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Diffstat (limited to 'extern/libmv/intern/camera_intrinsics.cc')
| -rw-r--r-- | extern/libmv/intern/camera_intrinsics.cc | 354 |
1 files changed, 354 insertions, 0 deletions
diff --git a/extern/libmv/intern/camera_intrinsics.cc b/extern/libmv/intern/camera_intrinsics.cc new file mode 100644 index 00000000000..e8b99970ff7 --- /dev/null +++ b/extern/libmv/intern/camera_intrinsics.cc @@ -0,0 +1,354 @@ +/* + * ***** BEGIN GPL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. + * + * The Original Code is Copyright (C) 2011 Blender Foundation. + * All rights reserved. + * + * Contributor(s): Blender Foundation, + * Sergey Sharybin + * + * ***** END GPL LICENSE BLOCK ***** + */ + +#include "intern/camera_intrinsics.h" +#include "intern/utildefines.h" +#include "libmv/simple_pipeline/camera_intrinsics.h" + +using libmv::CameraIntrinsics; +using libmv::DivisionCameraIntrinsics; +using libmv::PolynomialCameraIntrinsics; + +libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew( + const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options) { + CameraIntrinsics *camera_intrinsics = + libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options); + return (libmv_CameraIntrinsics *) camera_intrinsics; +} + +libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy( + const libmv_CameraIntrinsics* libmv_intrinsics) { + const CameraIntrinsics *orig_intrinsics = + (const CameraIntrinsics *) libmv_intrinsics; + + CameraIntrinsics *new_intrinsics = NULL; + switch (orig_intrinsics->GetDistortionModelType()) { + case libmv::DISTORTION_MODEL_POLYNOMIAL: + { + const PolynomialCameraIntrinsics *polynomial_intrinsics = + static_cast<const PolynomialCameraIntrinsics*>(orig_intrinsics); + new_intrinsics = LIBMV_OBJECT_NEW(PolynomialCameraIntrinsics, + *polynomial_intrinsics); + break; + } + case libmv::DISTORTION_MODEL_DIVISION: + { + const DivisionCameraIntrinsics *division_intrinsics = + static_cast<const DivisionCameraIntrinsics*>(orig_intrinsics); + new_intrinsics = LIBMV_OBJECT_NEW(DivisionCameraIntrinsics, + *division_intrinsics); + break; + } + default: + assert(!"Unknown distortion model"); + } + return (libmv_CameraIntrinsics *) new_intrinsics; +} + +void libmv_cameraIntrinsicsDestroy(libmv_CameraIntrinsics* libmv_intrinsics) { + LIBMV_OBJECT_DELETE(libmv_intrinsics, CameraIntrinsics); +} + +void libmv_cameraIntrinsicsUpdate( + const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options, + libmv_CameraIntrinsics* libmv_intrinsics) { + CameraIntrinsics *camera_intrinsics = (CameraIntrinsics *) libmv_intrinsics; + + double focal_length = libmv_camera_intrinsics_options->focal_length; + double principal_x = libmv_camera_intrinsics_options->principal_point_x; + double principal_y = libmv_camera_intrinsics_options->principal_point_y; + int image_width = libmv_camera_intrinsics_options->image_width; + int image_height = libmv_camera_intrinsics_options->image_height; + + /* Try avoid unnecessary updates, so pre-computed distortion grids + * are not freed. + */ + + if (camera_intrinsics->focal_length() != focal_length) { + camera_intrinsics->SetFocalLength(focal_length, focal_length); + } + + if (camera_intrinsics->principal_point_x() != principal_x || + camera_intrinsics->principal_point_y() != principal_y) { + camera_intrinsics->SetPrincipalPoint(principal_x, principal_y); + } + + if (camera_intrinsics->image_width() != image_width || + camera_intrinsics->image_height() != image_height) { + camera_intrinsics->SetImageSize(image_width, image_height); + } + + switch (libmv_camera_intrinsics_options->distortion_model) { + case LIBMV_DISTORTION_MODEL_POLYNOMIAL: + { + assert(camera_intrinsics->GetDistortionModelType() == + libmv::DISTORTION_MODEL_POLYNOMIAL); + + PolynomialCameraIntrinsics *polynomial_intrinsics = + (PolynomialCameraIntrinsics *) camera_intrinsics; + + double k1 = libmv_camera_intrinsics_options->polynomial_k1; + double k2 = libmv_camera_intrinsics_options->polynomial_k2; + double k3 = libmv_camera_intrinsics_options->polynomial_k3; + + if (polynomial_intrinsics->k1() != k1 || + polynomial_intrinsics->k2() != k2 || + polynomial_intrinsics->k3() != k3) { + polynomial_intrinsics->SetRadialDistortion(k1, k2, k3); + } + break; + } + + case LIBMV_DISTORTION_MODEL_DIVISION: + { + assert(camera_intrinsics->GetDistortionModelType() == + libmv::DISTORTION_MODEL_DIVISION); + + DivisionCameraIntrinsics *division_intrinsics = + (DivisionCameraIntrinsics *) camera_intrinsics; + + double k1 = libmv_camera_intrinsics_options->division_k1; + double k2 = libmv_camera_intrinsics_options->division_k2; + + if (division_intrinsics->k1() != k1 || + division_intrinsics->k2() != k2) { + division_intrinsics->SetDistortion(k1, k2); + } + + break; + } + + default: + assert(!"Unknown distortion model"); + } +} + +void libmv_cameraIntrinsicsSetThreads(libmv_CameraIntrinsics* libmv_intrinsics, + int threads) { + CameraIntrinsics *camera_intrinsics = (CameraIntrinsics *) libmv_intrinsics; + camera_intrinsics->SetThreads(threads); +} + +void libmv_cameraIntrinsicsExtractOptions( + const libmv_CameraIntrinsics* libmv_intrinsics, + libmv_CameraIntrinsicsOptions* camera_intrinsics_options) { + const CameraIntrinsics *camera_intrinsics = + (const CameraIntrinsics *) libmv_intrinsics; + + // Fill in options which are common for all distortion models. + camera_intrinsics_options->focal_length = camera_intrinsics->focal_length(); + camera_intrinsics_options->principal_point_x = + camera_intrinsics->principal_point_x(); + camera_intrinsics_options->principal_point_y = + camera_intrinsics->principal_point_y(); + + camera_intrinsics_options->image_width = camera_intrinsics->image_width(); + camera_intrinsics_options->image_height = camera_intrinsics->image_height(); + + switch (camera_intrinsics->GetDistortionModelType()) { + case libmv::DISTORTION_MODEL_POLYNOMIAL: + { + const PolynomialCameraIntrinsics *polynomial_intrinsics = + static_cast<const PolynomialCameraIntrinsics *>(camera_intrinsics); + camera_intrinsics_options->distortion_model = + LIBMV_DISTORTION_MODEL_POLYNOMIAL; + camera_intrinsics_options->polynomial_k1 = polynomial_intrinsics->k1(); + camera_intrinsics_options->polynomial_k2 = polynomial_intrinsics->k2(); + camera_intrinsics_options->polynomial_k3 = polynomial_intrinsics->k3(); + camera_intrinsics_options->polynomial_p1 = polynomial_intrinsics->p1(); + camera_intrinsics_options->polynomial_p1 = polynomial_intrinsics->p2(); + break; + } + + case libmv::DISTORTION_MODEL_DIVISION: + { + const DivisionCameraIntrinsics *division_intrinsics = + static_cast<const DivisionCameraIntrinsics *>(camera_intrinsics); + camera_intrinsics_options->distortion_model = + LIBMV_DISTORTION_MODEL_DIVISION; + camera_intrinsics_options->division_k1 = division_intrinsics->k1(); + camera_intrinsics_options->division_k2 = division_intrinsics->k2(); + break; + } + + default: + assert(!"Uknown distortion model"); + } +} + +void libmv_cameraIntrinsicsUndistortByte( + const libmv_CameraIntrinsics* libmv_intrinsics, + const unsigned char *source_image, + int width, + int height, + float overscan, + int channels, + unsigned char* destination_image) { + CameraIntrinsics *camera_intrinsics = (CameraIntrinsics *) libmv_intrinsics; + camera_intrinsics->UndistortBuffer(source_image, + width, height, + overscan, + channels, + destination_image); +} + +void libmv_cameraIntrinsicsUndistortFloat( + const libmv_CameraIntrinsics* libmv_intrinsics, + const float* source_image, + int width, + int height, + float overscan, + int channels, + float* destination_image) { + CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics; + intrinsics->UndistortBuffer(source_image, + width, height, + overscan, + channels, + destination_image); +} + +void