Camera tracking: libmv distortion API now also uses camera intrinsics
structure instead of passing all the parameters to every function. Makes it much easier to tweak distortion model. --- svn merge -r52854:52855 ^/branches/soc-2011-tomato
This commit is contained in:
commit
2df945d8ff
162
extern/libmv/libmv-capi.cpp
vendored
162
extern/libmv/libmv-capi.cpp
vendored
@ -564,6 +564,9 @@ static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsi
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camera_intrinsics->SetRadialDistortion(camera_intrinsics_options->k1,
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camera_intrinsics_options->k2,
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camera_intrinsics_options->k3);
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camera_intrinsics->SetImageSize(camera_intrinsics_options->image_width,
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camera_intrinsics_options->image_height);
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}
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static libmv::Tracks getNormalizedTracks(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics)
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@ -897,17 +900,13 @@ struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libm
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return (struct libmv_CameraIntrinsics *)&libmv_Reconstruction->intrinsics;
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}
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(double focal_length, double principal_x, double principal_y,
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double k1, double k2, double k3, int width, int height)
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
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{
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libmv::CameraIntrinsics *intrinsics= new libmv::CameraIntrinsics();
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libmv::CameraIntrinsics *camera_intrinsics = new libmv::CameraIntrinsics();
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intrinsics->SetFocalLength(focal_length, focal_length);
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intrinsics->SetPrincipalPoint(principal_x, principal_y);
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intrinsics->SetRadialDistortion(k1, k2, k3);
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intrinsics->SetImageSize(width, height);
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cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
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return (struct libmv_CameraIntrinsics *) intrinsics;
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return (struct libmv_CameraIntrinsics *) camera_intrinsics;
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}
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics)
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@ -925,40 +924,63 @@ void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsic
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delete intrinsics;
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}
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void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
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double principal_x, double principal_y, double k1, double k2, double k3, int width, int height)
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void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
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{
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libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
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libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
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if (intrinsics->focal_length() != focal_length)
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intrinsics->SetFocalLength(focal_length, focal_length);
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double focal_length = libmv_camera_intrinsics_options->focal_length;
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double principal_x = libmv_camera_intrinsics_options->principal_point_x;
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double principal_y = libmv_camera_intrinsics_options->principal_point_y;
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double k1 = libmv_camera_intrinsics_options->k1;
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double k2 = libmv_camera_intrinsics_options->k2;
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double k3 = libmv_camera_intrinsics_options->k3;
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int image_width = libmv_camera_intrinsics_options->image_width;
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int image_height = libmv_camera_intrinsics_options->image_height;
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if (intrinsics->principal_point_x() != principal_x || intrinsics->principal_point_y() != principal_y)
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intrinsics->SetPrincipalPoint(principal_x, principal_y);
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/* try avoid unnecessary updates so pre-computed distortion grids are not freed */
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if (intrinsics->k1() != k1 || intrinsics->k2() != k2 || intrinsics->k3() != k3)
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intrinsics->SetRadialDistortion(k1, k2, k3);
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if (camera_intrinsics->focal_length() != focal_length)
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camera_intrinsics->SetFocalLength(focal_length, focal_length);
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if (intrinsics->image_width() != width || intrinsics->image_height() != height)
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intrinsics->SetImageSize(width, height);
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if (camera_intrinsics->principal_point_x() != principal_x ||
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camera_intrinsics->principal_point_y() != principal_y)
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{
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camera_intrinsics->SetPrincipalPoint(principal_x, principal_y);
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}
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if (camera_intrinsics->k1() != k1 ||
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camera_intrinsics->k2() != k2 ||
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camera_intrinsics->k3() != k3)
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{
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camera_intrinsics->SetRadialDistortion(k1, k2, k3);
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}
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if (camera_intrinsics->image_width() != image_width ||
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camera_intrinsics->image_height() != image_height)
