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// Copyright (c) 2018, 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:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)
#include "mvs/image.h"
#include <Eigen/Core>
#include "base/projection.h"
#include "util/logging.h"
namespace colmap {
namespace mvs {
Image::Image() {}
Image::Image(const std::string& path, const size_t width, const size_t height,
const float* K, const float* R, const float* T)
: path_(path), width_(width), height_(height) {
memcpy(K_, K, 9 * sizeof(float));
memcpy(R_, R, 9 * sizeof(float));
memcpy(T_, T, 3 * sizeof(float));
ComposeProjectionMatrix(K_, R_, T_, P_);
ComposeInverseProjectionMatrix(K_, R_, T_, inv_P_);
}
void Image::SetBitmap(const Bitmap& bitmap) {
bitmap_ = bitmap;
CHECK_EQ(width_, bitmap_.Width());
CHECK_EQ(height_, bitmap_.Height());
}
void Image::Rescale(const float factor) { Rescale(factor, factor); }
void Image::Rescale(const float factor_x, const float factor_y) {
const size_t new_width = std::round(width_ * factor_x);
const size_t new_height = std::round(height_ * factor_y);
if (bitmap_.Data() != nullptr) {
bitmap_.Rescale(new_width, new_height);
}
const float scale_x = new_width / static_cast<float>(width_);
const float scale_y = new_height / static_cast<float>(height_);
K_[0] *= scale_x;
K_[2] *= scale_x;
K_[4] *= scale_y;
K_[5] *= scale_y;
ComposeProjectionMatrix(K_, R_, T_, P_);
ComposeInverseProjectionMatrix(K_, R_, T_, inv_P_);
width_ = new_width;
height_ = new_height;
}
void Image::Downsize(const size_t max_width, const size_t max_height) {
if (width_ <= max_width && height_ <= max_height) {
return;
}
const float factor_x = static_cast<float>(max_width) / width_;
const float factor_y = static_cast<float>(max_height) / height_;
Rescale(std::min(factor_x, factor_y));
}
void ComputeRelativePose(const float R1[9], const float T1[3],
const float R2[9], const float T2[3], float R[9],
float T[3]) {
const Eigen::Map<const Eigen::Matrix<float, 3, 3, Eigen::RowMajor>> R1_m(R1);
const Eigen::Map<const Eigen::Matrix<float, 3, 3, Eigen::RowMajor>> R2_m(R2);
const Eigen::Map<const Eigen::Matrix<float, 3, 1>> T1_m(T1);
const Eigen::Map<const Eigen::Matrix<float, 3, 1>> T2_m(T2);
Eigen::Map<Eigen::Matrix<float, 3, 3, Eigen::RowMajor>> R_m(R);
Eigen::Map<Eigen::Vector3f> T_m(T);
R_m = R2_m * R1_m.transpose();
T_m = T2_m - R_m * T1_m;
}
void ComposeProjectionMatrix(const float K[9], const float R[9],
const float T[3], float P[12]) {
Eigen::Map<Eigen::Matrix<float, 3, 4, Eigen::RowMajor>> P_m(P);
P_m.leftCols<3>() =
Eigen::Map<const Eigen::Matrix<float, 3, 3, Eigen::RowMajor>>(R);
P_m.rightCols<1>() = Eigen::Map<const Eigen::Vector3f>(T);
P_m = Eigen::Map<const Eigen::Matrix<float, 3, 3, Eigen::RowMajor>>(K) * P_m;
}
void ComposeInverseProjectionMatrix(const float K[9], const float R[9],
const float T[3], float inv_P[12]) {
Eigen::Matrix<float, 4, 4, Eigen::RowMajor> P;
ComposeProjectionMatrix(K, R, T, P.data());
P.row(3) = Eigen::Vector4f(0, 0, 0, 1);
const Eigen::Matrix4f inv_P_temp = P.inverse();
Eigen::Map<Eigen::Matrix<float, 3, 4, Eigen::RowMajor>> inv_P_m(inv_P);
inv_P_m = inv_P_temp.topRows<3>();
}
void ComputeProjectionCenter(const float R[9], const float T[3], float C[3]) {
const Eigen::Map<const Eigen::Matrix<float, 3, 3, Eigen::RowMajor>> R_m(R);
const Eigen::Map<const Eigen::Matrix<float, 3, 1>> T_m(T);
Eigen::Map<Eigen::Vector3f> C_m(C);
C_m = -R_m.transpose() * T_m;
}
void RotatePose(const float RR[9], float R[9], float T[3]) {
Eigen::Map<Eigen::Matrix<float, 3, 3, Eigen::RowMajor>> R_m(R);
Eigen::Map<Eigen::Matrix<float, 3, 1>> T_m(T);
const Eigen::Map<const Eigen::Matrix<float, 3, 3, Eigen::RowMajor>> RR_m(RR);
R_m = RR_m * R_m;
T_m = RR_m * T_m;
}
} // namespace mvs
} // namespace colmap
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