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Diffstat (limited to 'extern/libmv/libmv/simple_pipeline/distortion_models.h')
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/distortion_models.h | 131 |
1 files changed, 0 insertions, 131 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/distortion_models.h b/extern/libmv/libmv/simple_pipeline/distortion_models.h deleted file mode 100644 index 4f8e2295a0e..00000000000 --- a/extern/libmv/libmv/simple_pipeline/distortion_models.h +++ /dev/null @@ -1,131 +0,0 @@ -// Copyright (c) 2014 libmv authors. -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to -// deal in the Software without restriction, including without limitation the -// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or -// sell copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in -// all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS -// IN THE SOFTWARE. - -#ifndef LIBMV_SIMPLE_PIPELINE_DISTORTION_MODELS_H_ -#define LIBMV_SIMPLE_PIPELINE_DISTORTION_MODELS_H_ - -namespace libmv { - -enum DistortionModelType { - DISTORTION_MODEL_POLYNOMIAL, - DISTORTION_MODEL_DIVISION -}; - -// Invert camera intrinsics on the image point to get normalized coordinates. -// This inverts the radial lens distortion to a point which is in image pixel -// coordinates to get normalized coordinates. -void InvertPolynomialDistortionModel(const double focal_length_x, - const double focal_length_y, - const double principal_point_x, - const double principal_point_y, - const double k1, - const double k2, - const double k3, - const double p1, - const double p2, - const double image_x, - const double image_y, - double *normalized_x, - double *normalized_y); - -// Apply camera intrinsics to the normalized point to get image coordinates. -// This applies the radial lens distortion to a point which is in normalized -// camera coordinates (i.e. the principal point is at (0, 0)) to get image -// coordinates in pixels. Templated for use with autodifferentiation. -template <typename T> -inline void ApplyPolynomialDistortionModel(const T &focal_length_x, - const T &focal_length_y, - const T &principal_point_x, - const T &principal_point_y, - const T &k1, - const T &k2, - const T &k3, - const T &p1, - const T &p2, - const T &normalized_x, - const T &normalized_y, - T *image_x, - T *image_y) { - T x = normalized_x; - T y = normalized_y; - - // Apply distortion to the normalized points to get (xd, yd). - T r2 = x*x + y*y; - T r4 = r2 * r2; - T r6 = r4 * r2; - T r_coeff = (T(1) + k1*r2 + k2*r4 + k3*r6); - T xd = x * r_coeff + T(2)*p1*x*y + p2*(r2 + T(2)*x*x); - T yd = y * r_coeff + T(2)*p2*x*y + p1*(r2 + T(2)*y*y); - - // Apply focal length and principal point to get the final image coordinates. - *image_x = focal_length_x * xd + principal_point_x; - *image_y = focal_length_y * yd + principal_point_y; -} - -// Invert camera intrinsics on the image point to get normalized coordinates. -// This inverts the radial lens distortion to a point which is in image pixel -// coordinates to get normalized coordinates. -// -// Uses division distortion model. -void InvertDivisionDistortionModel(const double focal_length_x, - const double focal_length_y, - const double principal_point_x, - const double principal_point_y, - const double k1, - const double k2, - const double image_x, - const double image_y, - double *normalized_x, - double *normalized_y); - -// Apply camera intrinsics to the normalized point to get image coordinates. -// This applies the radial lens distortion to a point which is in normalized -// camera coordinates (i.e. the principal point is at (0, 0)) to get image -// coordinates in pixels. Templated for use with autodifferentiation. -// -// Uses division distortion model. -template <typename T> -inline void ApplyDivisionDistortionModel(const T &focal_length_x, - const T &focal_length_y, - const T &principal_point_x, - const T &principal_point_y, - const T &k1, - const T &k2, - const T &normalized_x, - const T &normalized_y, - T *image_x, - T *image_y) { - - T x = normalized_x; - T y = normalized_y; - T r2 = x*x + y*y; - T r4 = r2 * r2; - - T xd = x / (T(1) + k1 * r2 + k2 * r4); - T yd = y / (T(1) + k1 * r2 + k2 * r4); - - // Apply focal length and principal point to get the final image coordinates. - *image_x = focal_length_x * xd + principal_point_x; - *image_y = focal_length_y * yd + principal_point_y; -} - -} // namespace libmv - -#endif // LIBMV_SIMPLE_PIPELINE_DISTORTION_MODELS_H_ |