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{
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camera_intrinsics->SetImageSize(image_width, image_height);
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}
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}
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void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, double *focal_length,
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double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height) {
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libmv::CameraIntrinsics *intrinsics= (libmv::CameraIntrinsics *) libmvIntrinsics;
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*focal_length = intrinsics->focal_length();
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*principal_x = intrinsics->principal_point_x();
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*principal_y = intrinsics->principal_point_y();
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*k1 = intrinsics->k1();
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*k2 = intrinsics->k2();
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void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
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double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height)
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{
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libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
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*focal_length = camera_intrinsics->focal_length();
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*principal_x = camera_intrinsics->principal_point_x();
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*principal_y = camera_intrinsics->principal_point_y();
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*k1 = camera_intrinsics->k1();
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*k2 = camera_intrinsics->k2();
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}
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void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
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void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
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{
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libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
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libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
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intrinsics->Undistort(src, dst, width, height, overscan, channels);
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camera_intrinsics->Undistort(src, dst, width, height, overscan, channels);
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}
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void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
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@ -986,85 +1008,77 @@ void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntr
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/* ************ distortion ************ */
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void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
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void libmv_undistortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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unsigned char *src, unsigned char *dst, int width, int height,
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float overscan, int channels)
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{
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libmv::CameraIntrinsics intrinsics;
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libmv::CameraIntrinsics camera_intrinsics;
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intrinsics.SetFocalLength(focal_length, focal_length);
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intrinsics.SetPrincipalPoint(principal_x, principal_y);
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intrinsics.SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
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intrinsics.Undistort(src, dst, width, height, overscan, channels);
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camera_intrinsics.Undistort(src, dst, width, height, overscan, channels);
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}
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void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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float *src, float *dst, int width, int height, float overscan, int channels)
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void libmv_undistortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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float *src, float *dst, int width, int height,
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float overscan, int channels)
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{
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libmv::CameraIntrinsics intrinsics;
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libmv::CameraIntrinsics camera_intrinsics;
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intrinsics.SetFocalLength(focal_length, focal_length);
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intrinsics.SetPrincipalPoint(principal_x, principal_y);
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intrinsics.SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
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intrinsics.Undistort(src, dst, width, height, overscan, channels);
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camera_intrinsics.Undistort(src, dst, width, height, overscan, channels);
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}
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void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
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void libmv_distortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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unsigned char *src, unsigned char *dst, int width, int height,
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float overscan, int channels)
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{
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libmv::CameraIntrinsics intrinsics;
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libmv::CameraIntrinsics camera_intrinsics;
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intrinsics.SetFocalLength(focal_length, focal_length);
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intrinsics.SetPrincipalPoint(principal_x, principal_y);
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intrinsics.SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
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intrinsics.Distort(src, dst, width, height, overscan, channels);
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camera_intrinsics.Distort(src, dst, width, height, overscan, channels);
