Function computeCenterAtOrigin

src/utils/sim3dNormalization.ts:19–39

(reconstruction: Reconstruction)

 * Uses median of camera positions for robustness to outliers.
 */
export function computeCenterAtOrigin(reconstruction: Reconstruction): Sim3d {
  const positions: THREE.Vector3[] = [];

  for (const image of reconstruction.images.values()) {
    positions.push(getImageWorldPosition(image));
  }

  if (positions.length === 0) {
    return identitySim3d();
  }

  const centerX = median(positions.map((p) => p.x));
  const centerY = median(positions.map((p) => p.y));
  const centerZ = median(positions.map((p) => p.z));

  return {
    scale: 1,
    rotation: new THREE.Quaternion(),
    translation: new THREE.Vector3(-centerX, -centerY, -centerZ),
  };
}

/**
 * Compute transform to normalize scale (fit scene to specified extent).