Ground level alignment based on sfm point cloud #1438
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simogasp
reviewed
May 24, 2023
| @@ -1026,6 +1026,62 @@ void computeCentersVarCov(const sfmData::SfMData& sfmData, const Vec3 & mean, Ei | |||
| } | |||
| } | |||
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| void computeNewCoordinateSystemGroundAuto(const sfmData::SfMData& sfmData, Vec3& out_t) | |||
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wouldn't be better to have the point returned instead as an out param?
Suggested change
| void computeNewCoordinateSystemGroundAuto(const sfmData::SfMData& sfmData, Vec3& out_t) | |
| Vec3 computeNewCoordinateSystemGroundAuto(const sfmData::SfMData& sfmData) |
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I wonder what happens in the case of UAV drones, for which the Y axis of the camera is parallel to the ground. |
Comment on lines
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| for (const auto & pObs : plandmark.second.observations) | ||
| { | ||
| const IndexT viewId = pObs.first; | ||
| const Vec3 camCenter = sfmData.getPose(sfmData.getView(viewId)).getTransform().center(); | ||
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| if (X(1) > camCenter(1)) | ||
| { | ||
| foundUnder = true; | ||
| break; | ||
| } | ||
| } |
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Why not just look globally for the lowest camera and filter out all the points above?
And to avoid a problem with one failed solved cameras far away underground, check the bbox of landmarks and bbox of camera centers, to ignore cameras below the landmarks' bbox.
fabiencastan
requested changes
May 26, 2023
Ground alignment is only possible when the vertical axis is aligned with gravity ? What do you want exactly. |
fabiencastan
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Jun 3, 2023
fabiencastan
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fabiencastan
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fabiencastan
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fabiencastan
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fabiencastan
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fabiencastan
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fabiencastan
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fabiencastan
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fabiencastan
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Jun 3, 2023
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Simple Ground level alignment.
Objective : make sure the lower geometric structure is at Y=0
Assumes the Y axis is the true vertical axis
Remove all points which are not "under" one camera which observes it.
Remove all points which are not observed correctly
Remove statistical noise. Takes the lower point as the ground.