forked from bartvdbraak/blender
Cleanup and small improvements to libmv
- Added const modifiers where it makes sense and helps keep code safe. - Reshuffled argument to match <inputs>,<outputs> convention on parameters. - Pass values to ApplyRadialDistortionCameraIntrinsics by a constant reference. This will save lots of CPU ticks passing relatively heavy jet objects to this function when running bundle adjustment.
This commit is contained in:
Sergey Sharybin
parent
b48deabf4e
commit
d4c6ac9a60
39
extern/libmv/ChangeLog
vendored
39
extern/libmv/ChangeLog
vendored
@ -1,3 +1,19 @@
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commit 61ac890908a397860cabc60207500039876532cc
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon May 13 04:44:14 2013 +0600
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Pass ApplyRadialDistortionCameraIntrinsics input arguments by reference
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This shall save some CPU time on calling copy constructor and give
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some boost of bundle adjuster (where jet could take some time to
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be passed by value).
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commit 4d005ff0771e0e28159be25f8da69d983641384f
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon May 13 04:22:05 2013 +0600
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Minor code style cleanup.
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commit f003b9e3031db4592c2d91b1ea2538c73b7e767d
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sun May 12 22:34:54 2013 +0600
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@ -618,26 +634,3 @@ Date: Fri Mar 1 17:37:35 2013 +0600
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This information is useful, but in cases when you, say,
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working on a bundler it's annoying to scroll all the
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information up.
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commit ac252bb1250b3028b9c94736b644e7ab4e7b14b8
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Mar 1 17:36:19 2013 +0600
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Move radial distortion code to own templated function
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This shall not lead to any functional changes, just
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avoids radial distortion code duplicated in camera
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intrinsics and bundling code.
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For fancier bundle adjustment support of different
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distortion models this is not actually enough and
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would need to make some bigger changes, but this
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changes makes code a bit easier to maintain already.
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commit c253b794612dd529e1d3a9bd7a7c41c32c9a9abb
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Mar 1 17:33:27 2013 +0600
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Use threaded cost function, jacobian and linear solver
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computation, so bundling is as fast as it could be with
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current parameter block structure.
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176
extern/libmv/libmv-capi.cc
vendored
176
extern/libmv/libmv-capi.cc
vendored
@ -139,7 +139,8 @@ static void imageToFloatBuf(const libmv::FloatImage *image, int channels, float
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}
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#if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS)
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static void savePNGImage(png_bytep *row_pointers, int width, int height, int depth, int color_type, char *file_name)
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static void savePNGImage(png_bytep *row_pointers, int width, int height, int depth, int color_type,
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const char *file_name)
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{
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png_infop info_ptr;
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png_structp png_ptr;
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@ -421,10 +422,13 @@ protected:
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void *callback_customdata_;
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};
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static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntrinsics *intrinsics,
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libmv::EuclideanReconstruction *reconstruction, int refine_intrinsics,
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reconstruct_progress_update_cb progress_update_callback, void *callback_customdata,
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int bundle_constraints = libmv::BUNDLE_NO_CONSTRAINTS)
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static void libmv_solveRefineIntrinsics(const libmv::Tracks &tracks,
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const int refine_intrinsics,
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const int bundle_constraints,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata,
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libmv::EuclideanReconstruction *reconstruction,
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libmv::CameraIntrinsics *intrinsics)
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{
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/* only a few combinations are supported but trust the caller */
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int bundle_intrinsics = 0;
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@ -444,15 +448,15 @@ static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntr
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progress_update_callback(callback_customdata, 1.0, "Refining solution");
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libmv::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks,
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libmv::EuclideanBundleCommonIntrinsics(tracks,
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bundle_intrinsics,
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bundle_constraints,
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reconstruction,
