[Bf-blender-cvs] [a02da85b553] master: Libmv: Cleanup, spelling and naming in bundle adjustment
Sergey Sharybin
noreply at git.blender.org
Tue Apr 21 12:48:35 CEST 2020
Commit: a02da85b5534925d705d7a3f64680bb1ca1bb1c2
Author: Sergey Sharybin
Date: Tue Apr 21 12:25:45 2020 +0200
Branches: master
https://developer.blender.org/rBa02da85b5534925d705d7a3f64680bb1ca1bb1c2
Libmv: Cleanup, spelling and naming in bundle adjustment
Just more things which were discovered to be annoying on unclear when
adding more features to this code.
===================================================================
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 048b58de653..fb59e20d84c 100644
--- a/intern/libmv/libmv/simple_pipeline/bundle.cc
+++ b/intern/libmv/libmv/simple_pipeline/bundle.cc
@@ -66,23 +66,28 @@ enum {
namespace {
-// Apply distortion model (aka distort the input) for the given input in the
-// normalized space.
+// Apply distortion model (distort the input) on the input point in the
+// normalized space to get distorted coordinate in the image space.
+//
+// Using intrinsics values from the parameter block, which makes this function
+// suitable for use from a cost functor.
+//
// Only use for distortion models which are analytically defined for their
// Apply() function.
//
// The invariant_intrinsics are used to access intrinsics which are never
-// packed into their parameter block: for example, image dimension.
+// packed into parameter block: for example, distortion model type and image
+// dimension.
template<typename T>
-void ApplyIntrinsicsOnNormalizedPoint(
- const CameraIntrinsics * invariant_intrinsics,
- const T* const intrinsics,
+void ApplyDistortionModelUsingIntrinsicsBlock(
+ const CameraIntrinsics *invariant_intrinsics,
+ const T* const intrinsics_block,
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];
+ const T& focal_length = intrinsics_block[OFFSET_FOCAL_LENGTH];
+ const T& principal_point_x = intrinsics_block[OFFSET_PRINCIPAL_POINT_X];
+ const T& principal_point_y = intrinsics_block[OFFSET_PRINCIPAL_POINT_Y];
// Apply distortion to the normalized points to get (xd, yd).
//
@@ -91,11 +96,11 @@ void ApplyIntrinsicsOnNormalizedPoint(
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];
+ const T& k1 = intrinsics_block[OFFSET_K1];
+ const T& k2 = intrinsics_block[OFFSET_K2];
+ const T& k3 = intrinsics_block[OFFSET_K3];
+ const T& p1 = intrinsics_block[OFFSET_P1];
+ const T& p2 = intrinsics_block[OFFSET_P2];
ApplyPolynomialDistortionModel(focal_length,
focal_length,
@@ -110,8 +115,8 @@ void ApplyIntrinsicsOnNormalizedPoint(
case DISTORTION_MODEL_DIVISION:
{
- const T& k1 = intrinsics[OFFSET_K1];
- const T& k2 = intrinsics[OFFSET_K2];
+ const T& k1 = intrinsics_block[OFFSET_K1];
+ const T& k2 = intrinsics_block[OFFSET_K2];
ApplyDivisionDistortionModel(focal_length,
focal_length,
@@ -168,7 +173,7 @@ struct OpenCVReprojectionErrorApplyIntrinsics {
T yn = x[1] / x[2];
T predicted_distorted_x, predicted_distorted_y;
- ApplyIntrinsicsOnNormalizedPoint(
+ ApplyDistortionModelUsingIntrinsicsBlock(
invariant_intrinsics_,
intrinsics,
xn, yn,
@@ -215,29 +220,29 @@ void BundleIntrinsicsLogMessage(const int bundle_intrinsics) {
// Pack intrinsics from object to an array for easier
// and faster minimization.
void PackIntrinisicsIntoArray(const CameraIntrinsics &intrinsics,
- double ceres_intrinsics[OFFSET_MAX]) {
- ceres_intrinsics[OFFSET_FOCAL_LENGTH] = intrinsics.focal_length();
- ceres_intrinsics[OFFSET_PRINCIPAL_POINT_X] = intrinsics.principal_point_x();
- ceres_intrinsics[OFFSET_PRINCIPAL_POINT_Y] = intrinsics.principal_point_y();
+ double intrinsics_block[OFFSET_MAX]) {
+ intrinsics_block[OFFSET_FOCAL_LENGTH] = intrinsics.focal_length();
+ intrinsics_block[OFFSET_PRINCIPAL_POINT_X] = intrinsics.principal_point_x();
+ intrinsics_block[OFFSET_PRINCIPAL_POINT_Y] = intrinsics.principal_point_y();
int num_distortion_parameters = intrinsics.num_distortion_parameters();
assert(num_distortion_parameters <= NUM_DISTORTION_COEFFICIENTS);
const double *distortion_parameters = intrinsics.distortion_parameters();
for (int i = 0; i < num_distortion_parameters; ++i) {
- ceres_intrinsics[FIRST_DISTORTION_COEFFICIENT + i] =
+ intrinsics_block[FIRST_DISTORTION_COEFFICIENT + i] =
distortion_parameters[i];
}
}
// Unpack intrinsics back from an array to an object.
