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diff --git a/extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.h b/extern/libmv/third_party/ssba/Geometry/v3d_metricbundle.h
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-// -*- C++ -*-
-/*
-Copyright (c) 2008 University of North Carolina at Chapel Hill
-
-This file is part of SSBA (Simple Sparse Bundle Adjustment).
-
-SSBA is free software: you can redistribute it and/or modify it under the
-terms of the GNU Lesser General Public License as published by the Free
-Software Foundation, either version 3 of the License, or (at your option) any
-later version.
-
-SSBA 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 Lesser General Public License for more
-details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with SSBA. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef V3D_METRICBUNDLE_H
-#define V3D_METRICBUNDLE_H
-
-# if defined(V3DLIB_ENABLE_SUITESPARSE)
-
-#include "Math/v3d_optimization.h"
-#include "Math/v3d_linear.h"
-#include "Math/v3d_linear_utils.h"
-#include "Geometry/v3d_cameramatrix.h"
-#include "Geometry/v3d_distortion.h"
-
-namespace V3D
-{
-
- // This structure provides some helper functions common to all metric BAs
- struct MetricBundleOptimizerBase : public SparseLevenbergOptimizer
- {
- typedef SparseLevenbergOptimizer Base;
-
- MetricBundleOptimizerBase(double inlierThreshold,
- vector<CameraMatrix>& cams,
- vector<Vector3d >& Xs,
- vector<Vector2d > const& measurements,
- vector<int> const& corrspondingView,
- vector<int> const& corrspondingPoint,
- int nAddParamsA, int nParamsC)
- : SparseLevenbergOptimizer(2, cams.size(), 6+nAddParamsA, Xs.size(), 3, nParamsC,
- corrspondingView, corrspondingPoint),
- _cams(cams), _Xs(Xs), _measurements(measurements),
- _savedTranslations(cams.size()), _savedRotations(cams.size()),
- _savedXs(Xs.size()),
- _inlierThreshold(inlierThreshold), _cachedParamLength(0.0)
- {
- // Since we assume that BA does not alter the inputs too much,
- // we compute the overall length of the parameter vector in advance
- // and return that value as the result of getParameterLength().
- for (int i = _nNonvaryingA; i < _nParametersA; ++i)
- {
- _cachedParamLength += sqrNorm_L2(_cams[i].getTranslation());
- _cachedParamLength += 3.0; // Assume eye(3) for R.
- }
- for (int j = _nNonvaryingB; j < _nParametersB; ++j)
- _cachedParamLength += sqrNorm_L2(_Xs[j]);
-
- _cachedParamLength = sqrt(_cachedParamLength);
- }
-
- // Huber robust cost function.
- virtual void fillWeights(VectorArray<double> const& residual, Vector<double>& w)
- {
- for (unsigned int k = 0; k < w.size(); ++k)
- {
- Vector<double> const& r = residual[k];
- double const e = norm_L2(r);
- w[k] = (e < _inlierThreshold) ? 1.0 : sqrt(_inlierThreshold / e);
- } // end for (k)
- }
-
- virtual double getParameterLength() const
- {
- return _cachedParamLength;
- }
-
- virtual void updateParametersA(VectorArray<double> const& deltaAi);
- virtual void updateParametersB(VectorArray<double> const& deltaBj);
- virtual void updateParametersC(Vector<double> const& deltaC)
- {
- (void)deltaC;
- }
-
- virtual void saveAllParameters()
- {
- for (int i = _nNonvaryingA; i < _nParametersA; ++i)
- {
- _savedTranslations[i] = _cams[i].getTranslation();
- _savedRotations[i] = _cams[i].getRotation();
- }
- _savedXs = _Xs;
- }
-
- virtual void restoreAllParameters()
- {
- for (int i = _nNonvaryingA; i < _nParametersA; ++i)
- {
- _cams[i].setTranslation(_savedTranslations[i]);
