[sfmTransform] Creation of auto mode #1402
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fabiencastan
reviewed
Apr 6, 2023
fabiencastan
reviewed
Apr 6, 2023
fabiencastan
reviewed
Apr 7, 2023
simogasp
previously requested changes
Apr 12, 2023
Comment on lines
+1109
to
+1128
| Vec3 camCoordinatesSum = Vec3::Zero(); | ||
| Vec3 gpsCoordinatesSum = Vec3::Zero(); | ||
| for (const auto & pair : list_pairs) | ||
| { | ||
| camCoordinatesSum += pair.first; | ||
| gpsCoordinatesSum += pair.second; | ||
| } | ||
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| camCoordinatesSum /= list_pairs.size(); | ||
| gpsCoordinatesSum /= list_pairs.size(); | ||
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| Eigen::Matrix3d camCov = Eigen::Matrix3d::Zero(); | ||
| Eigen::Matrix3d gpsCov = Eigen::Matrix3d::Zero(); | ||
| for (const auto & pair : list_pairs) | ||
| { | ||
| Vec3 centeredCam = pair.first - camCoordinatesSum; | ||
| camCov += centeredCam * centeredCam.transpose(); | ||
| Vec3 centeredGps = pair.second - gpsCoordinatesSum; | ||
| gpsCov += centeredGps * centeredGps.transpose(); | ||
| } |
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can be broken down into 2 functions like before, it will improve readability
fabiencastan
approved these changes
Apr 13, 2023
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New sfmTransform Node
See alicevision/Meshroom#1954