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Diffstat (limited to 'extern/libmv/libmv/simple_pipeline/reconstruction.cc')
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/reconstruction.cc | 191 |
1 files changed, 191 insertions, 0 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/reconstruction.cc b/extern/libmv/libmv/simple_pipeline/reconstruction.cc new file mode 100644 index 00000000000..65e5dd27d5d --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/reconstruction.cc @@ -0,0 +1,191 @@ +// Copyright (c) 2011 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. + +#include "libmv/simple_pipeline/reconstruction.h" +#include "libmv/numeric/numeric.h" +#include "libmv/logging/logging.h" + +namespace libmv { + +EuclideanReconstruction::EuclideanReconstruction() {} +EuclideanReconstruction::EuclideanReconstruction( + const EuclideanReconstruction &other) { + cameras_ = other.cameras_; + points_ = other.points_; +} + +EuclideanReconstruction &EuclideanReconstruction::operator=( + const EuclideanReconstruction &other) { + if (&other != this) { + cameras_ = other.cameras_; + points_ = other.points_; + } + return *this; +} + +void EuclideanReconstruction::InsertCamera(int image, + const Mat3 &R, + const Vec3 &t) { + LG << "InsertCamera " << image << ":\nR:\n"<< R << "\nt:\n" << t; + if (image >= cameras_.size()) { + cameras_.resize(image + 1); + } + cameras_[image].image = image; + cameras_[image].R = R; + cameras_[image].t = t; +} + +void EuclideanReconstruction::InsertPoint(int track, const Vec3 &X) { + LG << "InsertPoint " << track << ":\n" << X; + if (track >= points_.size()) { + points_.resize(track + 1); + } + points_[track].track = track; + points_[track].X = X; +} + +EuclideanCamera *EuclideanReconstruction::CameraForImage(int image) { + return const_cast<EuclideanCamera *>( + static_cast<const EuclideanReconstruction *>( + this)->CameraForImage(image)); +} + +const EuclideanCamera *EuclideanReconstruction::CameraForImage( + int image) const { + if (image < 0 || image >= cameras_.size()) { + return NULL; + } + const EuclideanCamera *camera = &cameras_[image]; + if (camera->image == -1) { + return NULL; + } + return camera; +} + +vector<EuclideanCamera> EuclideanReconstruction::AllCameras() const { + vector<EuclideanCamera> cameras; + for (int i = 0; i < cameras_.size(); ++i) { + if (cameras_[i].image != -1) { + cameras.push_back(cameras_[i]); + } + } + return cameras; +} + +EuclideanPoint *EuclideanReconstruction::PointForTrack(int track) { + return const_cast<EuclideanPoint *>( + static_cast<const EuclideanReconstruction *>(this)->PointForTrack(track)); +} + +const EuclideanPoint *EuclideanReconstruction::PointForTrack(int track) const { + if (track < 0 || track >= points_.size()) { + return NULL; + } + const EuclideanPoint *point = &points_[track]; + if (point->track == -1) { + return NULL; + } + return point; +} + +vector<EuclideanPoint> EuclideanReconstruction::AllPoints() const { + vector<EuclideanPoint> points; + for (int i = 0; i < points_.size(); ++i) { + if (points_[i].track != -1) { + points.push_back(points_[i]); + } + } + return points; +} + +void ProjectiveReconstruction::InsertCamera(int image, + const Mat34 &P) { + LG << "InsertCamera " << image << ":\nP:\n"<< P; + if (image >= cameras_.size()) { + cameras_.resize(image + 1); + } + cameras_[image].image = image; + cameras_[image].P = P; +} + +void ProjectiveReconstruction::InsertPoint(int track, const Vec4 &X) { + LG << "InsertPoint " << track << ":\n" << X; + if (track >= points_.size()) { + points_.resize(track + 1); + } + points_[track].track = track; + points_[track].X = X; +} + +ProjectiveCamera *ProjectiveReconstruction::CameraForImage(int image) { + return const_cast<ProjectiveCamera *>( + static_cast<const ProjectiveReconstruction *>( + this)->CameraForImage(image)); +} + +const ProjectiveCamera *ProjectiveReconstruction::CameraForImage( + int image) const { + if (image < 0 || image >= cameras_.size()) { + return NULL; + } + const ProjectiveCamera *camera = &cameras_[image]; + if (camera->image == -1) { + return NULL; + } + return camera; +} + +vector<ProjectiveCamera> ProjectiveReconstruction::AllCameras() const { + vector<ProjectiveCamera> cameras; + for (int i = 0; i < cameras_.size(); ++i) { + if (cameras_[i].image != -1) { + cameras.push_back(cameras_[i]); + } + } + return cameras; +} + +ProjectivePoint *ProjectiveReconstruction::PointForTrack(int track) { + return const_cast<ProjectivePoint *>( + static_cast<const ProjectiveReconstruction *>(this)->PointForTrack(track)); +} + +const ProjectivePoint *ProjectiveReconstruction::PointForTrack(int track) const { + if (track < 0 || track >= points_.size()) { + return NULL; + } + const ProjectivePoint *point = &points_[track]; + if (point->track == -1) { + return NULL; + } + return point; +} + +vector<ProjectivePoint> ProjectiveReconstruction::AllPoints() const { + vector<ProjectivePoint> points; + for (int i = 0; i < points_.size(); ++i) { + if (points_[i].track != -1) { + points.push_back(points_[i]); + } + } + return points; +} + +} // namespace libmv |