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path: root/extern/libmv/patches/scaled_distortion.patch
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Diffstat (limited to 'extern/libmv/patches/scaled_distortion.patch')
-rw-r--r--extern/libmv/patches/scaled_distortion.patch261
1 files changed, 261 insertions, 0 deletions
diff --git a/extern/libmv/patches/scaled_distortion.patch b/extern/libmv/patches/scaled_distortion.patch
new file mode 100644
index 00000000000..2da832931d1
--- /dev/null
+++ b/extern/libmv/patches/scaled_distortion.patch
@@ -0,0 +1,261 @@
+diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc
+index f9888ff..110a16d 100644
+--- a/src/libmv/simple_pipeline/camera_intrinsics.cc
++++ b/src/libmv/simple_pipeline/camera_intrinsics.cc
+@@ -23,7 +23,32 @@
+
+ namespace libmv {
+
+-struct Offset { signed char ix,iy; unsigned char fx,fy; };
++struct Offset {
++ signed char ix, iy;
++ unsigned char fx,fy;
++};
++
++struct Grid {
++ struct Offset *offset;
++ int width, height;
++};
++
++static struct Grid *copyGrid(struct Grid *from)
++{
++ struct Grid *to = NULL;
++
++ if (from) {
++ to = new Grid;
++
++ to->width = from->width;
++ to->height = from->height;
++
++ to->offset = new Offset[to->width*to->height];
++ memcpy(to->offset, from->offset, sizeof(struct Offset)*to->width*to->height);
++ }
++
++ return to;
++}
+
+ CameraIntrinsics::CameraIntrinsics()
+ : K_(Mat3::Identity()),
+@@ -37,9 +62,22 @@ CameraIntrinsics::CameraIntrinsics()
+ distort_(0),
+ undistort_(0) {}
+
++CameraIntrinsics::CameraIntrinsics(const CameraIntrinsics &from)
++ : K_(from.K_),
++ image_width_(from.image_width_),
++ image_height_(from.image_height_),
++ k1_(from.k1_),
++ k2_(from.k2_),
++ k3_(from.k3_),
++ p1_(from.p1_),
++ p2_(from.p2_)
++{
++ distort_ = copyGrid(from.distort_);
++ undistort_ = copyGrid(from.undistort_);
++}
++
+ CameraIntrinsics::~CameraIntrinsics() {
+- if(distort_) delete[] distort_;
+- if(undistort_) delete[] undistort_;
++ FreeLookupGrid();
+ }
+
+ /// Set the entire calibration matrix at once.
+@@ -146,11 +184,17 @@ void CameraIntrinsics::InvertIntrinsics(double image_x,
+
+ // TODO(MatthiasF): downsample lookup
+ template<typename WarpFunction>
+-void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
++void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height) {
++ double aspx = (double)width / image_width_;
++ double aspy = (double)height / image_height_;
++
+ for (int y = 0; y < height; y++) {
+ for (int x = 0; x < width; x++) {
++ double src_x = x / aspx, src_y = y / aspy;
+ double warp_x, warp_y;
+- WarpFunction(this,x,y,&warp_x,&warp_y);
++ WarpFunction(this,src_x,src_y,&warp_x,&warp_y);
++ warp_x = warp_x*aspx;
++ warp_y = warp_y*aspy;
+ int ix = int(warp_x), iy = int(warp_y);
+ int fx = round((warp_x-ix)*256), fy = round((warp_y-iy)*256);
+ if(fx == 256) { fx=0; ix++; }
+@@ -162,10 +206,10 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
+ if( iy >= height-2 ) iy = height-2;
+ if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) {
+ Offset offset = { ix-x, iy-y, fx, fy };
+- grid[y*width+x] = offset;
++ grid->offset[y*width+x] = offset;
+ } else {
+ Offset offset = { 0, 0, 0, 0 };
+- grid[y*width+x] = offset;
++ grid->offset[y*width+x] = offset;
+ }
+ }
+ }
+@@ -173,11 +217,11 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
+
+ // TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup
+ template<typename T,int N>
+-static void Warp(const Offset* grid, const T* src, T* dst,
++static void Warp(const Grid* grid, const T* src, T* dst,
+ int width, int height) {
+ for (int y = 0; y < height; y++) {
+ for (int x = 0; x < width; x++) {
+- Offset offset = grid[y*width+x];
++ Offset offset = grid->offset[y*width+x];
+ const T* s = &src[((y+offset.iy)*width+(x+offset.ix))*N];
+ for (int i = 0; i < N; i++) {
+ dst[(y*width+x)*N+i] = ((s[ i] * (256-offset.fx) + s[ N+i] * offset.fx) * (256-offset.fy)
+@@ -188,8 +232,17 @@ static void Warp(const Offset* grid, const T* src, T* dst,
+ }
+
+ void CameraIntrinsics::FreeLookupGrid() {
+- if(distort_) delete distort_, distort_=0;
+- if(undistort_) delete undistort_, undistort_=0;
++ if(distort_) {
++ delete distort_->offset;
++ delete distort_;
++ distort_ = NULL;
++ }
++
++ if(undistort_) {
++ delete undistort_->offset;
++ delete undistort_;
++ undistort_ = NULL;
++ }
+ }
+
+ // FIXME: C++ templates limitations makes thing complicated, but maybe there is a simpler method.
