5 files changed, 113 insertions, 0 deletions
diff --git a/extern/libmv/CMakeLists.txt b/extern/libmv/CMakeLists.txt
index 025481f9954..71554795355 100644
--- a/extern/libmv/CMakeLists.txt
+++ b/extern/libmv/CMakeLists.txt
@@ -58,6 +58,7 @@ set(SRC
 	libmv/simple_pipeline/modal_solver.cc
 	libmv/simple_pipeline/pipeline.cc
 	libmv/simple_pipeline/reconstruction.cc
+	libmv/simple_pipeline/reconstruction_scale.cc
 	libmv/simple_pipeline/resect.cc
 	libmv/simple_pipeline/tracks.cc
 	libmv/tracking/brute_region_tracker.cc
@@ -116,6 +117,7 @@ set(SRC
 	libmv/simple_pipeline/modal_solver.h
 	libmv/simple_pipeline/pipeline.h
 	libmv/simple_pipeline/reconstruction.h
+	libmv/simple_pipeline/reconstruction_scale.h
 	libmv/simple_pipeline/resect.h
 	libmv/simple_pipeline/tracks.h
 	libmv/tracking/brute_region_tracker.h
diff --git a/extern/libmv/files.txt b/extern/libmv/files.txt
index d77d0ea8147..426b6db41fc 100644
--- a/extern/libmv/files.txt
+++ b/extern/libmv/files.txt
@@ -52,6 +52,8 @@ libmv/simple_pipeline/pipeline.cc
 libmv/simple_pipeline/pipeline.h
 libmv/simple_pipeline/reconstruction.cc
 libmv/simple_pipeline/reconstruction.h
+libmv/simple_pipeline/reconstruction_scale.cc
+libmv/simple_pipeline/reconstruction_scale.h
 libmv/simple_pipeline/resect.cc
 libmv/simple_pipeline/resect.h
 libmv/simple_pipeline/tracks.cc
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp
index b9ca4c12535..0f2ebc50384 100644
--- a/extern/libmv/libmv-capi.cpp
+++ b/extern/libmv/libmv-capi.cpp
@@ -46,6 +46,7 @@
 #include "libmv/simple_pipeline/pipeline.h"
 #include "libmv/simple_pipeline/camera_intrinsics.h"
 #include "libmv/simple_pipeline/modal_solver.h"
+#include "libmv/simple_pipeline/reconstruction_scale.h"
 
 #include <stdlib.h>
 #include <assert.h>
@@ -553,6 +554,9 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks,
 			progress_update_callback, callback_customdata);
 	}
 
+	/* set reconstruction scale to unity */
+	libmv::EuclideanScaleToUnity(reconstruction);
+
 	/* finish reconstruction */
 	finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
 	                     progress_update_callback, callback_customdata);
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
diff --git a/extern/libmv/libmv/simple_pipeline/reconstruction_scale.h b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.h
new file mode 100644
index 00000000000..f2349ff5146
--- /dev/null
+++ b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.h
@@ -0,0 +1,36 @@
+// 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.
+
+#ifndef LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_SCALE_H_
+#define LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_SCALE_H_
+
+#include "libmv/simple_pipeline/reconstruction.h"
+
+namespace libmv {
+
+/*!
+    Scale euclidean reconstruction in a way variance of
+    camera centers equals to one.
+ */
+void EuclideanScaleToUnity(EuclideanReconstruction *reconstruction);
+
+}  // namespace libmv
+
+#endif  // LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_SCALE_H_