Merge pull request #1773 from alicevision/dev/globalRotation

Add global rotation estimation app

Author: cbentejac

src/aliceVision/mvsUtils/MultiViewParams.cpp

@@ -58,7 +58,7 @@ MultiViewParams::MultiViewParams(const sfmData::SfMData& sfmData,
         {
             const sfmData::View& view = *(viewPair.second.get());
 
-            if (!sfmData.isPoseAndIntrinsicDefined(&view))
+            if (!sfmData.isPoseAndIntrinsicDefined(view))
                 continue;
 
             std::string path = view.getImage().getImagePath();

src/aliceVision/sfm/bundle/BundleAdjustmentCeres.cpp

@@ -422,7 +422,7 @@ void BundleAdjustmentCeres::addIntrinsicsToProblem(const sfmData::SfMData& sfmDa
         if (intrinsicsUsage.find(view.getIntrinsicId()) == intrinsicsUsage.end())
             intrinsicsUsage[view.getIntrinsicId()] = 0;
 
-        if (sfmData.isPoseAndIntrinsicDefined(&view))
+        if (sfmData.isPoseAndIntrinsicDefined(view))
             ++intrinsicsUsage.at(view.getIntrinsicId());
     }
 

src/aliceVision/sfm/pipeline/relativePoses.hpp

@@ -8,6 +8,7 @@
 #include <aliceVision/numeric/numeric.hpp>
 #include <aliceVision/dataio/json.hpp>
 #include <aliceVision/geometry/lie.hpp>
+#include <aliceVision/geometry/Pose3.hpp>
 
 namespace aliceVision {
 namespace sfm {

src/aliceVision/sfm/utils/alignment.cpp

@@ -762,7 +762,7 @@ void computeNewCoordinateSystemFromCamerasXAxis(const sfmData::SfMData& sfmData,
     {
         const sfmData::View& view = *viewIt.second.get();
 
-        if (sfmData.isPoseAndIntrinsicDefined(&view))
+        if (sfmData.isPoseAndIntrinsicDefined(view))
         {
             const sfmData::EEXIFOrientation orientation = view.getImage().getMetadataOrientation();
             const sfmData::CameraPose camPose = sfmData.getPose(view);
@@ -804,7 +804,7 @@ void computeNewCoordinateSystemFromCamerasXAxis(const sfmData::SfMData& sfmData,
     {
         const sfmData::View& view = *viewIt.second.get();
 
-        if (sfmData.isPoseAndIntrinsicDefined(&view))
+        if (sfmData.isPoseAndIntrinsicDefined(view))
         {
             const sfmData::EEXIFOrientation orientation = view.getImage().getMetadataOrientation();
             const sfmData::CameraPose camPose = sfmData.getPose(view);
@@ -1010,7 +1010,7 @@ IndexT getCenterCameraView(const sfmData::SfMData& sfmData)
     for (auto& viewIt : sfmData.getViews())
     {
         const sfmData::View& v = *viewIt.second;
-        if (!sfmData.isPoseAndIntrinsicDefined(&v))
+        if (!sfmData.isPoseAndIntrinsicDefined(v))
             continue;
         const auto& pose = sfmData.getPose(v);
         const double dist = (pose.getTransform().center() - camerasCenter).norm();

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

@@ -280,6 +280,50 @@ class SfMData
         return isIntrinsicDefined(*_views.at(viewId)); 
     }
 
+    /**
+     * @brief Check if the given view have defined intrinsi
+     * @param[in] view The given view
+     * @return true if intrinsic and pose defined
+     */
+    bool isPoseAndIntrinsicDefined(const View & view) const
+    {        
+        const IndexT poseId = view.getPoseId();
+        if (poseId == UndefinedIndexT)
+        {
+            return false;
+        }
+
+        const IndexT intrinsicId = view.getIntrinsicId();
+        if (intrinsicId == UndefinedIndexT)
+        {
+            return false;
+        }
+
+        if (_intrinsics.find(view.getIntrinsicId()) == _intrinsics.end())
+        {
+            return false;
+        }
+        
+        auto it = _poses.find(poseId);
+        if (it == _poses.end())
+        {
+            return false;
+        }
+
+        if (it->second.isRotationOnly())
+        {
+            return false;
+        }
+
+        bool rigValid = ((!view.isPartOfRig() || view.isPoseIndependant() || getRigSubPose(view).status != ERigSubPoseStatus::UNINITIALIZED));
+        if (!rigValid)
+        {
+            return false;
+        }
+
+        return true;
+    }
+
     /**
      * @brief Check if the given view have defined intrinsi
      * @param[in] view The given view
@@ -288,10 +332,11 @@ class SfMData
     bool isPoseAndIntrinsicDefined(const View* view) const
     {
         if (view == nullptr)
+        {
             return false;
-        return (view->getIntrinsicId() != UndefinedIndexT && view->getPoseId() != UndefinedIndexT &&
-                (!view->isPartOfRig() || view->isPoseIndependant() || getRigSubPose(*view).status != ERigSubPoseStatus::UNINITIALIZED) &&
-                _intrinsics.find(view->getIntrinsicId()) != _intrinsics.end() && _poses.find(view->getPoseId()) != _poses.end());
+        }
+
+        return isPoseAndIntrinsicDefined(*view);
     }
 
     /**

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);
         }
     }