+@@ -211,11 +264,50 @@ struct InvertIntrinsicsFunction {
+ }
+ };
+
+-void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) {
+- if(!distort_) {
+- distort_ = new Offset[width*height];
+- ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
++void CameraIntrinsics::CheckDistortLookupGrid(int width, int height)
++{
++ if(distort_) {
++ if(distort_->width != width || distort_->height != height) {
++ delete [] distort_->offset;
++ distort_->offset = NULL;
++ }
++ } else {
++ distort_ = new Grid;
++ distort_->offset = NULL;
++ }
++
++ if(!distort_->offset) {
++ distort_->offset = new Offset[width*height];
++ ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
+ }
++
++ distort_->width = width;
++ distort_->height = height;
++}
++
++void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height)
++{
++ if(undistort_) {
++ if(undistort_->width != width || undistort_->height != height) {
++ delete [] undistort_->offset;
++ undistort_->offset = NULL;
++ }
++ } else {
++ undistort_ = new Grid;
++ undistort_->offset = NULL;
++ }
++
++ if(!undistort_->offset) {
++ undistort_->offset = new Offset[width*height];
++ ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
++ }
++
++ undistort_->width = width;
++ undistort_->height = height;
++}
++
++void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) {
++ CheckDistortLookupGrid(width, height);
+ if(channels==1) Warp<float,1>(distort_,src,dst,width,height);
+ else if(channels==2) Warp<float,2>(distort_,src,dst,width,height);
+ else if(channels==3) Warp<float,3>(distort_,src,dst,width,height);
+@@ -224,10 +316,7 @@ void CameraIntrinsics::Distort(const float* src, float* dst, int width, int heig
+ }
+
+ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
+- if(!distort_) {
+- distort_ = new Offset[width*height];
+- ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
+- }
++ CheckDistortLookupGrid(width, height);
+ if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height);
+ else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height);
+ else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height);
+@@ -236,10 +325,7 @@ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int
+ }
+
+ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, int channels) {
+- if(!undistort_) {
+- undistort_ = new Offset[width*height];
+- ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
+- }
++ CheckUndistortLookupGrid(width, height);
+ if(channels==1) Warp<float,1>(undistort_,src,dst,width,height);
+ else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height);
+ else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height);
+@@ -248,10 +334,7 @@ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int he
+ }
+
+ void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
+- if(!undistort_) {
+- undistort_ = new Offset[width*height];
+- ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
+- }
++ CheckUndistortLookupGrid(width, height);
+ if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height);
+ else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height);
+ else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height);
+diff --git a/src/libmv/simple_pipeline/camera_intrinsics.h b/src/libmv/simple_pipeline/camera_intrinsics.h
+index 29bc8a1..f525571 100644
+--- a/src/libmv/simple_pipeline/camera_intrinsics.h
++++ b/src/libmv/simple_pipeline/camera_intrinsics.h
+@@ -26,11 +26,12 @@ typedef Eigen::Matrix<double, 3, 3> Mat3;
+
+ namespace libmv {
+
+-struct Offset;
++struct Grid;
+
+ class CameraIntrinsics {
+ public:
+ CameraIntrinsics();
++ CameraIntrinsics(const CameraIntrinsics &from);
+ ~CameraIntrinsics();
+
+ const Mat3 &K() const { return K_; }
+@@ -123,7 +124,9 @@ class CameraIntrinsics {
+ int width, int height, int channels);
+
+ private:
+- template<typename WarpFunction> void ComputeLookupGrid(Offset* grid, int width, int height);
++ template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height);
++ void CheckUndistortLookupGrid(int width, int height);
++ void CheckDistortLookupGrid(int width, int height);
+ void FreeLookupGrid();
+
+ // The traditional intrinsics matrix from x = K[R|t]X.
+@@ -140,8 +143,8 @@ class CameraIntrinsics {
+ // independent of image size.
+ double k1_, k2_, k3_, p1_, p2_;
+
+- Offset* distort_;
+- Offset* undistort_;
++ struct Grid *distort_;
++ struct Grid *undistort_;
+ };
+
+ } // namespace libmv
generated by cgit v1.2.3 (git 2.25.1) at 2024-08-07 13:46:51 +0300