[Bf-blender-cvs] [f0e89650902] master: Libmv: Cleanup reprojection cost function
Sergey Sharybin
noreply at git.blender.org
Mon Apr 20 16:27:14 CEST 2020
Commit: f0e896509024f036f9383ed121c6e170fd27a8b3
Author: Sergey Sharybin
Date: Mon Apr 20 11:41:01 2020 +0200
Branches: master
https://developer.blender.org/rBf0e896509024f036f9383ed121c6e170fd27a8b3
Libmv: Cleanup reprojection cost function
Make it smaller and more clear how and what it operates on.
===================================================================
M intern/libmv/libmv/simple_pipeline/bundle.cc
===================================================================
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.cc b/intern/libmv/libmv/simple_pipeline/bundle.cc
index b7d1e1e57fb..7a0451213f7 100644
--- a/intern/libmv/libmv/simple_pipeline/bundle.cc
+++ b/intern/libmv/libmv/simple_pipeline/bundle.cc
@@ -66,18 +66,82 @@ enum {
namespace {
-// Cost functor which computes reprojection error of 3D point X
-// on camera defined by angle-axis rotation and it's translation
-// (which are in the same block due to optimization reasons).
+// Apply distorion model (aka distort the input) for the given input in the
+// normalized space.
+// Only use for distortion models which are analytically defined for their
+// Apply() function.
//
-// This functor uses a radial distortion model.
-struct OpenCVReprojectionError {
- OpenCVReprojectionError(const CameraIntrinsics *invariant_intrinsics,
- const double observed_x,
- const double observed_y,
- const double weight)
+// The invariant_intrinsics are used to access intrinsics which are never
+// packed into their parameter block: for example, image dimension.
+template<typename T>
+void ApplyIntrinsicsOnNormalizedPoint(
+ const CameraIntrinsics * invariant_intrinsics,
+ const T* const intrinsics,
+ const T& normalized_x, const T& normalized_y,
+ T* distorted_x, T* distorted_y) {
+ // Unpack the intrinsics.
+ const T& focal_length = intrinsics[OFFSET_FOCAL_LENGTH];
+ const T& principal_point_x = intrinsics[OFFSET_PRINCIPAL_POINT_X];
+ const T& principal_point_y = intrinsics[OFFSET_PRINCIPAL_POINT_Y];
+
+ // Apply distortion to the normalized points to get (xd, yd).
+ //
+ // TODO(keir): Do early bailouts for zero distortion; these are expensive
+ // jet operations.
+ switch (invariant_intrinsics->GetDistortionModelType()) {
+ case DISTORTION_MODEL_POLYNOMIAL:
+ {
+ const T& k1 = intrinsics[OFFSET_K1];
+ const T& k2 = intrinsics[OFFSET_K2];
+ const T& k3 = intrinsics[OFFSET_K3];
+ const T& p1 = intrinsics[OFFSET_P1];
+ const T& p2 = intrinsics[OFFSET_P2];
+
+ ApplyPolynomialDistortionModel(focal_length,
+ focal_length,
+ principal_point_x,
+ principal_point_y,
+ k1, k2, k3,
+ p1, p2,
+ normalized_x, normalized_y,
+ distorted_x, distorted_y);
+ return;
+ }
+
+ case DISTORTION_MODEL_DIVISION:
+ {
+ const T& k1 = intrinsics[OFFSET_K1];
+ const T& k2 = intrinsics[OFFSET_K2];
+
+ ApplyDivisionDistortionModel(focal_length,
+ focal_length,
+ principal_point_x,
+ principal_point_y,
+ k1, k2,
+ normalized_x, normalized_y,
+ distorted_x, distorted_y);
+ return;
+ }
+ }
+
+ LOG(FATAL) << "Unknown distortion model.";
+}
+
+// Cost functor which computes reprojection error of 3D point X on camera
+// defined by angle-axis rotation and it's translation (which are in the same
+// block due to optimization reasons).
+//
+// This functor can only be used for distortion models which have analytically
+// defined Apply() function.
