coordinate_frame.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
 
#include "base/reconstruction.h"
 
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