diff options
Diffstat (limited to 'extern/libmv/libmv-capi.cpp')
| -rw-r--r-- | extern/libmv/libmv-capi.cpp | 99 |
1 files changed, 70 insertions, 29 deletions
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp index 1835c53b53f..e4708e5907d 100644 --- a/extern/libmv/libmv-capi.cpp +++ b/extern/libmv/libmv-capi.cpp @@ -30,11 +30,14 @@ #include "libmv-capi.h" +#include "third_party/gflags/gflags/gflags.h" #include "glog/logging.h" #include "libmv/logging/logging.h" #include "Math/v3d_optimization.h" +#include "libmv/numeric/numeric.h" + #include "libmv/tracking/esm_region_tracker.h" #include "libmv/tracking/brute_region_tracker.h" #include "libmv/tracking/hybrid_region_tracker.h" @@ -43,8 +46,6 @@ #include "libmv/tracking/lmicklt_region_tracker.h" #include "libmv/tracking/pyramid_region_tracker.h" -#include "libmv/tracking/sad.h" - #include "libmv/simple_pipeline/callbacks.h" #include "libmv/simple_pipeline/tracks.h" #include "libmv/simple_pipeline/initialize_reconstruction.h" @@ -52,6 +53,7 @@ #include "libmv/simple_pipeline/detect.h" #include "libmv/simple_pipeline/pipeline.h" #include "libmv/simple_pipeline/camera_intrinsics.h" +#include "libmv/simple_pipeline/rigid_registration.h" #include <stdlib.h> #include <assert.h> @@ -136,12 +138,25 @@ libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_w libmv::BruteRegionTracker *brute_region_tracker = new libmv::BruteRegionTracker; brute_region_tracker->half_window_size = half_window_size; + /* do not use correlation check for brute checker itself, + * this check will happen in esm tracker */ + brute_region_tracker->minimum_correlation = 0.0; + libmv::HybridRegionTracker *hybrid_region_tracker = new libmv::HybridRegionTracker(brute_region_tracker, esm_region_tracker); return (libmv_RegionTracker *)hybrid_region_tracker; } +libmv_RegionTracker *libmv_bruteRegionTrackerNew(int half_window_size, double minimum_correlation) +{ + libmv::BruteRegionTracker *brute_region_tracker = new libmv::BruteRegionTracker; + brute_region_tracker->half_window_size = half_window_size; + brute_region_tracker->minimum_correlation = minimum_correlation; + + return (libmv_RegionTracker *)brute_region_tracker; +} + static void floatBufToImage(const float *buf, int width, int height, libmv::FloatImage *image) { int x, y, a = 0; @@ -315,33 +330,6 @@ void libmv_regionTrackerDestroy(libmv_RegionTracker *libmv_tracker) /* ************ Tracks ************ */ -void libmv_SADSamplePattern(unsigned char *image, int stride, - float warp[3][2], unsigned char *pattern, int pattern_size) -{ - libmv::mat32 mat32; - - memcpy(mat32.data, warp, sizeof(float)*3*2); - - libmv::SamplePattern(image, stride, mat32, pattern, pattern_size); -} - -float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, int pattern_size, unsigned char *image, int stride, - int width, int height, float warp[3][2]) -{ - float result; - libmv::mat32 mat32; - - memcpy(mat32.data, warp, sizeof(float)*3*2); - - result = libmv::Track(pattern, warped, pattern_size, image, stride, width, height, &mat32, 16, 16); - - memcpy(warp, mat32.data, sizeof(float)*3*2); - - return result; -} - -/* ************ Tracks ************ */ - libmv_Tracks *libmv_tracksNew(void) { libmv::Tracks *libmv_tracks = new libmv::Tracks(); @@ -853,3 +841,56 @@ void libmv_InvertIntrinsics(double focal_length, double principal_x, double prin intrinsics.InvertIntrinsics(x, y, x1, y1); } } + +/* ************ point clouds ************ */ + +void libmvTransformToMat4(libmv::Mat3 &R, libmv::Vec3 &S, libmv::Vec3 &t, double M[4][4]) +{ + for (int j = 0; j < 3; ++j) + for (int k = 0; k < 3; ++k) + M[j][k] = R(k, j) * S(j); + + for (int i = 0; i < 3; ++i) { + M[3][0] = t(0); + M[3][1] = t(1); + M[3][2] = t(2); + + M[0][3] = M[1][3] = M[2][3] = 0; + } + + M[3][3] = 1.0; +} + +void libmv_rigidRegistration(float (*reference_points)[3], float (*points)[3], int total_points, + int use_scale, int use_translation, double M[4][4]) +{ + libmv::Mat3 R; + libmv::Vec3 S; + libmv::Vec3 t; + libmv::vector<libmv::Vec3> reference_points_vector, points_vector; + + for (int i = 0; i < total_points; i++) { + reference_points_vector.push_back(libmv::Vec3(reference_points[i][0], + reference_points[i][1], + reference_points[i][2])); + + points_vector.push_back(libmv::Vec3(points[i][0], + points[i][1], + points[i][2])); + } + + if (use_scale && use_translation) { + libmv::RigidRegistration(reference_points_vector, points_vector, R, S, t); + } + else if (use_translation) { + S = libmv::Vec3(1.0, 1.0, 1.0); + libmv::RigidRegistration(reference_points_vector, points_vector, R, t); + } + else { + S = libmv::Vec3(1.0, 1.0, 1.0); + t = libmv::Vec3::Zero(); + libmv::RigidRegistration(reference_points_vector, points_vector, R); + } + + libmvTransformToMat4(R, S, t, M); +} |