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-rw-r--r--extern/libmv/libmv-util.cc309
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diff --git a/extern/libmv/libmv-util.cc b/extern/libmv/libmv-util.cc
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-/*
- * ***** 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) 2014 Blender Foundation.
- * All rights reserved.
- *
- * Contributor(s): Blender Foundation,
- * Sergey Sharybin
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-#include "libmv-util.h"
-#include "libmv-capi_intern.h"
-
-#include <cassert>
-#include <png.h>
-
-using libmv::CameraIntrinsics;
-using libmv::DivisionCameraIntrinsics;
-using libmv::EuclideanCamera;
-using libmv::EuclideanPoint;
-using libmv::FloatImage;
-using libmv::Marker;
-using libmv::PolynomialCameraIntrinsics;
-using libmv::Tracks;
-
-/* Image <-> buffers conversion */
-
-void libmv_byteBufferToImage(const unsigned char *buf,
- int width, int height, int channels,
- FloatImage *image)
-{
- int x, y, k, a = 0;
-
- image->Resize(height, width, channels);
-
- for (y = 0; y < height; y++) {
- for (x = 0; x < width; x++) {
- for (k = 0; k < channels; k++) {
- (*image)(y, x, k) = (float)buf[a++] / 255.0f;
- }
- }
- }
-}
-
-void libmv_floatBufferToImage(const float *buf,
- int width, int height, int channels,
- FloatImage *image)
-{
- image->Resize(height, width, channels);
-
- for (int y = 0, a = 0; y < height; y++) {
- for (int x = 0; x < width; x++) {
- for (int k = 0; k < channels; k++) {
- (*image)(y, x, k) = buf[a++];
- }
- }
- }
-}
-
-void libmv_imageToFloatBuffer(const FloatImage &image,
- float *buf)
-{
- for (int y = 0, a = 0; y < image.Height(); y++) {
- for (int x = 0; x < image.Width(); x++) {
- for (int k = 0; k < image.Depth(); k++) {
- buf[a++] = image(y, x, k);
- }
- }
- }
-}
-
-void libmv_imageToByteBuffer(const libmv::FloatImage &image,
- unsigned char *buf)
-{
- for (int y = 0, a= 0; y < image.Height(); y++) {
- for (int x = 0; x < image.Width(); x++) {
- for (int k = 0; k < image.Depth(); k++) {
- buf[a++] = image(y, x, k) * 255.0f;
- }
- }
- }
-}
-
-/* Debugging */
-
-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;
- FILE *fp = fopen(file_name, "wb");
-
- if (!fp) {
- return;
- }
-
- /* Initialize stuff */
- png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
- info_ptr = png_create_info_struct(png_ptr);
-
- if (setjmp(png_jmpbuf(png_ptr))) {
- fclose(fp);
- return;
- }
-
- png_init_io(png_ptr, fp);
-
- /* write header */
- if (setjmp(png_jmpbuf(png_ptr))) {
- fclose(fp);
- return;
- }
-
- png_set_IHDR(png_ptr, info_ptr,
- width, height, depth, color_type,
- PNG_INTERLACE_NONE,
- PNG_COMPRESSION_TYPE_BASE,
- PNG_FILTER_TYPE_BASE);
-
- png_write_info(png_ptr, info_ptr);
-
- /* write bytes */
- if (setjmp(png_jmpbuf(png_ptr))) {
- fclose(fp);
- return;
- }
-
- png_write_image(png_ptr, row_pointers);
-
- /* end write */
- if (setjmp(png_jmpbuf(png_ptr))) {
- fclose(fp);
- return;
- }
-
- png_write_end(png_ptr, NULL);
-
- fclose(fp);
-}
-
-void libmv_saveImage(const FloatImage &image,
- const char *prefix,
- int x0, int y0)
-{
- int x, y;
- png_bytep *row_pointers;
-
- assert(image.Depth() == 1);
-
- row_pointers = new png_bytep[image.Height()];
-
- for (y = 0; y < image.Height(); y++) {
- row_pointers[y] = new png_byte[4 * image.Width()];
-
- for (x = 0; x < image.Width(); x++) {
- if (x0 == x && image.Height() - y0 - 1 == y) {
- row_pointers[y][x * 4 + 0] = 255;
- row_pointers[y][x * 4 + 1] = 0;
- row_pointers[y][x * 4 + 2] = 0;
- row_pointers[y][x * 4 + 3] = 255;
- }
- else {
- float pixel = image(image.Height() - y - 1, x, 0);
- row_pointers[y][x * 4 + 0] = pixel * 255;
- row_pointers[y][x * 4 + 1] = pixel * 255;
- row_pointers[y][x * 4 + 2] = pixel * 255;
- row_pointers[y][x * 4 + 3] = 255;
- }
- }
- }
-
- {
- static int a = 0;
- char buf[128];
- snprintf(buf, sizeof(buf), "%s_%02d.png", prefix, ++a);
- savePNGImage(row_pointers,
- image.Width(), image.Height(), 8,
- PNG_COLOR_TYPE_RGBA,
- buf);
- }
-
- for (y = 0; y < image.Height(); y++) {
- delete [] row_pointers[y];
- }
- delete [] row_pointers;
-}
-
-/* Camera intrinsics utility functions */
-
-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;
-}
-
-/* Reconstruction utilities */
-
-void libmv_getNormalizedTracks(const Tracks &tracks,
- const CameraIntrinsics &camera_intrinsics,
- Tracks *normalized_tracks)
-{
- libmv::vector<Marker> markers = tracks.AllMarkers();
-
- for (int i = 0; i < markers.size(); ++i) {
- Marker &marker = markers[i];
- camera_intrinsics.InvertIntrinsics(marker.x, marker.y,
- &marker.x, &marker.y);
- normalized_tracks->Insert(marker.image, marker.track,
- marker.x, marker.y,
- marker.weight);
- }
-}
-
-Marker libmv_projectMarker(const EuclideanPoint &point,
- const EuclideanCamera &camera,
- const CameraIntrinsics &intrinsics)
-{
- libmv::Vec3 projected = camera.R * point.X + camera.t;
- projected /= projected(2);
-
- libmv::Marker reprojected_marker;
- intrinsics.ApplyIntrinsics(projected(0), projected(1),
- &reprojected_marker.x,
- &reprojected_marker.y);
-
- reprojected_marker.image = camera.image;
- reprojected_marker.track = point.track;
-
- return reprojected_marker;
-}
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