8000 Inline point to image projection by ahojnnes · Pull Request #2050 · colmap/colmap · GitHub
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Inline point to image projection #2050

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Merged
merged 1 commit into from
Jul 22, 2023
Merged

Inline point to image projection #2050

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5 changes: 2 additions & 3 deletions src/colmap/base/synthetic.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,6 @@ void SynthesizeDataset(const SyntheticDatasetOptions& options,
image.CamFromWorld().rotation * -proj_center;

const Camera& camera = reconstruction->Camera(image.CameraId());
const Eigen::Matrix3x4d cam_from_world = image.CamFromWorld().ToMatrix();

std::vector<Point2D> points2D;
points2D.reserve(options.num_points3D +
Expand All @@ -96,8 +95,8 @@ void SynthesizeDataset(const SyntheticDatasetOptions& options,
// Create 3D point observations by project all 3D points to the image.
for (auto& point3D : reconstruction->Points3D()) {
Point2D point2D;
point2D.SetXY(
ProjectPointToImage(point3D.second.XYZ(), cam_from_world, camera));
point2D.SetXY(camera.ImgFromCam(
(image.CamFromWorld() * point3D.second.XYZ()).hnormalized()));
if (options.point2D_stddev > 0) {
const Eigen::Vector2d noise(
RandomGaussian<double>(0, options.point2D_stddev),
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12 changes: 2 additions & 10 deletions src/colmap/geometry/projection.cc
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Expand Up @@ -80,13 +80,6 @@ bool DecomposeProjectionMatrix(const Eigen::Matrix3x4d& P,
return true;
}

Eigen::Vector2d ProjectPointToImage(const Eigen::Vector3d& point3D,
const Eigen::Matrix3x4d& cam_from_world,
const Camera& camera) {
return camera.ImgFromCam(
(cam_from_world * point3D.homogeneous()).hnormalized());
}

double CalculateSquaredReprojectionError(const Eigen::Vector2d& point2D,
const Eigen::Vector3d& point3D,
const Rigid3d& cam_from_world,
Expand All @@ -98,9 +91,8 @@ double CalculateSquaredReprojectionError(const Eigen::Vector2d& point2D,
return std::numeric_limits<double>::max();
}

const Eigen::Vector2d proj_point2D =
camera.ImgFromCam(point3D_in_cam.hnormalized());
return (proj_point2D - point2D).squaredNorm();
return (camera.ImgFromCam(point3D_in_cam.hnormalized()) - point2D)
.squaredNorm();
}

double CalculateSquaredReprojectionError(
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11 changes: 0 additions & 11 deletions src/colmap/geometry/projection.h
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Expand Up @@ -53,17 +53,6 @@ bool DecomposeProjectionMatrix(const Eigen::Matrix3x4d& proj_matrix,
Eigen::Matrix3d* R,
Eigen::Vector3d* T);

// Project 3D point to image.
//
// @param points3D 3D world point as 3x1 vector.
// @param cam_from_world 3x4 projection matrix.
// @param camera Camera used to project to image plane.
//
// @return Projected image point.
Eigen::Vector2d ProjectPointToImage(const Eigen::Vector3d& point3D,
const Eigen::Matrix3x4d& cam_from_world,
const Camera& camera);

// Calculate the reprojection error.
//
// The reprojection error is the Euclidean distance between the observation
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4 changes: 2 additions & 2 deletions src/colmap/optim/bundle_adjustment_test.cc
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Expand Up @@ -170,8 +170,8 @@ void GenerateReconstruction(const size_t num_images,
EXPECT_TRUE(
HasPointPositiveDepth(cam_from_world_matrix, point3D.second.XYZ()));
// Get exact projection of 3D point.
Eigen::Vector2d point2D = ProjectPointToImage(
point3D.second.XYZ(), cam_from_world_matrix, camera);
Eigen::Vector2d point2D = camera.ImgFromCam(
(image.CamFromWorld() * point3D.second.XYZ()).hnormalized());
// Add some uniform noise.
point2D += Eigen::Vector2d(RandomUniformReal(-2.0, 2.0),
RandomUniformReal(-2.0, 2.0));
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4 changes: 2 additions & 2 deletions src/colmap/ui/point_viewer_widget.cc
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Expand Up @@ -183,8 +183,8 @@ void PointViewerWidget::Show(const point3D_t point3D_id) {
const Image& image = model_viewer_widget_->images[track_el.first.image_id];
const Camera& camera = model_viewer_widget_->cameras[image.CameraId()];
const Point2D& point2D = image.Point2D(track_el.first.point2D_idx);
const Eigen::Vector2d proj_point2D = ProjectPointToImage(
point3D.XYZ(), image.CamFromWorld().ToMatrix(), camera);
const Eigen::Vector2d proj_point2D =
camera.ImgFromCam((image.CamFromWorld() * point3D.XYZ()).hnormalized());
const double reproj_error = (point2D.XY() - proj_point2D).norm();

Bitmap bitmap;
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