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diff --git a/intern/libmv/libmv/multiview/fundamental.h b/intern/libmv/libmv/multiview/fundamental.h new file mode 100644 index 00000000000..a6c7a6802fe --- /dev/null +++ b/intern/libmv/libmv/multiview/fundamental.h @@ -0,0 +1,180 @@ +// Copyright (c) 2007, 2008, 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. + +#ifndef LIBMV_MULTIVIEW_FUNDAMENTAL_H_ +#define LIBMV_MULTIVIEW_FUNDAMENTAL_H_ + +#include <vector> + +#include "libmv/numeric/numeric.h" + +namespace libmv { + +void ProjectionsFromFundamental(const Mat3 &F, Mat34 *P1, Mat34 *P2); +void FundamentalFromProjections(const Mat34 &P1, const Mat34 &P2, Mat3 *F); + +/** + * 7 points (minimal case, points coordinates must be normalized before): + */ +double FundamentalFrom7CorrespondencesLinear(const Mat &x1, + const Mat &x2, + std::vector<Mat3> *F); + +/** + * 7 points (points coordinates must be in image space): + */ +double FundamentalFromCorrespondences7Point(const Mat &x1, + const Mat &x2, + std::vector<Mat3> *F); + +/** + * 8 points (points coordinates must be in image space): + */ +double NormalizedEightPointSolver(const Mat &x1, + const Mat &x2, + Mat3 *F); + +/** + * Fundamental matrix utility function: + */ +void EnforceFundamentalRank2Constraint(Mat3 *F); + +void NormalizeFundamental(const Mat3 &F, Mat3 *F_normalized); + +/** + * Approximate squared reprojection errror. + * + * See page 287 of HZ equation 11.9. This avoids triangulating the point, + * relying only on the entries in F. + */ +double SampsonDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2); + +/** + * Calculates the sum of the distances from the points to the epipolar lines. + * + * See page 288 of HZ equation 11.10. + */ +double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2); + +/** + * Compute the relative camera motion between two cameras. + * + * Given the motion parameters of two cameras, computes the motion parameters + * of the second one assuming the first one to be at the origin. + * If T1 and T2 are the camera motions, the computed relative motion is + * T = T2 T1^{-1} + */ +void RelativeCameraMotion(const Mat3 &R1, + const Vec3 &t1, + const Mat3 &R2, + const Vec3 &t2, + Mat3 *R, + Vec3 *t); + +void EssentialFromFundamental(const Mat3 &F, + const Mat3 &K1, + const Mat3 &K2, + Mat3 *E); + +void FundamentalFromEssential(const Mat3 &E, + const Mat3 &K1, + const Mat3 &K2, + Mat3 *F); + +void EssentialFromRt(const Mat3 &R1, + const Vec3 &t1, + const Mat3 &R2, + const Vec3 &t2, + Mat3 *E); + +void MotionFromEssential(const Mat3 &E, + std::vector<Mat3> *Rs, + std::vector<Vec3> *ts); + +/** + * Choose one of the four possible motion solutions from an essential matrix. + * + * Decides the right solution by checking that the triangulation of a match + * x1--x2 lies in front of the cameras. See HZ 9.6 pag 259 (9.6.3 Geometrical + * interpretation of the 4 solutions) + * + * \return index of the right solution or -1 if no solution. + */ +int MotionFromEssentialChooseSolution(const std::vector<Mat3> &Rs, + const std::vector<Vec3> &ts, + const Mat3 &K1, + const Vec2 &x1, + const Mat3 &K2, + const Vec2 &x2); + +bool MotionFromEssentialAndCorrespondence(const Mat3 &E, + const Mat3 &K1, + const Vec2 &x1, + const Mat3 &K2, + const Vec2 &x2, + Mat3 *R, + Vec3 *t); + +/** + * Find closest essential matrix E to fundamental F + */ +void FundamentalToEssential(const Mat3 &F, Mat3 *E); + +/** + * This structure contains options that controls how the fundamental + * estimation operates. + * + * Defaults should be suitable for a wide range of use cases, but + * better performance and accuracy might require tweaking/ + */ +struct EstimateFundamentalOptions { + // Default constructor which sets up a options for generic usage. + EstimateFundamentalOptions(void); + + // Maximal number of iterations for refinement step. + int max_num_iterations; + + // Expected average of symmetric epipolar distance between + // actual destination points and original ones transformed by + // estimated fundamental matrix. + // + // Refinement will finish as soon as average of symmetric + // epipolar distance is less or equal to this value. + // + // This distance is measured in the same units as input points are. + double expected_average_symmetric_distance; +}; + +/** + * Fundamental transformation estimation. + * + * This function estimates the fundamental transformation from a list of 2D + * correspondences by doing algebraic estimation first followed with result + * refinement. + */ +bool EstimateFundamentalFromCorrespondences( + const Mat &x1, + const Mat &x2, + const EstimateFundamentalOptions &options, + Mat3 *F); + +} // namespace libmv + +#endif // LIBMV_MULTIVIEW_FUNDAMENTAL_H_ |