf("num_pos = %d\n", num_pos);
printf("num_neg = %d\n", num_neg);
if (num_pos >= num_neg) {
up[0] = plane[0];
up[1] = plane[1];
up[2] = plane[2];
} else {
up[0] = -plane[0];
up[1] = -plane[1];
up[2] = -plane[2];
}
#if 0
x_axis[0] = Vx(cc[0]) + mean[0];
x_axis[1] = Vy(cc[0]) + mean[1];
x_axis[2] = Vz(cc[0]) + mean[2];
#else
int perm[3];
qsort_perm(3, S, perm);
int mid_idx = perm[1];
x_axis[0] = -VT[mid_idx * 3 + 0];
x_axis[1] = -VT[mid_idx * 3 + 1];
x_axis[2] = -VT[mid_idx * 3 + 2];
#endif
norm = matrix_norm(3, 1, x_axis);
matrix_scale(3, 1, x_axis, 1.0 / norm, x_axis);
/* Project m_x so that it is perpendicular to m_up */
double x_par[3], x_perp[3];
double dot;
matrix_product(1, 3, 3, 1, up, x_axis, &dot);
// printf("x_dot is %0.3e\n", dot);
matrix_scale(3, 1, up, dot, x_par);
matrix_diff(3, 1, 3, 1, x_axis, x_par, x_perp);
norm = matrix_norm(3, 1, x_perp);
matrix_scale(3, 1, x_perp, 1.0 / norm, x_axis);
matrix_cross(x_axis, up, z_axis);
if (!m_metric)
scale = m_scale * rms_distance;
else
scale = 1000.0; /* 1000 meters */
delete [] cc;
}
/* Analyze the scene and return various attributes */
void BaseApp::SetupScene(double *center, double *up,
double *x_axis, double *z_axis,
double &scale)
{
SetupSceneGroundPlane(center, up, x_axis, z_axis, scale);
if (m_estimate_up_vector_szeliski) {
/* Recompute the axes with Rick's method */
EstimateAxes(x_axis, up, z_axis);
}
}
void BaseApp::TransformWorldReal()
{
#ifndef __DEMO__
/* Transform the points */
int num_points = (int) m_point_data.size();
for (int i = 0; i < num_points; i++) {
double *pos = m_point_data[i].m_pos;
double p[4] = { pos[0], pos[1], pos[2], 1.0 }, Tp[4];
matrix_product(4, 4, 4, 1, m_xform, p, Tp);
memcpy(pos, Tp, 3 * sizeof(double));
}
/* Transform the cameras */
int num_images = GetNumImages();
for (int i = 0; i < num_images; i++) {
if (!m_image_data[i].m_camera.m_adjusted)
continue;
double pose[9], pos[4];
m_image_data[i].m_camera.GetPosition(pos);
m_image_data[i].m_camera.GetPose(pose);
pos[3] = 1.0;
double M3x3[9];
memcpy(M3x3 + 0, m_xform + 0, 3 * sizeof(double));
memcpy(M3x3 + 3, m_xform + 4, 3 * sizeof(double));
memcpy(M3x3 + 6, m_xform + 8, 3 * sizeof(double));
double scale;
matrix_product(1, 3, 3, 1, M3x3, M3x3, &scale);
matrix_scale(3, 3, M3x3, 1.0 / sqrt(scale), M3x3);
double pose_new[9], pos_new[4];
matrix_product(3, 3, 3, 3, M3x3, pose, pose_new);
matrix_product(4, 4, 4, 1, m_xform, pos, pos_new);
/* Factor out the scaling */
double mag = matrix_norm(3, 1, pose_new);
matrix_scale(3, 3, pose_new, 1.0 / mag, pose_new);
m_image_data[i].m_camera.SetPose(pose_new);
m_image_data[i].m_camera.SetPosition(pos_new);
m_image_data[i].m_camera.Finalize();
}
#endif /* __DEMO__ */