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intrinsics);
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}
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static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsics,
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libmv_cameraIntrinsicsOptions *camera_intrinsics_options)
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static void cameraIntrinsicsFromOptions(const libmv_cameraIntrinsicsOptions *camera_intrinsics_options,
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libmv::CameraIntrinsics *camera_intrinsics)
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{
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camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length,
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camera_intrinsics_options->focal_length);
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@ -468,47 +472,47 @@ static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsi
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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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static libmv::Tracks getNormalizedTracks(const libmv::Tracks &tracks, const libmv::CameraIntrinsics &camera_intrinsics)
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{
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libmv::vector<libmv::Marker> markers = tracks->AllMarkers();
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libmv::vector<libmv::Marker> markers = tracks.AllMarkers();
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for (int i = 0; i < markers.size(); ++i) {
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camera_intrinsics->InvertIntrinsics(markers[i].x, markers[i].y,
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camera_intrinsics.InvertIntrinsics(markers[i].x, markers[i].y,
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&(markers[i].x), &(markers[i].y));
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}
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return libmv::Tracks(markers);
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}
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static void finishReconstruction(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics,
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static void finishReconstruction(const libmv::Tracks &tracks, const libmv::CameraIntrinsics &camera_intrinsics,
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libmv_Reconstruction *libmv_reconstruction,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::EuclideanReconstruction &reconstruction = libmv_reconstruction->reconstruction;
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/* reprojection error calculation */
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progress_update_callback(callback_customdata, 1.0, "Finishing solution");
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libmv_reconstruction->tracks = *tracks;
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libmv_reconstruction->error = libmv::EuclideanReprojectionError(*tracks, *reconstruction, *camera_intrinsics);
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libmv_reconstruction->tracks = tracks;
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libmv_reconstruction->error = libmv::EuclideanReprojectionError(tracks, reconstruction, camera_intrinsics);
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}
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libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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libmv_reconstructionOptions *libmv_reconstruction_options,
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libmv_Reconstruction *libmv_solveReconstruction(const libmv_Tracks *libmv_tracks,
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const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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const libmv_reconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
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libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
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libmv::Tracks &tracks = *((libmv::Tracks *) libmv_tracks);
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libmv::EuclideanReconstruction &reconstruction = libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics &camera_intrinsics = libmv_reconstruction->intrinsics;
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ReconstructUpdateCallback update_callback =
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ReconstructUpdateCallback(progress_update_callback, callback_customdata);
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cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
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cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, &camera_intrinsics);
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/* Invert the camera intrinsics */
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libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
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@ -530,20 +534,24 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks,
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update_callback.invoke(0, "Initial reconstruction");
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libmv::EuclideanReconstructTwoFrames(keyframe_markers, reconstruction);
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libmv::EuclideanBundle(normalized_tracks, reconstruction);
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libmv::EuclideanReconstructTwoFrames(keyframe_markers, &reconstruction);
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libmv::EuclideanBundle(normalized_tracks, &reconstruction);
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libmv::EuclideanCompleteReconstruction(reconstruction_options, normalized_tracks,
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reconstruction, &update_callback);
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&reconstruction, &update_callback);
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/* refinement */
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if (libmv_reconstruction_options->refine_intrinsics) {
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libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction,
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libmv_reconstruction_options->refine_intrinsics,
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progress_update_callback, callback_customdata);