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}
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void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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float *src, float *dst, int width, int height, float overscan, int channels)
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void libmv_distortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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float *src, float *dst, int width, int height,
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float overscan, int channels)
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{
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libmv::CameraIntrinsics intrinsics;
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libmv::CameraIntrinsics camera_intrinsics;
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intrinsics.SetFocalLength(focal_length, focal_length);
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intrinsics.SetPrincipalPoint(principal_x, principal_y);
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intrinsics.SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
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intrinsics.Distort(src, dst, width, height, overscan, channels);
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camera_intrinsics.Distort(src, dst, width, height, overscan, channels);
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}
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/* ************ utils ************ */
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void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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double x, double y, double *x1, double *y1)
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void libmv_applyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1)
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{
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libmv::CameraIntrinsics intrinsics;
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libmv::CameraIntrinsics camera_intrinsics;
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intrinsics.SetFocalLength(focal_length, focal_length);
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intrinsics.SetPrincipalPoint(principal_x, principal_y);
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intrinsics.SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
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if(focal_length) {
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if (libmv_camera_intrinsics_options->focal_length) {
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/* do a lens undistortion if focal length is non-zero only */
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intrinsics.ApplyIntrinsics(x, y, x1, y1);
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camera_intrinsics.ApplyIntrinsics(x, y, x1, y1);
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}
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}
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void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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double x, double y, double *x1, double *y1)
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void libmv_InvertIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1)
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{
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libmv::CameraIntrinsics intrinsics;
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libmv::CameraIntrinsics camera_intrinsics;
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intrinsics.SetFocalLength(focal_length, focal_length);
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intrinsics.SetPrincipalPoint(principal_x, principal_y);
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intrinsics.SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
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if(focal_length) {
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if (libmv_camera_intrinsics_options->focal_length) {
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/* do a lens distortion if focal length is non-zero only */
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intrinsics.InvertIntrinsics(x, y, x1, y1);
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camera_intrinsics.InvertIntrinsics(x, y, x1, y1);
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}
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}
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34
extern/libmv/libmv-capi.h
vendored
34
extern/libmv/libmv-capi.h
vendored
@ -97,6 +97,7 @@ typedef struct libmv_cameraIntrinsicsOptions {
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double principal_point_x, principal_point_y;
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double k1, k2, k3;
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double p1, p2;
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int image_width, image_height;
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} libmv_cameraIntrinsicsOptions;
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typedef struct libmv_reconstructionOptions {
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@ -139,46 +140,45 @@ void libmv_destroyFeatures(struct libmv_Features *libmv_features);
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/* camera intrinsics */
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struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(double focal_length, double principal_x, double principal_y,
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double k1, double k2, double k3, int width, int height);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics);
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void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
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double principal_x, double principal_y, double k1, double k2, double k3, int width, int height);
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void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
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void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, double *focal_length,
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void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
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double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);
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void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
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void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
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void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
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void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
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void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height, float overscan, int channels);
