[Bf-blender-cvs] [549841bbc09] master: Libmv: Add generic class for packed intrinsics
Sergey Sharybin
noreply at git.blender.org
Tue Oct 20 15:03:01 CEST 2020
Commit: 549841bbc0910d180608eb72b21aeed0a6ce539b
Author: Sergey Sharybin
Date: Tue Oct 13 11:32:35 2020 +0200
Branches: master
https://developer.blender.org/rB549841bbc0910d180608eb72b21aeed0a6ce539b
Libmv: Add generic class for packed intrinsics
This is a common class which can be used in all sort of minimization
problems which needs camera intrinsics as a parameter block.
Currently unused, but will replace a lot of hard-coded logic in the
bundle adjustment code.
===================================================================
M intern/libmv/CMakeLists.txt
M intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
M intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
A intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
A intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
===================================================================
diff --git a/intern/libmv/CMakeLists.txt b/intern/libmv/CMakeLists.txt
index 3e2ca8329a4..b372cfe92bb 100644
--- a/intern/libmv/CMakeLists.txt
+++ b/intern/libmv/CMakeLists.txt
@@ -111,6 +111,7 @@ if(WITH_LIBMV)
libmv/simple_pipeline/intersect.cc
libmv/simple_pipeline/keyframe_selection.cc
libmv/simple_pipeline/modal_solver.cc
+ libmv/simple_pipeline/packed_intrinsics.cc
libmv/simple_pipeline/pipeline.cc
libmv/simple_pipeline/reconstruction.cc
libmv/simple_pipeline/reconstruction_scale.cc
@@ -192,6 +193,7 @@ if(WITH_LIBMV)
libmv/simple_pipeline/intersect.h
libmv/simple_pipeline/keyframe_selection.h
libmv/simple_pipeline/modal_solver.h
+ libmv/simple_pipeline/packed_intrinsics.h
libmv/simple_pipeline/pipeline.h
libmv/simple_pipeline/reconstruction.h
libmv/simple_pipeline/reconstruction_scale.h
diff --git a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
index 052714bbb3e..ccb6e3d34c8 100644
--- a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
+++ b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
@@ -22,6 +22,7 @@
#include "libmv/logging/logging.h"
#include "libmv/simple_pipeline/distortion_models.h"
+#include "libmv/simple_pipeline/packed_intrinsics.h"
namespace libmv {
@@ -131,6 +132,20 @@ void CameraIntrinsics::ResetLookupGrids() {
undistort_.Reset();
}
+void CameraIntrinsics::Pack(PackedIntrinsics* packed_intrinsics) const {
+ packed_intrinsics->SetFocalLength(focal_length());
+ packed_intrinsics->SetPrincipalPoint(principal_point_x(),
+ principal_point_y());
+}
+
+void CameraIntrinsics::Unpack(const PackedIntrinsics& packed_intrinsics) {
+ SetFocalLength(packed_intrinsics.GetFocalLength(),
+ packed_intrinsics.GetFocalLength());
+
+ SetPrincipalPoint(packed_intrinsics.GetPrincipalPointX(),
+ packed_intrinsics.GetPrincipalPointY());
+}
+
// Polynomial model.
PolynomialCameraIntrinsics::PolynomialCameraIntrinsics()
@@ -195,6 +210,30 @@ void PolynomialCameraIntrinsics::InvertIntrinsics(
normalized_y);
}
+void PolynomialCameraIntrinsics::Pack(
+ PackedIntrinsics* packed_intrinsics) const {
+ CameraIntrinsics::Pack(packed_intrinsics);
+
+ packed_intrinsics->SetK1(k1());
+ packed_intrinsics->SetK2(k2());
+ packed_intrinsics->SetK3(k3());
+
+ packed_intrinsics->SetP1(p1());
+ packed_intrinsics->SetP2(p2());
+}
+
+void PolynomialCameraIntrinsics::Unpack(
+ const PackedIntrinsics& packed_intrinsics) {
+ CameraIntrinsics::Unpack(packed_intrinsics);
+
+ SetRadialDistortion(packed_intrinsics.GetK1(),
+ packed_intrinsics.GetK2(),
+ packed_intrinsics.GetK3());
+
+ SetTangentialDistortion(packed_intrinsics.GetP1(),
+ packed_intrinsics.GetP2());
+}
+
// Division model.
DivisionCameraIntrinsics::DivisionCameraIntrinsics()
@@ -245,6 +284,21 @@ void DivisionCameraIntrinsics::InvertIntrinsics(double image_x,
normalized_y);
}
+void DivisionCameraIntrinsics::Pack(
+ PackedIntrinsics* packed_intrinsics) const {
+ CameraIntrinsics::Pack(packed_intrinsics);
+
+ packed_intrinsics->SetK1(k1());
+ packed_intrinsics->SetK2(k2());
+}
+
+void DivisionCameraIntrinsics::Unpack(
+ const PackedIntrinsics& packed_intrinsics) {
+ CameraIntrinsics::Unpack(packed_intrinsics);
+
+ SetDistortion(packed_intrinsics.GetK1(), packed_intrinsics.GetK2());
+}
+
// Nuke model.