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libmv_solveRefineIntrinsics(tracks,
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libmv_reconstruction_options->refine_intrinsics,
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libmv::BUNDLE_NO_CONSTRAINTS,
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progress_update_callback,
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callback_customdata,
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&reconstruction,
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&camera_intrinsics);
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}
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/* set reconstruction scale to unity */
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libmv::EuclideanScaleToUnity(reconstruction);
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libmv::EuclideanScaleToUnity(&reconstruction);
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/* finish reconstruction */
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finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
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@ -552,42 +560,44 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks,
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return (libmv_Reconstruction *)libmv_reconstruction;
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}
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struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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libmv_reconstructionOptions *libmv_reconstruction_options,
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struct libmv_Reconstruction *libmv_solveModal(const libmv_Tracks *libmv_tracks,
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const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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const libmv_reconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
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libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
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libmv::Tracks &tracks = *((libmv::Tracks *) libmv_tracks);
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libmv::EuclideanReconstruction &reconstruction = libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics &camera_intrinsics = libmv_reconstruction->intrinsics;
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ReconstructUpdateCallback update_callback =
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ReconstructUpdateCallback(progress_update_callback, callback_customdata);
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cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
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cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, &camera_intrinsics);
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/* Invert the camera intrinsics. */
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libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
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/* Actual reconstruction. */
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libmv::ModalSolver(normalized_tracks, reconstruction, &update_callback);
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libmv::ModalSolver(normalized_tracks, &reconstruction, &update_callback);
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libmv::CameraIntrinsics empty_intrinsics;
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libmv::EuclideanBundleCommonIntrinsics(normalized_tracks,
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libmv::BUNDLE_NO_INTRINSICS,
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libmv::BUNDLE_NO_TRANSLATION,
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reconstruction,
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&reconstruction,
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&empty_intrinsics);
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/* Refinement. */
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if (libmv_reconstruction_options->refine_intrinsics) {
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libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction,
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libmv_reconstruction_options->refine_intrinsics,
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progress_update_callback, callback_customdata,
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libmv::BUNDLE_NO_TRANSLATION);
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libmv_solveRefineIntrinsics(tracks,
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libmv_reconstruction_options->refine_intrinsics,
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libmv::BUNDLE_NO_TRANSLATION,
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progress_update_callback, callback_customdata,
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&reconstruction,
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&camera_intrinsics);
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}
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/* Finish reconstruction. */
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@ -597,10 +607,10 @@ struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks,
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return (libmv_Reconstruction *)libmv_reconstruction;
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}
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int libmv_reporojectionPointForTrack(libmv_Reconstruction *libmv_reconstruction, int track, double pos[3])
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int libmv_reporojectionPointForTrack(const libmv_Reconstruction *libmv_reconstruction, int track, double pos[3])
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{
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::EuclideanPoint *point = reconstruction->PointForTrack(track);
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const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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const libmv::EuclideanPoint *point = reconstruction->PointForTrack(track);
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if(point) {
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pos[0] = point->X[0];
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@ -613,8 +623,10 @@ int libmv_reporojectionPointForTrack(libmv_Reconstruction *libmv_reconstruction,
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return 0;
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}
