1 files changed, 69 insertions, 0 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/reconstruction_scale.cc b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.cc
new file mode 100644
index 00000000000..9841f5cb4eb
--- /dev/null
+++ b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.cc
@@ -0,0 +1,69 @@
+// Copyright (c) 2013 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include "libmv/simple_pipeline/reconstruction_scale.h"
+#include "libmv/logging/logging.h"
+
+namespace libmv {
+
+void EuclideanScaleToUnity(EuclideanReconstruction *reconstruction) {
+  vector<EuclideanCamera> all_cameras = reconstruction->AllCameras();
+  vector<EuclideanPoint> all_points = reconstruction->AllPoints();
+
+  // Calculate center of the mass of all cameras.
+  Vec3 cameras_mass_center = Vec3::Zero();
+  for (int i = 0; i < all_cameras.size(); ++i) {
+    cameras_mass_center += all_cameras[i].t;
+  }
+  cameras_mass_center /= all_cameras.size();
+
+  // Find the most distant camera from the mass center.
+  double max_distance = 0.0;
+  for (int i = 0; i < all_cameras.size(); ++i) {
+    double distance = (all_cameras[i].t - cameras_mass_center).squaredNorm();
+    if (distance > max_distance) {
+      max_distance = distance;
+      LG << i;
+    }
+  }
+
+  if (max_distance == 0.0) {
+    LG << "Cameras position variance is too small, can not rescale";
+    return;
+  }
+
+  double scale_factor = 1.0 / sqrt(max_distance);
+
+  // Rescale cameras positions.
+  for (int i = 0; i < all_cameras.size(); ++i) {
+    int image = all_cameras[i].image;
+    EuclideanCamera *camera = reconstruction->CameraForImage(image);
+    camera->t = camera->t * scale_factor;
+  }
+
+  // Rescale points positions.
+  for (int i = 0; i < all_points.size(); ++i) {
+    int track = all_points[i].track;
+    EuclideanPoint *point = reconstruction->PointForTrack(track);
+    point->X = point->X * scale_factor;
+  }
+}
+
+}  // namespace libmv