Method ComputeModelOriginAndScale

src/colmap/ui/model_viewer_widget.cc:978–1025

}

void ModelViewerWidget::ComputeModelOriginAndScale() {
  std::vector<double> x_coords;
  std::vector<double> y_coords;
  std::vector<double> z_coords;

  if (!reg_image_ids.empty()) {
    x_coords.resize(reg_image_ids.size());
    y_coords.resize(reg_image_ids.size());
    z_coords.resize(reg_image_ids.size());
    for (size_t i = 0; i < reg_image_ids.size(); ++i) {
      const Image& image = images[reg_image_ids[i]];
      const Eigen::Vector3d proj_center = image.ProjectionCenter();
      x_coords[i] = proj_center.x();
      y_coords[i] = proj_center.y();
      z_coords[i] = proj_center.z();
    }
  } else if (point_cloud.has_value() && !point_cloud->empty()) {
    x_coords.reserve(point_cloud->size());
    y_coords.reserve(point_cloud->size());
    z_coords.reserve(point_cloud->size());
    for (const auto& point : *point_cloud) {
      x_coords.push_back(point.x);
      y_coords.push_back(point.y);
      z_coords.push_back(point.z);
    }
  } else if (surface_mesh.has_value() && !surface_mesh->mesh.vertices.empty()) {
    x_coords.reserve(surface_mesh->mesh.vertices.size());
    y_coords.reserve(surface_mesh->mesh.vertices.size());
    z_coords.reserve(surface_mesh->mesh.vertices.size());
    for (const auto& vertex : surface_mesh->mesh.vertices) {
      x_coords.push_back(vertex.x);
      y_coords.push_back(vertex.y);
      z_coords.push_back(vertex.z);
    }
  } else {
    model_origin_.setZero();
    model_scale_ = 1;
    return;
  }

  model_origin_ =
      -Eigen::Vector3d(Median(x_coords), Median(y_coords), Median(z_coords));
  model_scale_ =
      1. / std::max({Percentile(x_coords, 95) - Percentile(x_coords, 5),
                     Percentile(y_coords, 95) - Percentile(y_coords, 5),
                     Percentile(z_coords, 95) - Percentile(z_coords, 5),
                     1e-6});
}

void ModelViewerWidget::Upload() {
  point_colormap_->Prepare(cameras, images, points3D, reg_image_ids);