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static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point, const libmv::EuclideanCamera &camera,
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const libmv::CameraIntrinsics &intrinsics) {
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static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point,
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const libmv::EuclideanCamera &camera,
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const libmv::CameraIntrinsics &intrinsics)
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{
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libmv::Vec3 projected = camera.R * point.X + camera.t;
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projected /= projected(2);
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@ -627,10 +639,10 @@ static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point, const lib
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return reprojected_marker;
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}
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double libmv_reporojectionErrorForTrack(libmv_Reconstruction *libmv_reconstruction, int track)
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double libmv_reporojectionErrorForTrack(const libmv_Reconstruction *libmv_reconstruction, int track)
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{
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
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const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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const libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
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libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersForTrack(track);
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int num_reprojected = 0;
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@ -656,10 +668,10 @@ double libmv_reporojectionErrorForTrack(libmv_Reconstruction *libmv_reconstructi
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return total_error / num_reprojected;
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}
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double libmv_reporojectionErrorForImage(libmv_Reconstruction *libmv_reconstruction, int image)
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double libmv_reporojectionErrorForImage(const libmv_Reconstruction *libmv_reconstruction, int image)
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{
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
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const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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const libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
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libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersInImage(image);
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const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image);
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int num_reprojected = 0;
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@ -687,10 +699,11 @@ double libmv_reporojectionErrorForImage(libmv_Reconstruction *libmv_reconstructi
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return total_error / num_reprojected;
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}
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int libmv_reporojectionCameraForImage(libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4])
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int libmv_reporojectionCameraForImage(const libmv_Reconstruction *libmv_reconstruction,
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int image, double mat[4][4])
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{
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image);
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const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image);
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if(camera) {
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for (int j = 0; j < 3; ++j) {
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@ -720,7 +733,7 @@ int libmv_reporojectionCameraForImage(libmv_Reconstruction *libmv_reconstruction
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return 0;
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}
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double libmv_reprojectionError(libmv_Reconstruction *libmv_reconstruction)
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double libmv_reprojectionError(const libmv_Reconstruction *libmv_reconstruction)
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{
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return libmv_reconstruction->error;
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}
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@ -732,8 +745,9 @@ void libmv_destroyReconstruction(libmv_Reconstruction *libmv_reconstruction)
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/* ************ feature detector ************ */
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struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
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int margin, int min_trackness, int min_distance)
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struct libmv_Features *libmv_detectFeaturesFAST(const unsigned char *data,
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int width, int height, int stride,
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int margin, int min_trackness, int min_distance)
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{
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libmv::Feature *features = NULL;
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std::vector<libmv::Feature> v;
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@ -765,8 +779,9 @@ struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width,
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return (libmv_Features *)libmv_features;
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}
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struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
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int margin, int count, int min_distance)
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struct libmv_Features *libmv_detectFeaturesMORAVEC(const unsigned char *data,
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int width, int height, int stride,
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int margin, int count, int min_distance)
