[sfm] Use opengl coordinate system in Alembic & Meshes and add new alignment from Cameras X Axis #1030

fabiencastan · 2021-04-20T17:20:59Z

Use opengl coordinate system in Alembic and Meshes
Move sfmData files version to 1.2.3.
Move alignment function from software to the sfm/utils module
New method in the sfmTransform to align on all cameras X axis
Take orientation metadata into account

natowi · 2021-04-20T19:58:16Z

src/aliceVision/sfm/utils/alignment.hpp

+ * of the camera centers is the origin of the world coordinate system,
+ * a dominant Y axis is defined based on the X axis of all cameras,
+ * and the scale is set so that the optical centers RMS is "1.0".
+ * (Hartley-like normalization, p.180)


Can you please provide a usable reference (p.180 of what?)

Richard Hartley and Andrew Zisserman. 2003. Multiple View Geometry in Computer Vision (2nd. ed.). Cambridge University Press, USA.
It's the bible of computer vision, so you only cite the page... ;-)

src/aliceVision/sfmDataIO/AlembicImporter.cpp

src/aliceVision/sfmDataIO/AlembicExporter.cpp

src/aliceVision/sfmDataIO/AlembicImporter.cpp

src/aliceVision/geometry/Pose3.hpp

simogasp · 2022-06-03T21:07:56Z

src/aliceVision/sfm/utils/alignment.cpp

+            Mat3 R_image = Eigen::AngleAxisd(-degreeToRadian(orientationToRotationDegree(orientation)), Vec3(0, 0, 1)).toRotationMatrix();
+
+            Eigen::Vector3d oriented_X = R_image * Eigen::Vector3d::UnitX();
+            Eigen::Vector3d oriented_Y = R_image * Eigen::Vector3d::UnitY();


Suggested change

Mat3 R_image = Eigen::AngleAxisd(-degreeToRadian(orientationToRotationDegree(orientation)), Vec3(0, 0, 1)).toRotationMatrix();

Eigen::Vector3d oriented_X = R_image * Eigen::Vector3d::UnitX();

Eigen::Vector3d oriented_Y = R_image * Eigen::Vector3d::UnitY();

const Mat3 R_image = Eigen::AngleAxisd(-degreeToRadian(orientationToRotationDegree(orientation)), Vec3(0, 0, 1)).toRotationMatrix();

const Eigen::Vector3d oriented_X = R_image * Eigen::Vector3d::UnitX();

const Eigen::Vector3d oriented_Y = R_image * Eigen::Vector3d::UnitY();

simogasp · 2022-06-03T21:09:38Z

src/aliceVision/sfm/utils/alignment.cpp

+            Mat3 R_image = Eigen::AngleAxisd(-degreeToRadian(orientationToRotationDegree(orientation)), Vec3(0, 0, 1)).toRotationMatrix();
+            Eigen::Vector3d oriented_X = R_image * Eigen::Vector3d::UnitX();


Suggested change

Mat3 R_image = Eigen::AngleAxisd(-degreeToRadian(orientationToRotationDegree(orientation)), Vec3(0, 0, 1)).toRotationMatrix();

Eigen::Vector3d oriented_X = R_image * Eigen::Vector3d::UnitX();

const Mat3 R_image = Eigen::AngleAxisd(-degreeToRadian(orientationToRotationDegree(orientation)), Vec3(0, 0, 1)).toRotationMatrix();

const Eigen::Vector3d oriented_X = R_image * Eigen::Vector3d::UnitX();

src/aliceVision/sfm/utils/alignment.cpp

src/software/utils/main_sfmTransform.cpp

src/aliceVision/sfmDataIO/AlembicImporter.cpp

Move alignment function from software to the sfm/utils module. Expose the new method in the sfmTransform software.

…tion and use percentile

…n is far from the solution

… sfmtransform alignment

fabiencastan requested a review from a user April 20, 2021 17:21

natowi reviewed Apr 20, 2021

View reviewed changes

fabiencastan force-pushed the dev/sfmTransform_orientationCameraX branch from f2e276d to f6d773f Compare April 21, 2021 20:29

fabiencastan force-pushed the dev/sfmTransform_orientationCameraX branch from f7b4a6b to 2f2ab54 Compare April 30, 2021 14:05

ghost force-pushed the dev/sfmTransform_orientationCameraX branch from 9ac22ae to 0c2ec95 Compare August 16, 2021 11:47