globalRotation app

Author: Fabien Servant

src/aliceVision/sfmData/CameraPose.hpp

@@ -79,11 +79,27 @@ class CameraPose
 
     void setState(EEstimatorParameterState state) { _state = state; }
 
+    bool isRotationOnly() const
+    {
+        return _rotationOnly;
+    }   
+
+    /**
+     * Set the flag for partial state
+     * Partial flag set to on means the camera translation is not known
+    */
+    void setRotationOnly(bool partial)
+    {
+        _rotationOnly = partial;
+    }
+
   private:
     /// camera 3d transformation
     geometry::Pose3 _transform;
     /// camera lock
     bool _locked = false;
+    /// Only rotation is solved
+    bool _rotationOnly = false;
     /// Estimator state
     EEstimatorParameterState _state = EEstimatorParameterState::REFINED;
 };

src/aliceVision/sfmData/SfMData.hpp

@@ -310,6 +310,11 @@ class SfMData
             return false;
         }
 
+        if (it->second.isRotationOnly())
+        {
+            return false;
+        }
+
         bool rigValid = ((!view.isPartOfRig() || view.isPoseIndependant() || getRigSubPose(view).status != ERigSubPoseStatus::UNINITIALIZED));
         if (!rigValid)
         {

src/aliceVision/sfmDataIO/AlembicExporter.cpp

@@ -111,6 +111,7 @@ void AlembicExporter::DataImpl::addCamera(const std::string& name,
     if (pose != nullptr)
     {
         OBoolProperty(userProps, "mvg_poseLocked").set(pose->isLocked());
+        OBoolProperty(userProps, "mvg_rotationOnly").set(pose->isRotationOnly());
 
         // Convert from computer vision convention to computer graphics (opengl-like)
         Eigen::Matrix4d M = Eigen::Matrix4d::Identity();
@@ -397,7 +398,7 @@ void AlembicExporter::addSfMSingleCamera(const sfmData::SfMData& sfmData, const
     const std::shared_ptr<camera::IntrinsicBase> intrinsic =
       (flagsPart & ESfMData::INTRINSICS) ? sfmData.getIntrinsicSharedPtr(view.getIntrinsicId()) : nullptr;
 
-    if (sfmData.isPoseAndIntrinsicDefined(&view) && (flagsPart & ESfMData::EXTRINSICS))
+    if (sfmData.isPoseAndIntrinsicDefined(view) && (flagsPart & ESfMData::EXTRINSICS))
         _dataImpl->addCamera(name, view, pose, intrinsic, nullptr, &_dataImpl->_mvgCameras);
     else
         _dataImpl->addCamera(name, view, pose, intrinsic, nullptr, &_dataImpl->_mvgCamerasUndefined);

src/aliceVision/sfmDataIO/AlembicImporter.cpp

@@ -417,6 +417,7 @@ bool readCamera(const Version& abcVersion,
     IndexT resectionId = UndefinedIndexT;
     bool intrinsicLocked = false;
     bool poseLocked = false;
+    bool rotationOnly = false;
     bool poseIndependant = true;
     bool lockRatio = true;
     bool lockOffset = false;
@@ -489,6 +490,10 @@ bool readCamera(const Version& abcVersion,
             {
                 poseLocked = getAbcProp<Alembic::Abc::IBoolProperty>(userProps, *propHeader, "mvg_poseLocked", sampleFrame);
             }
+            if (const Alembic::Abc::PropertyHeader* propHeader = userProps.getPropertyHeader("mvg_rotationOnly"))
+            {
+                rotationOnly = getAbcProp<Alembic::Abc::IBoolProperty>(userProps, *propHeader, "mvg_rotationOnly", sampleFrame);
+            }
             if (const Alembic::Abc::PropertyHeader* propHeader = userProps.getPropertyHeader("mvg_poseIndependant"))
             {
                 poseIndependant = getAbcProp<Alembic::Abc::IBoolProperty>(userProps, *propHeader, "mvg_poseIndependant", sampleFrame);
@@ -805,7 +810,9 @@ bool readCamera(const Version& abcVersion,
         }
         else
         {
-            sfmData.setPose(*view, sfmData::CameraPose(pose, poseLocked));
+            sfmData::CameraPose cp(pose, poseLocked);
+            cp.setRotationOnly(rotationOnly);
+            sfmData.setPose(*view, cp);
         }
     }