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{
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libmv::Feature *features = NULL;
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libmv_Features *libmv_features = new libmv_Features;
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@ -789,12 +804,12 @@ struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int widt
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return libmv_features;
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}
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int libmv_countFeatures(struct libmv_Features *libmv_features)
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int libmv_countFeatures(const libmv_Features *libmv_features)
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{
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return libmv_features->count;
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}
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void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size)
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void libmv_getFeature(const libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size)
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{
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libmv::Feature feature= libmv_features->features[number];
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@ -804,7 +819,7 @@ void libmv_getFeature(struct libmv_Features *libmv_features, int number, double
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*size = feature.size;
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}
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void libmv_destroyFeatures(struct libmv_Features *libmv_features)
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void libmv_destroyFeatures(libmv_Features *libmv_features)
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{
|
||||
if(libmv_features->features)
|
||||
delete [] libmv_features->features;
|
||||
@ -814,7 +829,8 @@ void libmv_destroyFeatures(struct libmv_Features *libmv_features)
|
||||
|
||||
/* ************ camera intrinsics ************ */
|
||||
|
||||
struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction) {
|
||||
struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(libmv_Reconstruction *libmv_Reconstruction)
|
||||
{
|
||||
return (struct libmv_CameraIntrinsics *)&libmv_Reconstruction->intrinsics;
|
||||
}
|
||||
|
||||
@ -825,16 +841,16 @@ struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNewEmpty(void)
|
||||
return (struct libmv_CameraIntrinsics *) camera_intrinsics;
|
||||
}
|
||||
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
|
||||
{
|
||||
libmv::CameraIntrinsics *camera_intrinsics = new libmv::CameraIntrinsics();
|
||||
|
||||
cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
|
||||
cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, camera_intrinsics);
|
||||
|
||||
return (struct libmv_CameraIntrinsics *) camera_intrinsics;
|
||||
}
|
||||
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics)
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(const libmv_CameraIntrinsics *libmvIntrinsics)
|
||||
{
|
||||
libmv::CameraIntrinsics *orig_intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
||||
libmv::CameraIntrinsics *new_intrinsics= new libmv::CameraIntrinsics(*orig_intrinsics);
|
||||
@ -849,8 +865,8 @@ void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsic
|
||||
delete intrinsics;
|
||||
}
|
||||
|
||||
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
|
||||
void libmv_CameraIntrinsicsUpdate(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
libmv_CameraIntrinsics *libmv_intrinsics)
|
||||
{
|
||||
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
||||
|
||||
@ -888,14 +904,14 @@ void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsic
|
||||
}
|
||||
}
|
||||
|
||||
void libmv_CameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads)
|
||||
void libmv_CameraIntrinsicsSetThreads(libmv_CameraIntrinsics *libmv_intrinsics, int threads)
|
||||
{
|
||||
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
||||
|
||||
camera_intrinsics->SetThreads(threads);
|
||||
}
|
||||
|
||||
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
|
||||
void libmv_CameraIntrinsicsExtract(const libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
|
||||
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height)
|
||||
{
|
||||
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
||||
@ -907,7 +923,7 @@ void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsi
|
||||
*k2 = camera_intrinsics->k2();
|
||||
}
|
||||
|
||||
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
void libmv_CameraIntrinsicsUndistortByte(const libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
|
||||
{
|
||||
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
||||
@ -915,7 +931,7 @@ void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_in
|
||||
camera_intrinsics->Undistort(src, dst, width, height, overscan, channels);
|
||||
}
|
||||
|
||||
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
|
||||
void libmv_CameraIntrinsicsUndistortFloat(const libmv_CameraIntrinsics *libmvIntrinsics,
|
||||
float *src, float *dst, int width, int height, float overscan, int channels)
|
||||
{
|
||||
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
||||
@ -923,14 +939,14 @@ void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIn
|
||||
intrinsics->Undistort(src, dst, width, height, overscan, channels);
|
||||
}
|
||||
|
||||
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
|
||||
void libmv_CameraIntrinsicsDistortByte(const libmv_CameraIntrinsics *libmvIntrinsics,
|
||||
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
|
||||
{
|
||||
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
||||
intrinsics->Distort(src, dst, width, height, overscan, channels);
|
||||
}
|
||||
|
||||
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
|
||||
void libmv_CameraIntrinsicsDistortFloat(const libmv_CameraIntrinsics *libmvIntrinsics,
|
||||
float *src, float *dst, int width, int height, float overscan, int channels)
|
||||
{
|
||||
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
||||
@ -940,12 +956,12 @@ void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntr
|
||||
|
||||
/* ************ utils ************ */
|
||||
|
||||
void libmv_ApplyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
void libmv_ApplyCameraIntrinsics(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
double x, double y, double *x1, double *y1)
|
||||
{
|
||||
libmv::CameraIntrinsics camera_intrinsics;
|
||||
|
||||
