| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // All rights reserved. | |
| // | |
| // Redistribution and use in source and binary forms, with or without | |
| // modification, are permitted provided that the following conditions are met: | |
| // | |
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| // * Redistributions in binary form must reproduce the above copyright | |
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| // | |
| // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of | |
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| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| struct ManhattanWorldFrameEstimationOptions { | |
| // The maximum image size for line detection. | |
| int max_image_size = 1024; | |
| // The minimum length of line segments in pixels. | |
| double min_line_length = 3; | |
| // The tolerance for classifying lines into horizontal/vertical. | |
| double line_orientation_tolerance = 0.2; | |
| // The maximum distance in pixels between lines and the vanishing points. | |
| double max_line_vp_distance = 0.5; | |
| // The maximum cosine distance between estimated axes to be inliers. | |
| double max_axis_distance = 0.05; | |
| }; | |
| // Estimate gravity vector by assuming gravity-aligned image orientation, i.e. | |
| // the majority of images is assumed to have the gravity vector aligned with an | |
| // upright image plane. | |
| Eigen::Vector3d EstimateGravityVectorFromImageOrientation( | |
| const Reconstruction& reconstruction, | |
| const double max_axis_distance = 0.05); | |
| // Estimate the coordinate frame of the reconstruction assuming a Manhattan | |
| // world by finding the major vanishing points in each image. This function | |
| // assumes that the majority of images is taken in upright direction, i.e. | |
| // people are standing upright in the image. The orthonormal axes of the | |
| // estimated coordinate frame will be given in the columns of the returned | |
| // matrix. If one axis could not be determined, the respective column will be | |
| // zero. The axes are specified in the world coordinate system in the order | |
| // rightward, downward, forward. | |
| Eigen::Matrix3d EstimateManhattanWorldFrame( | |
| const ManhattanWorldFrameEstimationOptions& options, | |
| const Reconstruction& reconstruction, const std::string& image_path); | |
| // Aligns the reconstruction to the plane defined by running PCA on the 3D | |
| // points. The model centroid is at the origin of the new coordinate system | |
| // and the X axis is the first principal component with the Y axis being the | |
| // second principal component | |
| void AlignToPrincipalPlane(Reconstruction* recon, SimilarityTransform3* tform); | |
| // Aligns the reconstruction to the local ENU plane orientation. Rotates the | |
| // reconstruction such that the x-y plane aligns with the ENU tangent plane at | |
| // the point cloud centroid and translates the origin to the centroid. | |
| // If unscaled == true, then the original scale of the model remains unchanged. | |
| void AlignToENUPlane(Reconstruction* recon, SimilarityTransform3* tform, | |
| bool unscaled); | |
| } // namespace colmap | |