1 // Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. 2 // All rights reserved. 3 // 4 // Redistribution and use in source and binary forms, with or without 5 // modification, are permitted provided that the following conditions are met: 6 // 7 // * Redistributions of source code must retain the above copyright 8 // notice, this list of conditions and the following disclaimer. 9 // 10 // * Redistributions in binary form must reproduce the above copyright 11 // notice, this list of conditions and the following disclaimer in the 12 // documentation and/or other materials provided with the distribution. 13 // 14 // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of 15 // its contributors may be used to endorse or promote products derived 16 // from this software without specific prior written permission. 17 // 18 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 19 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 20 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 21 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE 22 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 23 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 24 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 25 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 26 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 27 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 28 // POSSIBILITY OF SUCH DAMAGE. 29 // 30 // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) 31 32 #ifndef COLMAP_SRC_BASE_SIMILARITY_TRANSFORM_H_ 33 #define COLMAP_SRC_BASE_SIMILARITY_TRANSFORM_H_ 34 35 #include <vector> 36 37 #include <Eigen/Core> 38 #include <Eigen/Geometry> 39 40 #include "util/alignment.h" 41 #include "util/types.h" 42 43 namespace colmap { 44 45 struct RANSACOptions; 46 class Reconstruction; 47 48 // 3D similarity transformation with 7 degrees of freedom. 49 class SimilarityTransform3 { 50 public: 51 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 52 53 SimilarityTransform3(); 54 55 explicit SimilarityTransform3(const Eigen::Matrix3x4d& matrix); 56 57 explicit SimilarityTransform3( 58 const Eigen::Transform<double, 3, Eigen::Affine>& transform); 59 60 SimilarityTransform3(const double scale, const Eigen::Vector4d& qvec, 61 const Eigen::Vector3d& tvec); 62 63 bool Estimate(const std::vector<Eigen::Vector3d>& src, 64 const std::vector<Eigen::Vector3d>& dst); 65 66 SimilarityTransform3 Inverse() const; 67 68 void TransformPoint(Eigen::Vector3d* xyz) const; 69 void TransformPose(Eigen::Vector4d* qvec, Eigen::Vector3d* tvec) const; 70 71 Eigen::Matrix4d Matrix() const; 72 double Scale() const; 73 Eigen::Vector4d Rotation() const; 74 Eigen::Vector3d Translation() const; 75 76 private: 77 Eigen::Transform<double, 3, Eigen::Affine> transform_; 78 }; 79 80 // Robustly compute alignment between reconstructions by finding images that 81 // are registered in both reconstructions. The alignment is then estimated 82 // robustly inside RANSAC from corresponding projection centers. An alignment 83 // is verified by reprojecting common 3D point observations. 84 // The min_inlier_observations threshold determines how many observations 85 // in a common image must reproject within the given threshold. 86 bool ComputeAlignmentBetweenReconstructions( 87 const Reconstruction& src_reconstruction, 88 const Reconstruction& ref_reconstruction, 89 const double min_inlier_observations, const double max_reproj_error, 90 Eigen::Matrix3x4d* alignment); 91 92 } // namespace colmap 93 94 EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_CUSTOM(colmap::SimilarityTransform3) 95 96 #endif // COLMAP_SRC_BASE_SIMILARITY_TRANSFORM_H_ 97