diff options
Diffstat (limited to 'extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.cpp')
| -rw-r--r-- | extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.cpp | 40 |
1 files changed, 40 insertions, 0 deletions
diff --git a/extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.cpp b/extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.cpp index 1c1f0cb2627..7eb2dfac5d9 100644 --- a/extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.cpp +++ b/extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.cpp @@ -158,6 +158,31 @@ namespace V3D switch (_mode) { + case FULL_BUNDLE_FOCAL_AND_RADIAL_K1: + { + // Focal length. + Ck[0][0] = xd[0]; + Ck[1][0] = xd[1]; + + // For radial, k1 only. + Matrix2x2d dxd_dk1k2 = _distortion.derivativeWrtRadialParameters(xu); + Matrix2x2d d_dk1k2 = dp_dxd * dxd_dk1k2; + Ck[0][1] = d_dk1k2[0][0]; + Ck[1][1] = d_dk1k2[1][0]; + break; + } + case FULL_BUNDLE_FOCAL_AND_RADIAL: + { + // Focal length. + Ck[0][0] = xd[0]; + Ck[1][0] = xd[1]; + + // Radial k1 and k2. + Matrix2x2d dxd_dk1k2 = _distortion.derivativeWrtRadialParameters(xu); + Matrix2x2d d_dk1k2 = dp_dxd * dxd_dk1k2; + copyMatrixSlice(d_dk1k2, 0, 0, 2, 2, Ck, 0, 1); + break; + } case FULL_BUNDLE_RADIAL_TANGENTIAL: { Matrix2x2d dxd_dp1p2 = _distortion.derivativeWrtTangentialParameters(xu); @@ -194,6 +219,21 @@ namespace V3D { switch (_mode) { + case FULL_BUNDLE_FOCAL_AND_RADIAL_K1: + { + _K[0][0] += deltaC[0]; + _K[1][1] = _cachedAspectRatio * _K[0][0]; + _distortion.k1 += deltaC[1]; + break; + } + case FULL_BUNDLE_FOCAL_AND_RADIAL: + { + _K[0][0] += deltaC[0]; + _K[1][1] = _cachedAspectRatio * _K[0][0]; + _distortion.k1 += deltaC[1]; + _distortion.k2 += deltaC[2]; + break; + } case FULL_BUNDLE_RADIAL_TANGENTIAL: { _distortion.p1 += deltaC[5]; |