diff options
Diffstat (limited to 'extern/libmv/libmv-capi.cpp')
| -rw-r--r-- | extern/libmv/libmv-capi.cpp | 79 |
1 files changed, 62 insertions, 17 deletions
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp index e4708e5907d..6c20d76eeac 100644 --- a/extern/libmv/libmv-capi.cpp +++ b/extern/libmv/libmv-capi.cpp @@ -54,6 +54,7 @@ #include "libmv/simple_pipeline/pipeline.h" #include "libmv/simple_pipeline/camera_intrinsics.h" #include "libmv/simple_pipeline/rigid_registration.h" +#include "libmv/simple_pipeline/modal_solver.h" #include <stdlib.h> #include <assert.h> @@ -384,6 +385,31 @@ int libmv_refineParametersAreValid(int parameters) { LIBMV_REFINE_RADIAL_DISTORTION_K1)); } +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) +{ + /* only a few combinations are supported but trust the caller */ + int libmv_refine_flags = 0; + + if (refine_intrinsics & LIBMV_REFINE_FOCAL_LENGTH) { + libmv_refine_flags |= libmv::BUNDLE_FOCAL_LENGTH; + } + if (refine_intrinsics & LIBMV_REFINE_PRINCIPAL_POINT) { + libmv_refine_flags |= libmv::BUNDLE_PRINCIPAL_POINT; + } + if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K1) { + libmv_refine_flags |= libmv::BUNDLE_RADIAL_K1; + } + if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K2) { + libmv_refine_flags |= libmv::BUNDLE_RADIAL_K2; + } + + progress_update_callback(callback_customdata, 1.0, "Refining solution"); + + libmv::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks, libmv_refine_flags, + reconstruction, intrinsics); +} libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyframe1, int keyframe2, int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3, @@ -423,26 +449,45 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyfra libmv::EuclideanCompleteReconstruction(normalized_tracks, reconstruction, &update_callback); if (refine_intrinsics) { - /* only a few combinations are supported but trust the caller */ - int libmv_refine_flags = 0; - if (refine_intrinsics & LIBMV_REFINE_FOCAL_LENGTH) { - libmv_refine_flags |= libmv::BUNDLE_FOCAL_LENGTH; - } - if (refine_intrinsics & LIBMV_REFINE_PRINCIPAL_POINT) { - libmv_refine_flags |= libmv::BUNDLE_PRINCIPAL_POINT; - } - if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K1) { - libmv_refine_flags |= libmv::BUNDLE_RADIAL_K1; - } - if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K2) { - libmv_refine_flags |= libmv::BUNDLE_RADIAL_K2; - } + libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, intrinsics, reconstruction, + refine_intrinsics, progress_update_callback, callback_customdata); + } - progress_update_callback(callback_customdata, 1.0, "Refining solution"); - libmv::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks, libmv_refine_flags, - reconstruction, intrinsics); + progress_update_callback(callback_customdata, 1.0, "Finishing solution"); + libmv_reconstruction->tracks = *(libmv::Tracks *)tracks; + libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics); + + return (libmv_Reconstruction *)libmv_reconstruction; +} + +struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *tracks, double focal_length, + double principal_x, double principal_y, double k1, double k2, double k3, + reconstruct_progress_update_cb progress_update_callback, void *callback_customdata) +{ + /* Invert the camera intrinsics. */ + libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers(); + libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction(); + libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; + libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics; + + ReconstructUpdateCallback update_callback = + ReconstructUpdateCallback(progress_update_callback, callback_customdata); + + intrinsics->SetFocalLength(focal_length, focal_length); + intrinsics->SetPrincipalPoint(principal_x, principal_y); + intrinsics->SetRadialDistortion(k1, k2, k3); + + for (int i = 0; i < markers.size(); ++i) { + intrinsics->InvertIntrinsics(markers[i].x, + markers[i].y, + &(markers[i].x), + &(markers[i].y)); } + libmv::Tracks normalized_tracks(markers); + + libmv::ModalSolver(normalized_tracks, reconstruction, &update_callback); + progress_update_callback(callback_customdata, 1.0, "Finishing solution"); libmv_reconstruction->tracks = *(libmv::Tracks *)tracks; libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics); |