- _cams[i].setRotation(_savedRotations[i]);
- }
- _Xs = _savedXs;
- }
-
- protected:
- typedef InlineMatrix<double, 3, 6> Matrix3x6d;
-
- void poseDerivatives(int i, int j, Vector3d& XX,
- Matrix3x6d& d_dRT, Matrix3x3d& d_dX) const;
-
- vector<CameraMatrix>& _cams;
- vector<Vector3d>& _Xs;
-
- vector<Vector2d> const& _measurements;
-
- vector<Vector3d> _savedTranslations;
- vector<Matrix3x3d> _savedRotations;
- vector<Vector3d> _savedXs;
-
- double const _inlierThreshold;
- double _cachedParamLength;
- }; // end struct MetricBundleOptimizerBase
-
- struct StdMetricBundleOptimizer : public MetricBundleOptimizerBase
- {
- typedef MetricBundleOptimizerBase Base;
-
- StdMetricBundleOptimizer(double inlierThreshold,
- vector<CameraMatrix>& cams,
- vector<Vector3d >& Xs,
- vector<Vector2d > const& measurements,
- vector<int> const& corrspondingView,
- vector<int> const& corrspondingPoint)
- : MetricBundleOptimizerBase(inlierThreshold, cams, Xs, measurements,
- corrspondingView, corrspondingPoint, 0, 0)
- { }
-
- virtual void evalResidual(VectorArray<double>& e)
- {
- for (unsigned int k = 0; k < e.count(); ++k)
- {
- int const i = _correspondingParamA[k];
- int const j = _correspondingParamB[k];
-
- Vector2d const q = _cams[i].projectPoint(_Xs[j]);
- e[k][0] = q[0] - _measurements[k][0];
- e[k][1] = q[1] - _measurements[k][1];
- }
- }
-
- virtual void fillJacobians(Matrix<double>& Ak, Matrix<double>& Bk, Matrix<double>& Ck,
- int i, int j, int k);
- }; // end struct StdMetricBundleOptimizer
-
-//----------------------------------------------------------------------
-
- enum
- {
- FULL_BUNDLE_METRIC = 0,
- FULL_BUNDLE_FOCAL_LENGTH = 1, // f
- FULL_BUNDLE_FOCAL_LENGTH_PP = 2, // f, cx, cy
- FULL_BUNDLE_RADIAL = 3, // f, cx, cy, k1, k2
- FULL_BUNDLE_RADIAL_TANGENTIAL = 4, // f, cx, cy, k1, k2, p1, p2
- FULL_BUNDLE_FOCAL_AND_RADIAL_K1 = 5, // f, k1
- FULL_BUNDLE_FOCAL_AND_RADIAL = 6, // f, k1, k2
- };
-
- struct CommonInternalsMetricBundleOptimizer : public MetricBundleOptimizerBase
- {
- static int globalParamDimensionFromMode(int mode)
- {
- switch (mode)
- {
- case FULL_BUNDLE_METRIC: return 0;
- case FULL_BUNDLE_FOCAL_LENGTH: return 1;
- case FULL_BUNDLE_FOCAL_LENGTH_PP: return 3;
- case FULL_BUNDLE_RADIAL: return 5;
- case FULL_BUNDLE_RADIAL_TANGENTIAL: return 7;
- case FULL_BUNDLE_FOCAL_AND_RADIAL_K1: return 2;
- case FULL_BUNDLE_FOCAL_AND_RADIAL: return 3;
- }
- return 0;
- }
-
- typedef MetricBundleOptimizerBase Base;
-
- CommonInternalsMetricBundleOptimizer(int mode,
- double inlierThreshold,
- Matrix3x3d& K,
- StdDistortionFunction& distortion,
- vector<CameraMatrix>& cams,
- vector<Vector3d >& Xs,
- vector<Vector2d > const& measurements,
- vector<int> const& corrspondingView,
- vector<int> const& corrspondingPoint)
- : MetricBundleOptimizerBase(inlierThreshold, cams, Xs, measurements,
- corrspondingView, corrspondingPoint,
- 0, globalParamDimensionFromMode(mode)),
- _mode(mode), _K(K), _distortion(distortion)
- {
- _cachedAspectRatio = K[1][1] / K[0][0];
- }
-
- Vector2d projectPoint(Vector3d const& X, int i) const
- {
- Vector3d const XX = _cams[i].transformPointIntoCameraSpace(X);
- Vector2d p;
- p[0] = XX[0] / XX[2];
- p[1] = XX[1] / XX[2];
- p = _distortion(p);
- Vector2d res;
- res[0] = _K[0][0] * p[0] + _K[0][1] * p[1] + _K[0][2];
- res[1] = _K[1][1] * p[1] + _K[1][2];
- return res;
- }
-
- virtual void evalResidual(VectorArray<double>& e)
- {
- for (unsigned int k = 0; k < e.count(); ++k)
- {
- int const i = _correspondingParamA[k];