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/* dsitortion */
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void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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void libmv_undistortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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void libmv_undistortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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float *src, float *dst, int width, int height, float overscan, int channels);
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void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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void libmv_distortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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void libmv_distortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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float *src, float *dst, int width, int height, float overscan, int channels);
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/* utils */
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void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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void libmv_applyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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void libmv_InvertIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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/* point clouds */
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@ -1429,6 +1429,27 @@ void BKE_tracking_camera_get_reconstructed_interpolate(MovieTracking *tracking,
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/*********************** Distortion/Undistortion *************************/
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#ifdef WITH_LIBMV
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static void cameraIntrinscisOptionsFromTracking(libmv_cameraIntrinsicsOptions *camera_intrinsics_options,
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MovieTracking *tracking, int calibration_width, int calibration_height)
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{
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MovieTrackingCamera *camera = &tracking->camera;
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float aspy = 1.0f / tracking->camera.pixel_aspect;
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camera_intrinsics_options->focal_length = camera->focal;
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camera_intrinsics_options->principal_point_x = camera->principal[0];
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camera_intrinsics_options->principal_point_y = camera->principal[1] * aspy;
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camera_intrinsics_options->k1 = camera->k1;
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camera_intrinsics_options->k2 = camera->k2;
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camera_intrinsics_options->k3 = camera->k3;
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camera_intrinsics_options->image_width = calibration_width;
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camera_intrinsics_options->image_height = (double) calibration_height * aspy;
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}
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#endif
|
||||
|
||||
MovieDistortion *BKE_tracking_distortion_new(void)
|
||||
{
|
||||
MovieDistortion *distortion;
|
||||
@ -1441,21 +1462,17 @@ MovieDistortion *BKE_tracking_distortion_new(void)
|
||||
void BKE_tracking_distortion_update(MovieDistortion *distortion, MovieTracking *tracking,
|
||||
int calibration_width, int calibration_height)
|
||||
{
|
||||
MovieTrackingCamera *camera = &tracking->camera;
|
||||
float aspy = 1.0f / tracking->camera.pixel_aspect;
|
||||
|
||||
#ifdef WITH_LIBMV
|
||||
libmv_cameraIntrinsicsOptions camera_intrinsics_options;
|
||||
|
||||
cameraIntrinscisOptionsFromTracking(&camera_intrinsics_options, tracking,
|
||||
calibration_width, calibration_height);
|
||||
|
||||
if (!distortion->intrinsics) {
|
||||
distortion->intrinsics = libmv_CameraIntrinsicsNew(camera->focal,
|
||||
camera->principal[0], camera->principal[1] * aspy,
|
||||
camera->k1, camera->k2, camera->k3,
|
||||
calibration_width, calibration_height * aspy);
|
||||
distortion->intrinsics = libmv_CameraIntrinsicsNew(&camera_intrinsics_options);
|
||||
}
|
||||
else {
|
||||
libmv_CameraIntrinsicsUpdate(distortion->intrinsics, camera->focal,
|
||||
camera->principal[0], camera->principal[1] * aspy,
|
||||
camera->k1, camera->k2, camera->k3,
|
||||
calibration_width, calibration_height * aspy);
|
||||
libmv_CameraIntrinsicsUpdate(distortion->intrinsics, &camera_intrinsics_options);
|
||||
}
|
||||
#else
|
||||
(void) distortion;
|
||||
@ -1543,15 +1560,17 @@ void BKE_tracking_distort_v2(MovieTracking *tracking, const float co[2], float r
|
||||
MovieTrackingCamera *camera = &tracking->camera;
|
||||
|
||||
#ifdef WITH_LIBMV
|
||||
libmv_cameraIntrinsicsOptions camera_intrinsics_options;
|
||||
double x, y;
|
||||
float aspy = 1.0f / tracking->camera.pixel_aspect;
|
||||
|
||||
cameraIntrinscisOptionsFromTracking(&camera_intrinsics_options, tracking, 0, 0);
|
||||
|
||||
/* normalize coords */
|
||||
x = (co[0] - camera->principal[0]) / camera->focal;
|
||||
y = (co[1] - camera->principal[1] * aspy) / camera->focal;
|
||||
|
||||
libmv_applyCameraIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy,
|
||||
camera->k1, camera->k2, camera->k3, x, y, &x, &y);
|
||||
libmv_applyCameraIntrinsics(&camera_intrinsics_options, x, y, &x, &y);
|
||||
|
||||
/* result is in image coords already */
|
||||
r_co[0] = x;
|
||||
@ -1568,11 +1587,13 @@ void BKE_tracking_undistort_v2(MovieTracking *tracking, const float co[2], float
|
||||
MovieTrackingCamera *camera = &tracking->camera;
|
||||
|
||||
#ifdef WITH_LIBMV
|
||||
libmv_cameraIntrinsicsOptions camera_intrinsics_options;
|
||||
double x = co[0], y = co[1];
|
||||
float aspy = 1.0f / tracking->camera.pixel_aspect;
|
||||
|
||||
libmv_InvertIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy,
|
||||
camera->k1, camera->k2, camera->k3, x, y, &x, &y);
|
||||
cameraIntrinscisOptionsFromTracking(&camera_intrinsics_options, tracking, 0, 0);
|
||||
|
||||
libmv_InvertIntrinsics(&camera_intrinsics_options, x, y, &x, &y);
|
||||
|
||||
r_co[0] = x * camera->focal + camera->principal[0];
|
||||
r_co[1] = y * camera->focal + camera->principal[1] * aspy;
|
||||
@ -3008,6 +3029,9 @@ static void camraIntrincicsOptionsFromContext(libmv_cameraIntrinsicsOptions *cam
|
||||
camera_intrinsics_options->k1 = context->k1;
|
||||
camera_intrinsics_options->k2 = context->k2;
|
||||
camera_intrinsics_options->k3 = context->k3;
|
||||
|
||||
camera_intrinsics_options->image_width = 0;
|
||||
camera_intrinsics_options->image_height = 0;
|
||||
}
|
||||
|
||||
static void reconstructionOptionsFromContext(libmv_reconstructionOptions *reconstruction_options,
|
||||
|
Loading…
Reference in New Issue
Block a user