NukeCameraIntrinsics::NukeCameraIntrinsics()
@@ -296,6 +350,21 @@ void NukeCameraIntrinsics::InvertIntrinsics(double image_x,
normalized_y);
}
+void NukeCameraIntrinsics::Pack(
+ PackedIntrinsics* packed_intrinsics) const {
+ CameraIntrinsics::Pack(packed_intrinsics);
+
+ packed_intrinsics->SetK1(k1());
+ packed_intrinsics->SetK2(k2());
+}
+
+void NukeCameraIntrinsics::Unpack(
+ const PackedIntrinsics& packed_intrinsics) {
+ CameraIntrinsics::Unpack(packed_intrinsics);
+
+ SetDistortion(packed_intrinsics.GetK1(), packed_intrinsics.GetK2());
+}
+
// Brown model.
BrownCameraIntrinsics::BrownCameraIntrinsics()
@@ -362,6 +431,32 @@ void BrownCameraIntrinsics::InvertIntrinsics(
normalized_y);
}
+void BrownCameraIntrinsics::Pack(
+ PackedIntrinsics* packed_intrinsics) const {
+ CameraIntrinsics::Pack(packed_intrinsics);
+
+ packed_intrinsics->SetK1(k1());
+ packed_intrinsics->SetK2(k2());
+ packed_intrinsics->SetK3(k3());
+ packed_intrinsics->SetK4(k4());
+
+ packed_intrinsics->SetP1(p1());
+ packed_intrinsics->SetP2(p2());
+}
+
+void BrownCameraIntrinsics::Unpack(
+ const PackedIntrinsics& packed_intrinsics) {
+ CameraIntrinsics::Unpack(packed_intrinsics);
+
+ SetRadialDistortion(packed_intrinsics.GetK1(),
+ packed_intrinsics.GetK2(),
+ packed_intrinsics.GetK3(),
+ packed_intrinsics.GetK4());
+
+ SetTangentialDistortion(packed_intrinsics.GetP1(),
+ packed_intrinsics.GetP2());
+}
+
std::ostream& operator <<(std::ostream &os,
const CameraIntrinsics &intrinsics) {
if (intrinsics.focal_length_x() == intrinsics.focal_length_x()) {
diff --git a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
index 90bbc592815..30b0f1abf7b 100644
--- a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
+++ b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
@@ -32,6 +32,7 @@
namespace libmv {
class CameraIntrinsics;
+class PackedIntrinsics;
namespace internal {
@@ -193,6 +194,9 @@ class CameraIntrinsics {
double *normalized_x,
double *normalized_y) const = 0;
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics);
+
// Distort an image using the current camera instrinsics
//
// The distorted image is computed in output_buffer using samples from
@@ -323,6 +327,9 @@ class PolynomialCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
+
private:
// OpenCV's distortion model with third order polynomial radial distortion
// terms and second order tangential distortion. The distortion is applied to
@@ -376,6 +383,9 @@ class DivisionCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
+
private:
// Double-parameter division distortion model.
double parameters_[NUM_PARAMETERS];
@@ -426,6 +436,9 @@ class NukeCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
+
private:
// Double-parameter division distortion model.
double parameters_[NUM_PARAMETERS];
@@ -487,6 +500,9 @@ class BrownCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
+
private:
double parameters_[NUM_PARAMETERS];
};
diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
new file mode 100644
index 00000000000..e9d7c2e78be
--- /dev/null
+++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
@@ -0,0 +1,58 @@
+// Copyright (c) 2020 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include "libmv/simple_pipeline/packed_intrinsics.h"
+
+namespace libmv {
+
+PackedIntrinsics::PackedIntrinsics() {
+ parameters_.fill(0.0);
+ known_parameters_.fill(false);
+}
+
+void PackedIntrinsics::SetFocalLength(double focal_length) {
+ SetParameter(OFFSET_FOCAL_LENGTH, focal_length);
+}
+double PackedIntrinsics::GetFocalLength() const {
+ return GetParameter(OFFSET_FOCAL_LENGTH);
+}
+
+void PackedIntrinsics::SetPrincipalPoint(double x, double y) {
+ SetParameter(OFFSET_PRINCIPAL_POINT_X, x);
+ SetParameter(OFFSET_PRINCIPAL_POINT_Y, y);
+}
+double PackedIntrinsics::GetPrincipalPointX() const {
+ return GetParameter(OFFSET_PRINCIPAL_POINT_X);
+}
+double PackedIntrinsics::GetPrincipalPointY() const {
+ return GetParameter(OFFSET_PRINCIPAL_POINT_Y);
+}
+
+void PackedIntrinsics::SetParameter(int index, double value) {
+ parameters_.at(index) =
@@ Diff output truncated at 10240 characters. @@
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