+struct OpenCVReprojectionErrorApplyIntrinsics {
+ OpenCVReprojectionErrorApplyIntrinsics(
+ const CameraIntrinsics *invariant_intrinsics,
+ const double observed_distorted_x,
+ const double observed_distorted_y,
+ const double weight)
: invariant_intrinsics_(invariant_intrinsics),
- observed_x_(observed_x), observed_y_(observed_y),
+ observed_distorted_x_(observed_distorted_x),
+ observed_distorted_y_(observed_distorted_y),
weight_(weight) {}
template <typename T>
@@ -86,11 +150,6 @@ struct OpenCVReprojectionError {
// followed with translation
const T* const X, // Point coordinates 3x1.
T* residuals) const {
- // Unpack the intrinsics.
- const T& focal_length = intrinsics[OFFSET_FOCAL_LENGTH];
- const T& principal_point_x = intrinsics[OFFSET_PRINCIPAL_POINT_X];
- const T& principal_point_y = intrinsics[OFFSET_PRINCIPAL_POINT_Y];
-
// Compute projective coordinates: x = RX + t.
T x[3];
@@ -108,59 +167,22 @@ struct OpenCVReprojectionError {
T xn = x[0] / x[2];
T yn = x[1] / x[2];
- T predicted_x, predicted_y;
-
- // Apply distortion to the normalized points to get (xd, yd).
- // TODO(keir): Do early bailouts for zero distortion; these are expensive
- // jet operations.
- switch (invariant_intrinsics_->GetDistortionModelType()) {
- case DISTORTION_MODEL_POLYNOMIAL:
- {
- const T& k1 = intrinsics[OFFSET_K1];
- const T& k2 = intrinsics[OFFSET_K2];
- const T& k3 = intrinsics[OFFSET_K3];
- const T& p1 = intrinsics[OFFSET_P1];
- const T& p2 = intrinsics[OFFSET_P2];
-
- ApplyPolynomialDistortionModel(focal_length,
- focal_length,
- principal_point_x,
- principal_point_y,
- k1, k2, k3,
- p1, p2,
- xn, yn,
- &predicted_x,
- &predicted_y);
- break;
- }
- case DISTORTION_MODEL_DIVISION:
- {
- const T& k1 = intrinsics[OFFSET_K1];
- const T& k2 = intrinsics[OFFSET_K2];
-
- ApplyDivisionDistortionModel(focal_length,
- focal_length,
- principal_point_x,
- principal_point_y,
- k1, k2,
- xn, yn,
- &predicted_x,
- &predicted_y);
- break;
- }
- default:
- LOG(FATAL) << "Unknown distortion model";
- }
+ T predicted_distorted_x, predicted_distorted_y;
+ ApplyIntrinsicsOnNormalizedPoint(
+ invariant_intrinsics_,
+ intrinsics,
+ xn, yn,
+ &predicted_distorted_x, &predicted_distorted_y);
// The error is the difference between the predicted and observed position.
- residuals[0] = (predicted_x - T(observed_x_)) * weight_;
- residuals[1] = (predicted_y - T(observed_y_)) * weight_;
+ residuals[0] = (predicted_distorted_x - T(observed_distorted_x_)) * weight_;
+ residuals[1] = (predicted_distorted_y - T(observed_distorted_y_)) * weight_;
return true;
}
const CameraIntrinsics *invariant_intrinsics_;
- const double observed_x_;
- const double observed_y_;
+ const double observed_distorted_x_;
+ const double observed_distorted_y_;
const double weight_;
};
@@ -397,8 +419,8 @@ void EuclideanBundlePointsOnly(const CameraIntrinsics *invariant_intrinsics,
double *current_camera_R_t = &all_cameras_R_t[camera->image](0);
problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
- OpenCVReprojectionError, 2, OFFSET_MAX, 6, 3>(
- new OpenCVReprojectionError(
+ OpenCVReprojectionErrorApplyIntrinsics, 2, OFFSET_MAX, 6, 3>(
+ new OpenCVReprojectionErrorApplyIntrinsics(
invariant_intrinsics,
marker.x,
marker.y,
@@ -517,8 +539,8 @@ void EuclideanBundleCommonIntrinsics(
// This way ceres is not gonna to go crazy.
if (marker.weight != 0.0) {
problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
- OpenCVReprojectionError, 2, OFFSET_MAX, 6, 3>(
- new OpenCVReprojectionError(
+ OpenCVReprojectionErrorApplyIntrinsics, 2, OFFSET_MAX, 6, 3>(
+ new OpenCVReprojectionErrorApplyIntrinsics(
intrinsics,
marker.x,
marker.y,
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