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
|
||||
cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, &camera_intrinsics);
|
||||
|
||||
if (libmv_camera_intrinsics_options->focal_length) {
|
||||
/* do a lens undistortion if focal length is non-zero only */
|
||||
@ -954,12 +970,12 @@ void libmv_ApplyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_int
|
||||
}
|
||||
}
|
||||
|
||||
void libmv_InvertCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
void libmv_InvertCameraIntrinsics(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
double x, double y, double *x1, double *y1)
|
||||
{
|
||||
libmv::CameraIntrinsics camera_intrinsics;
|
||||
|
||||
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
|
||||
cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, &camera_intrinsics);
|
||||
|
||||
if (libmv_camera_intrinsics_options->focal_length) {
|
||||
/* do a lens distortion if focal length is non-zero only */
|
||||
|
||||
52
extern/libmv/libmv-capi.h
vendored
52
extern/libmv/libmv-capi.h
vendored
@ -101,30 +101,30 @@ typedef struct libmv_reconstructionOptions {
|
||||
|
||||
typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
|
||||
|
||||
struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *libmv_tracks,
|
||||
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
libmv_reconstructionOptions *libmv_reconstruction_options,
|
||||
struct libmv_Reconstruction *libmv_solveReconstruction(const struct libmv_Tracks *libmv_tracks,
|
||||
const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
const libmv_reconstructionOptions *libmv_reconstruction_options,
|
||||
reconstruct_progress_update_cb progress_update_callback,
|
||||
void *callback_customdata);
|
||||
struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks,
|
||||
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
libmv_reconstructionOptions *libmv_reconstruction_options,
|
||||
struct libmv_Reconstruction *libmv_solveModal(const struct libmv_Tracks *libmv_tracks,
|
||||
const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
const libmv_reconstructionOptions *libmv_reconstruction_options,
|
||||
reconstruct_progress_update_cb progress_update_callback,
|
||||
void *callback_customdata);
|
||||
int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
|
||||
double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
|
||||
double libmv_reporojectionErrorForImage(struct libmv_Reconstruction *libmv_reconstruction, int image);
|
||||
int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]);
|
||||
double libmv_reprojectionError(struct libmv_Reconstruction *libmv_reconstruction);
|
||||
int libmv_reporojectionPointForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
|
||||
double libmv_reporojectionErrorForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track);
|
||||
double libmv_reporojectionErrorForImage(const struct libmv_Reconstruction *libmv_reconstruction, int image);
|
||||
int libmv_reporojectionCameraForImage(const struct libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]);
|
||||
double libmv_reprojectionError(const struct libmv_Reconstruction *libmv_reconstruction);
|
||||
void libmv_destroyReconstruction(struct libmv_Reconstruction *libmv_reconstruction);
|
||||
|
||||
/* feature detector */
|
||||
struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
|
||||
struct libmv_Features *libmv_detectFeaturesFAST(const unsigned char *data, int width, int height, int stride,
|
||||
int margin, int min_trackness, int min_distance);
|
||||
struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
|
||||
struct libmv_Features *libmv_detectFeaturesMORAVEC(const unsigned char *data, int width, int height, int stride,
|
||||
int margin, int count, int min_distance);
|
||||
int libmv_countFeatures(struct libmv_Features *libmv_features);
|
||||
void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size);
|
||||
int libmv_countFeatures(const struct libmv_Features *libmv_features);
|
||||
void libmv_getFeature(const struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size);
|
||||
void libmv_destroyFeatures(struct libmv_Features *libmv_features);
|
||||
|
||||
/* camera intrinsics */
|
||||
@ -132,36 +132,36 @@ struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libm
|
||||
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNewEmpty(void);
|
||||
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
|
||||
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmv_intrinsics);
|
||||
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(const struct libmv_CameraIntrinsics *libmv_intrinsics);
|
||||
|
||||
void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
|
||||
|
||||
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
|
||||
void libmv_CameraIntrinsicsUpdate(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
struct libmv_CameraIntrinsics *libmv_intrinsics);
|
||||
|
||||
void libmv_CameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads);
|
||||
|
||||
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
|
||||
void libmv_CameraIntrinsicsExtract(const struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
|
||||
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);
|
||||
|
||||
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
void libmv_CameraIntrinsicsUndistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
|
||||
|
||||
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
void libmv_CameraIntrinsicsUndistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
float *src, float *dst, int width, int height, float overscan, int channels);
|
||||
|
||||
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
void libmv_CameraIntrinsicsDistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
|
||||
|
||||
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
void libmv_CameraIntrinsicsDistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
||||
float *src, float *dst, int width, int height, float overscan, int channels);
|
||||
|
||||
/* utils */
|
||||
void libmv_ApplyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
void libmv_ApplyCameraIntrinsics(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
double x, double y, double *x1, double *y1);
|
||||
void libmv_InvertCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
void libmv_InvertCameraIntrinsics(const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
||||
double x, double y, double *x1, double *y1);
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
@ -172,14 +172,17 @@ std::ostream& operator <<(std::ostream &os,
|
||||
// camera coordinates (i.e. the principal point is at (0, 0)) to get image
|
||||
// coordinates in pixels. Templated for use with autodifferentiation.
