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