diff options
Diffstat (limited to 'extern/libmv/libmv-capi.cc')
| -rw-r--r-- | extern/libmv/libmv-capi.cc | 176 |
1 files changed, 96 insertions, 80 deletions
diff --git a/extern/libmv/libmv-capi.cc b/extern/libmv/libmv-capi.cc index 1be7ac01b9f..0e25650db79 100644 --- a/extern/libmv/libmv-capi.cc +++ b/extern/libmv/libmv-capi.cc @@ -139,7 +139,8 @@ static void imageToFloatBuf(const libmv::FloatImage *image, int channels, float } #if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS) -static void savePNGImage(png_bytep *row_pointers, int width, int height, int depth, int color_type, char *file_name) +static void savePNGImage(png_bytep *row_pointers, int width, int height, int depth, int color_type, + const char *file_name) { png_infop info_ptr; png_structp png_ptr; @@ -421,10 +422,13 @@ protected: void *callback_customdata_; }; -static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntrinsics *intrinsics, - libmv::EuclideanReconstruction *reconstruction, int refine_intrinsics, - reconstruct_progress_update_cb progress_update_callback, void *callback_customdata, - int bundle_constraints = libmv::BUNDLE_NO_CONSTRAINTS) +static void libmv_solveRefineIntrinsics(const libmv::Tracks &tracks, + const int refine_intrinsics, + const int bundle_constraints, + reconstruct_progress_update_cb progress_update_callback, + void *callback_customdata, + libmv::EuclideanReconstruction *reconstruction, + libmv::CameraIntrinsics *intrinsics) { /* only a few combinations are supported but trust the caller */ int bundle_intrinsics = 0; @@ -444,15 +448,15 @@ static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntr progress_update_callback(callback_customdata, 1.0, "Refining solution"); - libmv::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks, + libmv::EuclideanBundleCommonIntrinsics(tracks, bundle_intrinsics, bundle_constraints, reconstruction, intrinsics); } -static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsics, - libmv_cameraIntrinsicsOptions *camera_intrinsics_options) +static void cameraIntrinsicsFromOptions(const libmv_cameraIntrinsicsOptions *camera_intrinsics_options, + libmv::CameraIntrinsics *camera_intrinsics) { camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length, camera_intrinsics_options->focal_length); @@ -468,47 +472,47 @@ static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsi camera_intrinsics_options->image_height); } -static libmv::Tracks getNormalizedTracks(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics) +static libmv::Tracks getNormalizedTracks(const libmv::Tracks &tracks, const libmv::CameraIntrinsics &camera_intrinsics) { - libmv::vector<libmv::Marker> markers = tracks->AllMarkers(); + libmv::vector<libmv::Marker> markers = tracks.AllMarkers(); for (int i = 0; i < markers.size(); ++i) { - camera_intrinsics->InvertIntrinsics(markers[i].x, markers[i].y, + camera_intrinsics.InvertIntrinsics(markers[i].x, markers[i].y, &(markers[i].x), &(markers[i].y)); } return libmv::Tracks(markers); } -static void finishReconstruction(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics, +static void finishReconstruction(const libmv::Tracks &tracks, const libmv::CameraIntrinsics &camera_intrinsics, libmv_Reconstruction *libmv_reconstruction, reconstruct_progress_update_cb progress_update_callback, void *callback_customdata) { - libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; + libmv::EuclideanReconstruction &reconstruction = libmv_reconstruction->reconstruction; /* reprojection error calculation */ progress_update_callback(callback_customdata, 1.0, "Finishing solution"); - libmv_reconstruction->tracks = *tracks; - libmv_reconstruction->error = libmv::EuclideanReprojectionError(*tracks, *reconstruction, *camera_intrinsics); + libmv_reconstruction->tracks = tracks; + libmv_reconstruction->error = libmv::EuclideanReprojectionError(tracks, reconstruction, camera_intrinsics); } -libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks, - libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options, - libmv_reconstructionOptions *libmv_reconstruction_options, +libmv_Reconstruction *libmv_solveReconstruction(const 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) { libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction(); - libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks); - libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics; + libmv::Tracks &tracks = *((libmv::Tracks *) libmv_tracks); + libmv::EuclideanReconstruction &reconstruction = libmv_reconstruction->reconstruction; + libmv::CameraIntrinsics &camera_intrinsics = libmv_reconstruction->intrinsics; ReconstructUpdateCallback update_callback = ReconstructUpdateCallback(progress_update_callback, callback_customdata); - cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options); + cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, &camera_intrinsics); /* Invert the camera intrinsics */ libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics); @@ -530,20 +534,24 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks, update_callback.invoke(0, "Initial reconstruction"); - libmv::EuclideanReconstructTwoFrames(keyframe_markers, reconstruction); - libmv::EuclideanBundle(normalized_tracks, reconstruction); + libmv::EuclideanReconstructTwoFrames(keyframe_markers, &reconstruction); + libmv::EuclideanBundle(normalized_tracks, &reconstruction); libmv::EuclideanCompleteReconstruction(reconstruction_options, normalized_tracks, - reconstruction, &update_callback); + &reconstruction, &update_callback); /* refinement */ if (libmv_reconstruction_options->refine_intrinsics) { - libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction, - libmv_reconstruction_options->refine_intrinsics, - progress_update_callback, callback_customdata); + libmv_solveRefineIntrinsics(tracks, + libmv_reconstruction_options->refine_intrinsics, + libmv::BUNDLE_NO_CONSTRAINTS, + progress_update_callback, + callback_customdata, + &reconstruction, + &camera_intrinsics); } /* set reconstruction scale to unity */ - libmv::EuclideanScaleToUnity(reconstruction); + libmv::EuclideanScaleToUnity(&reconstruction); /* finish reconstruction */ finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction, @@ -552,42 +560,44 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks, return (libmv_Reconstruction *)libmv_reconstruction; } -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 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) { libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction(); - libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks); - libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics; + libmv::Tracks &tracks = *((libmv::Tracks *) libmv_tracks); + libmv::EuclideanReconstruction &reconstruction = libmv_reconstruction->reconstruction; + libmv::CameraIntrinsics &camera_intrinsics = libmv_reconstruction->intrinsics; ReconstructUpdateCallback update_callback = ReconstructUpdateCallback(progress_update_callback, callback_customdata); - cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options); + cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, &camera_intrinsics); /* Invert the camera intrinsics. */ libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics); /* Actual reconstruction. */ - libmv::ModalSolver(normalized_tracks, reconstruction, &update_callback); + libmv::ModalSolver(normalized_tracks, &reconstruction, &update_callback); libmv::CameraIntrinsics empty_intrinsics; libmv::EuclideanBundleCommonIntrinsics(normalized_tracks, libmv::BUNDLE_NO_INTRINSICS, libmv::BUNDLE_NO_TRANSLATION, - reconstruction, + &reconstruction, &empty_intrinsics); /* Refinement. */ if (libmv_reconstruction_options->refine_intrinsics) { - libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction, - libmv_reconstruction_options->refine_intrinsics, - progress_update_callback, callback_customdata, - libmv::BUNDLE_NO_TRANSLATION); + libmv_solveRefineIntrinsics(tracks, + libmv_reconstruction_options->refine_intrinsics, + libmv::BUNDLE_NO_TRANSLATION, + progress_update_callback, callback_customdata, + &reconstruction, + &camera_intrinsics); } /* Finish reconstruction. */ @@ -597,10 +607,10 @@ struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks, return (libmv_Reconstruction *)libmv_reconstruction; } -int libmv_reporojectionPointForTrack(libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]) +int libmv_reporojectionPointForTrack(const libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]) { - libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::EuclideanPoint *point = reconstruction->PointForTrack(track); + const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; + const libmv::EuclideanPoint *point = reconstruction->PointForTrack(track); if(point) { pos[0] = point->X[0]; @@ -613,8 +623,10 @@ int libmv_reporojectionPointForTrack(libmv_Reconstruction *libmv_reconstruction, return 0; } -static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point, const libmv::EuclideanCamera &camera, - const libmv::CameraIntrinsics &intrinsics) { +static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point, + const libmv::EuclideanCamera &camera, + const libmv::CameraIntrinsics &intrinsics) +{ libmv::Vec3 projected = camera.R * point.X + camera.t; projected /= projected(2); @@ -627,10 +639,10 @@ static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point, const lib return reprojected_marker; } -double libmv_reporojectionErrorForTrack(libmv_Reconstruction *libmv_reconstruction, int track) +double libmv_reporojectionErrorForTrack(const libmv_Reconstruction *libmv_reconstruction, int track) { - libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics; + const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; + const libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics; libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersForTrack(track); int num_reprojected = 0; @@ -656,10 +668,10 @@ double libmv_reporojectionErrorForTrack(libmv_Reconstruction *libmv_reconstructi return total_error / num_reprojected; } -double libmv_reporojectionErrorForImage(libmv_Reconstruction *libmv_reconstruction, int image) +double libmv_reporojectionErrorForImage(const libmv_Reconstruction *libmv_reconstruction, int image) { - libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics; + const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; + const libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics; libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersInImage(image); const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image); int num_reprojected = 0; @@ -687,10 +699,11 @@ double libmv_reporojectionErrorForImage(libmv_Reconstruction *libmv_reconstructi return total_error / num_reprojected; } -int libmv_reporojectionCameraForImage(libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]) +int libmv_reporojectionCameraForImage(const libmv_Reconstruction *libmv_reconstruction, + int image, double mat[4][4]) { - libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image); + const libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; + const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image); if(camera) { for (int j = 0; j < 3; ++j) { @@ -720,7 +733,7 @@ int libmv_reporojectionCameraForImage(libmv_Reconstruction *libmv_reconstruction return 0; } -double libmv_reprojectionError(libmv_Reconstruction *libmv_reconstruction) +double libmv_reprojectionError(const libmv_Reconstruction *libmv_reconstruction) { return libmv_reconstruction->error; } @@ -732,8 +745,9 @@ void libmv_destroyReconstruction(libmv_Reconstruction *libmv_reconstruction) /* ************ feature detector ************ */ -struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride, - int margin, int min_trackness, int min_distance) +struct libmv_Features *libmv_detectFeaturesFAST(const unsigned char *data, + int width, int height, int stride, + int margin, int min_trackness, int min_distance) { libmv::Feature *features = NULL; std::vector<libmv::Feature> v; @@ -765,8 +779,9 @@ struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, return (libmv_Features *)libmv_features; } -struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride, - int margin, int count, int min_distance) +struct libmv_Features *libmv_detectFeaturesMORAVEC(const unsigned char *data, + int width, int height, int stride, + int margin, int count, int min_distance) { libmv::Feature *features = NULL; libmv_Features *libmv_features = new libmv_Features; @@ -789,12 +804,12 @@ struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int widt return libmv_features; } -int libmv_countFeatures(struct libmv_Features *libmv_features) +int libmv_countFeatures(const libmv_Features *libmv_features) { return libmv_features->count; } -void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size) +void libmv_getFeature(const libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size) { libmv::Feature feature= libmv_features->features[number]; @@ -804,7 +819,7 @@ void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *size = feature.size; } -void libmv_destroyFeatures(struct libmv_Features *libmv_features) +void libmv_destroyFeatures(libmv_Features *libmv_features) { 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 */ |