libmv_cameraIntrinsicsDistortByte( + const struct libmv_CameraIntrinsics* libmv_intrinsics, + const unsigned char *source_image, + int width, + int height, + float overscan, + int channels, + unsigned char *destination_image) { + CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics; + intrinsics->DistortBuffer(source_image, + width, height, + overscan, + channels, + destination_image); +} + +void libmv_cameraIntrinsicsDistortFloat( + const libmv_CameraIntrinsics* libmv_intrinsics, + float* source_image, + int width, + int height, + float overscan, + int channels, + float* destination_image) { + CameraIntrinsics *intrinsics = (CameraIntrinsics *) libmv_intrinsics; + intrinsics->DistortBuffer(source_image, + width, height, + overscan, + channels, + destination_image); +} + +void libmv_cameraIntrinsicsApply( + const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options, + double x, + double y, + double* x1, + double* y1) { + /* Do a lens distortion if focal length is non-zero only. */ + if (libmv_camera_intrinsics_options->focal_length) { + CameraIntrinsics* camera_intrinsics = + libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options); + camera_intrinsics->ApplyIntrinsics(x, y, x1, y1); + LIBMV_OBJECT_DELETE(camera_intrinsics, CameraIntrinsics); + } +} + +void libmv_cameraIntrinsicsInvert( + const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options, + double x, + double y, + double* x1, + double* y1) { + /* Do a lens un-distortion if focal length is non-zero only/ */ + if (libmv_camera_intrinsics_options->focal_length) { + CameraIntrinsics *camera_intrinsics = + libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options); + camera_intrinsics->InvertIntrinsics(x, y, x1, y1); + LIBMV_OBJECT_DELETE(camera_intrinsics, CameraIntrinsics); + } +} + +static void libmv_cameraIntrinsicsFillFromOptions( + const libmv_CameraIntrinsicsOptions* camera_intrinsics_options, + CameraIntrinsics* camera_intrinsics) { + camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length, + camera_intrinsics_options->focal_length); + + camera_intrinsics->SetPrincipalPoint( + camera_intrinsics_options->principal_point_x, + camera_intrinsics_options->principal_point_y); + + camera_intrinsics->SetImageSize(camera_intrinsics_options->image_width, + camera_intrinsics_options->image_height); + + switch (camera_intrinsics_options->distortion_model) { + case LIBMV_DISTORTION_MODEL_POLYNOMIAL: + { + PolynomialCameraIntrinsics *polynomial_intrinsics = + static_cast<PolynomialCameraIntrinsics*>(camera_intrinsics); + + polynomial_intrinsics->SetRadialDistortion( + camera_intrinsics_options->polynomial_k1, + camera_intrinsics_options->polynomial_k2, + camera_intrinsics_options->polynomial_k3); + + break; + } + + case LIBMV_DISTORTION_MODEL_DIVISION: + { + DivisionCameraIntrinsics *division_intrinsics = + static_cast<DivisionCameraIntrinsics*>(camera_intrinsics); + + division_intrinsics->SetDistortion( + camera_intrinsics_options->division_k1, + camera_intrinsics_options->division_k2); + break; + } + + default: + assert(!"Unknown distortion model"); + } +} + +CameraIntrinsics* libmv_cameraIntrinsicsCreateFromOptions( + const libmv_CameraIntrinsicsOptions* camera_intrinsics_options) { + CameraIntrinsics *camera_intrinsics = NULL; + switch (camera_intrinsics_options->distortion_model) { + case LIBMV_DISTORTION_MODEL_POLYNOMIAL: + camera_intrinsics = LIBMV_OBJECT_NEW(PolynomialCameraIntrinsics); + break; + case LIBMV_DISTORTION_MODEL_DIVISION: + camera_intrinsics = LIBMV_OBJECT_NEW(DivisionCameraIntrinsics); + break; + default: + assert(!"Unknown distortion model"); + } + libmv_cameraIntrinsicsFillFromOptions(camera_intrinsics_options, camera_intrinsics); + return camera_intrinsics; +} |