% Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. % All rights reserved. % % Redistribution and use in source and binary forms, with or without % modification, are permitted provided that the following conditions are met: % % * Redistributions of source code must retain the above copyright % notice, this list of conditions and the following disclaimer. % % * Redistributions in binary form must reproduce the above copyright % notice, this list of conditions and the following disclaimer in the % documentation and/or other materials provided with the distribution. % % * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of % its contributors may be used to endorse or promote products derived % from this software without specific prior written permission. % % THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" % AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE % IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE % ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE % LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR % CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF % SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS % INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE % POSSIBILITY OF SUCH DAMAGE. % % Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) function plot_model(cameras, images, points) % Visualize COLMAP model. keys = images.keys; camera_centers = zeros(images.length, 3); view_dirs = zeros(3 * images.length, 3); for i = 1:images.length image_id = keys{i}; image = images(image_id); camera_centers(i,:) = -image.R' * image.t; view_dirs(3 * i - 2,:) = camera_centers(i,:); view_dirs(3 * i - 1,:) = camera_centers(i,:)' + image.R' * [0; 0; 0.3]; view_dirs(3 * i,:) = nan; end keys = points.keys; xyz = zeros(points.length, 3); for i = 1:points.length point_id = keys{i}; point = points(point_id); xyz(i,:) = point.xyz; end hold on; plot3(camera_centers(:,1), camera_centers(:,2), camera_centers(:,3), 'xr'); plot3(view_dirs(:,1), view_dirs(:,2), view_dirs(:,3), '-b'); plot3(xyz(:,1), xyz(:,2), xyz(:,3), '.k'); hold off; end