-void UnpackIntrinsicsFromArray(const double ceres_intrinsics[OFFSET_MAX],
+void UnpackIntrinsicsFromArray(const double intrinsics_block[OFFSET_MAX],
CameraIntrinsics *intrinsics) {
- intrinsics->SetFocalLength(ceres_intrinsics[OFFSET_FOCAL_LENGTH],
- ceres_intrinsics[OFFSET_FOCAL_LENGTH]);
+ intrinsics->SetFocalLength(intrinsics_block[OFFSET_FOCAL_LENGTH],
+ intrinsics_block[OFFSET_FOCAL_LENGTH]);
- intrinsics->SetPrincipalPoint(ceres_intrinsics[OFFSET_PRINCIPAL_POINT_X],
- ceres_intrinsics[OFFSET_PRINCIPAL_POINT_Y]);
+ intrinsics->SetPrincipalPoint(intrinsics_block[OFFSET_PRINCIPAL_POINT_X],
+ intrinsics_block[OFFSET_PRINCIPAL_POINT_Y]);
int num_distortion_parameters = intrinsics->num_distortion_parameters();
assert(num_distortion_parameters <= NUM_DISTORTION_COEFFICIENTS);
@@ -245,7 +250,7 @@ void UnpackIntrinsicsFromArray(const double ceres_intrinsics[OFFSET_MAX],
double *distortion_parameters = intrinsics->distortion_parameters();
for (int i = 0; i < num_distortion_parameters; ++i) {
distortion_parameters[i] =
- ceres_intrinsics[FIRST_DISTORTION_COEFFICIENT + i];
+ intrinsics_block[FIRST_DISTORTION_COEFFICIENT + i];
}
}
@@ -390,21 +395,21 @@ void EuclideanBundlerPerformEvaluation(const Tracks &tracks,
}
template<typename CostFunction>
-void AddResidualBlockToProblemImpl(const CameraIntrinsics *intrinsics,
+void AddResidualBlockToProblemImpl(const CameraIntrinsics *invariant_intrinsics,
double observed_x, double observed_y,
double weight,
- double ceres_intrinsics[OFFSET_MAX],
+ double intrinsics_block[OFFSET_MAX],
double *camera_R_t,
EuclideanPoint *point,
ceres::Problem* problem) {
problem->AddResidualBlock(new ceres::AutoDiffCostFunction<
CostFunction, 2, OFFSET_MAX, 6, 3>(
new CostFunction(
- intrinsics,
+ invariant_intrinsics,
observed_x, observed_y,
weight)),
NULL,
- ceres_intrinsics,
+ intrinsics_block,
camera_R_t,
&point->X(0));
}
@@ -412,18 +417,18 @@ void AddResidualBlockToProblemImpl(const CameraIntrinsics *intrinsics,
void AddResidualBlockToProblem(const CameraIntrinsics *invariant_intrinsics,
const Marker &marker,
double marker_weight,
- double ceres_intrinsics[OFFSET_MAX],
+ double intrinsics_block[OFFSET_MAX],
double *camera_R_t,
EuclideanPoint *point,
ceres::Problem* problem) {
- AddResidualBlockToProblemImpl<OpenCVReprojectionErrorApplyIntrinsics>(
- invariant_intrinsics,
- marker.x, marker.y,
- marker_weight,
- ceres_intrinsics,
- camera_R_t,
- point,
- problem);
+ AddResidualBlockToProblemImpl<OpenCVReprojectionErrorApplyIntrinsics>(
+ invariant_intrinsics,
+ marker.x, marker.y,
+ marker_weight,
+ intrinsics_block,
+ camera_R_t,
+ point,
+ problem);
}
// This is an utility function to only bundle 3D position of
@@ -438,7 +443,7 @@ void AddResidualBlockToProblem(const CameraIntrinsics *invariant_intrinsics,
void EuclideanBundlePointsOnly(const CameraIntrinsics *invariant_intrinsics,
const vector<Marker> &markers,
vector<Vec6> &all_cameras_R_t,
- double ceres_intrinsics[OFFSET_MAX],
+ double intrinsics_block[OFFSET_MAX],
EuclideanReconstruction *reconstruction) {
ceres::Problem::Options problem_options;
ceres::Problem problem(problem_options);
@@ -458,7 +463,7 @@ void EuclideanBundlePointsOnly(const CameraIntrinsics *invariant_intrinsics,
AddResidualBlockToProblem(invariant_intrinsics,
marker,
1.0,
- ceres_intrinsics,
+ intrinsics_block,
current_camera_R_t,
point,
&problem);
@@ -473,7 +478,7 @@ void EuclideanBundlePointsOnly(const CameraIntrinsics *invariant_intrinsics,
return;
}
- problem.SetParameterBlockConstant(ceres_intrinsics);
+ problem.SetParameterBlockConstant(intrinsics_block);
// Configure the solver.
ceres::Solver::Options options;
@@ -519,14 +524,14 @@ void EuclideanBundleCommonIntrinsics(
LG << "Original intrinsics: " << *intrinsics;
vector<Marker> markers = tracks.AllMarkers();
- // N-th element denotes whether track N is a constant zero-weigthed track.
+ // N-th element denotes whether track N is a constant zero-weighted track.
vector<bool> zero_weight_tracks_flags(tracks.MaxTrack() + 1, true);
// Residual blocks with 10 parameters are unwieldly with Ceres, so pack the
// intrinsics into a single block and rely on local parameterizations to
// control which intrinsics ar
@@ Diff output truncated at 10240 characters. @@
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