- int const j = _correspondingParamB[k];
-
- Vector2d const q = this->projectPoint(_Xs[j], i);
- e[k][0] = q[0] - _measurements[k][0];
- e[k][1] = q[1] - _measurements[k][1];
- }
- }
-
- virtual void fillJacobians(Matrix<double>& Ak, Matrix<double>& Bk, Matrix<double>& Ck,
- int i, int j, int k);
-
- virtual void updateParametersC(Vector<double> const& deltaC);
-
- virtual void saveAllParameters()
- {
- Base::saveAllParameters();
- _savedK = _K;
- _savedDistortion = _distortion;
- }
-
- virtual void restoreAllParameters()
- {
- Base::restoreAllParameters();
- _K = _savedK;
- _distortion = _savedDistortion;
- }
-
- protected:
- int _mode;
- Matrix3x3d& _K;
- StdDistortionFunction& _distortion;
-
- Matrix3x3d _savedK;
- StdDistortionFunction _savedDistortion;
- double _cachedAspectRatio;
- }; // end struct CommonInternalsMetricBundleOptimizer
-
-//----------------------------------------------------------------------
-
- struct VaryingInternalsMetricBundleOptimizer : public MetricBundleOptimizerBase
- {
- static int extParamDimensionFromMode(int mode)
- {
- switch (mode)
- {
- case FULL_BUNDLE_METRIC: return 0;
- case FULL_BUNDLE_FOCAL_LENGTH: return 1;
- case FULL_BUNDLE_FOCAL_LENGTH_PP: return 3;
- case FULL_BUNDLE_RADIAL: return 5;
- case FULL_BUNDLE_RADIAL_TANGENTIAL: return 7;
- case FULL_BUNDLE_FOCAL_AND_RADIAL_K1: return 2;
- case FULL_BUNDLE_FOCAL_AND_RADIAL: return 3;
- }
- return 0;
- }
-
- typedef MetricBundleOptimizerBase Base;
-
- VaryingInternalsMetricBundleOptimizer(int mode,
- double inlierThreshold,
- std::vector<StdDistortionFunction>& distortions,
- vector<CameraMatrix>& cams,
- vector<Vector3d >& Xs,
- vector<Vector2d > const& measurements,
- vector<int> const& corrspondingView,
- vector<int> const& corrspondingPoint)
- : MetricBundleOptimizerBase(inlierThreshold, cams, Xs, measurements,
- corrspondingView, corrspondingPoint,
- extParamDimensionFromMode(mode), 0),
- _mode(mode), _distortions(distortions),
- _savedKs(cams.size()), _savedDistortions(cams.size())
- { }
-
- Vector2d projectPoint(Vector3d const& X, int i) const
- {
- return _cams[i].projectPoint(_distortions[i], X);
- }
-
- virtual void evalResidual(VectorArray<double>& e)
- {
- for (unsigned int k = 0; k < e.count(); ++k)
- {
- int const i = _correspondingParamA[k];
- int const j = _correspondingParamB[k];
-
- Vector2d const q = this->projectPoint(_Xs[j], i);
- e[k][0] = q[0] - _measurements[k][0];
- e[k][1] = q[1] - _measurements[k][1];
- }
- }
-
- virtual void fillJacobians(Matrix<double>& Ak, Matrix<double>& Bk, Matrix<double>& Ck,
- int i, int j, int k);
-
- virtual void updateParametersA(VectorArray<double> const& deltaAi);
-
- virtual void saveAllParameters()
- {
- Base::saveAllParameters();
- for (int i = _nNonvaryingA; i < _nParametersA; ++i)
- _savedKs[i] = _cams[i].getIntrinsic();
- std::copy(_distortions.begin(), _distortions.end(), _savedDistortions.begin());
- }
-
- virtual void restoreAllParameters()
- {
- Base::restoreAllParameters();
- for (int i = _nNonvaryingA; i < _nParametersA; ++i)
- _cams[i].setIntrinsic(_savedKs[i]);
- std::copy(_savedDistortions.begin(), _savedDistortions.end(), _distortions.begin());
- }
-
- protected:
- int _mode;
- std::vector<StdDistortionFunction>& _distortions;
-
- std::vector<Matrix3x3d> _savedKs;
- std::vector<StdDistortionFunction> _savedDistortions;
- }; // end struct VaryingInternalsMetricBundleOptimizer
-
-} // end namespace V3D
-
-# endif
-
-#endif
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