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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)
#ifndef COLMAP_SRC_MVS_IMAGE_H_
#define COLMAP_SRC_MVS_IMAGE_H_
#include <cstdint>
#include <fstream>
#include <set>
#include <string>
#include <unordered_map>
#include <vector>
#include "util/bitmap.h"
namespace colmap {
namespace mvs {
class Image {
public:
Image();
Image(const std::string& path, const size_t width, const size_t height,
const float* K, const float* R, const float* T);
inline size_t GetWidth() const;
inline size_t GetHeight() const;
void SetBitmap(const Bitmap& bitmap);
inline const Bitmap& GetBitmap() const;
inline const std::string& GetPath() const;
inline const float* GetR() const;
inline const float* GetT() const;
inline const float* GetK() const;
inline const float* GetP() const;
inline const float* GetInvP() const;
inline const float* GetViewingDirection() const;
void Rescale(const float factor);
void Rescale(const float factor_x, const float factor_y);
void Downsize(const size_t max_width, const size_t max_height);
private:
std::string path_;
size_t width_;
size_t height_;
float K_[9];
float R_[9];
float T_[3];
float P_[12];
float inv_P_[12];
Bitmap bitmap_;
};
void ComputeRelativePose(const float R1[9], const float T1[3],
const float R2[9], const float T2[3], float R[9],
float T[3]);
void ComposeProjectionMatrix(const float K[9], const float R[9],
const float T[3], float P[12]);
void ComposeInverseProjectionMatrix(const float K[9], const float R[9],
const float T[3], float inv_P[12]);
void ComputeProjectionCenter(const float R[9], const float T[3], float C[3]);
void RotatePose(const float RR[9], float R[9], float T[3]);
////////////////////////////////////////////////////////////////////////////////
// Implementation
////////////////////////////////////////////////////////////////////////////////
size_t Image::GetWidth() const { return width_; }
size_t Image::GetHeight() const { return height_; }
const Bitmap& Image::GetBitmap() const { return bitmap_; }
const std::string& Image::GetPath() const { return path_; }
const float* Image::GetR() const { return R_; }
const float* Image::GetT() const { return T_; }
const float* Image::GetK() const { return K_; }
const float* Image::GetP() const { return P_; }
const float* Image::GetInvP() const { return inv_P_; }
const float* Image::GetViewingDirection() const { return &R_[6]; }
} // namespace mvs
} // namespace colmap
#endif // COLMAP_SRC_MVS_IMAGE_H_
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