|
||||
template <typename T>
|
||||
inline void ApplyRadialDistortionCameraIntrinsics(T focal_length_x,
|
||||
T focal_length_y,
|
||||
T principal_point_x,
|
||||
T principal_point_y,
|
||||
T k1, T k2, T k3,
|
||||
T p1, T p2,
|
||||
T normalized_x,
|
||||
T normalized_y,
|
||||
inline void ApplyRadialDistortionCameraIntrinsics(const T &focal_length_x,
|
||||
const T &focal_length_y,
|
||||
const T &principal_point_x,
|
||||
const T &principal_point_y,
|
||||
const T &k1,
|
||||
const T &k2,
|
||||
const T &k3,
|
||||
const T &p1,
|
||||
const T &p2,
|
||||
const T &normalized_x,
|
||||
const T &normalized_y,
|
||||
T *image_x,
|
||||
T *image_y) {
|
||||
T x = normalized_x;
|
||||
|
||||
4
extern/libmv/libmv/simple_pipeline/detect.cc
vendored
4
extern/libmv/libmv/simple_pipeline/detect.cc
vendored
@ -132,7 +132,7 @@ static uint SAD(const ubyte* imageA, const ubyte* imageB,
|
||||
}
|
||||
#endif
|
||||
|
||||
void DetectMORAVEC(ubyte* image,
|
||||
void DetectMORAVEC(const ubyte* image,
|
||||
int stride, int width, int height,
|
||||
Feature* detected, int* count,
|
||||
int distance,
|
||||
@ -144,7 +144,7 @@ void DetectMORAVEC(ubyte* image,
|
||||
const int r = 1; // radius for self similarity comparison
|
||||
for (int y = distance; y < height-distance; y++) {
|
||||
for (int x = distance; x < width-distance; x++) {
|
||||
ubyte* s = &image[y*stride+x];
|
||||
const ubyte* s = &image[y*stride+x];
|
||||
int score = // low self-similarity with overlapping patterns
|
||||
// OPTI: load pattern once
|
||||
SAD(s, s-r*stride-r, stride, stride)+SAD(s, s-r*stride, stride, stride)+SAD(s, s-r*stride+r, stride, stride)+
|
||||
|
||||
2
extern/libmv/libmv/simple_pipeline/detect.h
vendored
2
extern/libmv/libmv/simple_pipeline/detect.h
vendored
@ -88,7 +88,7 @@ std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height
|
||||
\note \a You can crop the image (to avoid detecting markers near the borders) without copying:
|
||||
image += marginY*stride+marginX, width -= 2*marginX, height -= 2*marginY;
|
||||
*/
|
||||
void DetectMORAVEC(ubyte* image, int stride, int width, int height,
|
||||
void DetectMORAVEC(const ubyte* image, int stride, int width, int height,
|
||||
Feature* detected, int* count, int distance /*=32*/,
|
||||
ubyte* pattern /*=0*/);
|
||||
|
||||
|
||||
@ -38,8 +38,9 @@ void EuclideanScaleToUnity(EuclideanReconstruction *reconstruction) {
|
||||
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)
|
||||
if (distance > max_distance) {
|
||||
max_distance = distance;
|
||||
}
|
||||
}
|
||||
|
||||
if (max_distance == 0.0) {
|
||||
|
||||
@ -1572,7 +1572,7 @@ void BKE_tracking_distortion_update(MovieDistortion *distortion, MovieTracking *
|
||||
cameraIntrinscisOptionsFromTracking(&camera_intrinsics_options, tracking,
|
||||
calibration_width, calibration_height);
|
||||
|
||||
libmv_CameraIntrinsicsUpdate(distortion->intrinsics, &camera_intrinsics_options);
|
||||
libmv_CameraIntrinsicsUpdate(&camera_intrinsics_options, distortion->intrinsics);
|
||||
}
|
||||
|
||||
void BKE_tracking_distortion_set_threads(MovieDistortion *distortion, int threads)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user