diff options
Diffstat (limited to 'intern/libmv/libmv/multiview/projection.cc')
| -rw-r--r-- | intern/libmv/libmv/multiview/projection.cc | 58 |
1 files changed, 36 insertions, 22 deletions
diff --git a/intern/libmv/libmv/multiview/projection.cc b/intern/libmv/libmv/multiview/projection.cc index f8bece3de68..001da89e127 100644 --- a/intern/libmv/libmv/multiview/projection.cc +++ b/intern/libmv/libmv/multiview/projection.cc @@ -23,13 +23,13 @@ namespace libmv { -void P_From_KRt(const Mat3 &K, const Mat3 &R, const Vec3 &t, Mat34 *P) { +void P_From_KRt(const Mat3& K, const Mat3& R, const Vec3& t, Mat34* P) { P->block<3, 3>(0, 0) = R; P->col(3) = t; (*P) = K * (*P); } -void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) { +void KRt_From_P(const Mat34& P, Mat3* Kp, Mat3* Rp, Vec3* tp) { // Decompose using the RQ decomposition HZ A4.1.1 pag.579. Mat3 K = P.block(0, 0, 3, 3); @@ -44,9 +44,11 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) { c /= l; s /= l; Mat3 Qx; + // clang-format off Qx << 1, 0, 0, 0, c, -s, 0, s, c; + // clang-format on K = K * Qx; Q = Qx.transpose() * Q; } @@ -58,9 +60,11 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) { c /= l; s /= l; Mat3 Qy; + // clang-format off Qy << c, 0, s, 0, 1, 0, -s, 0, c; + // clang-format on K = K * Qy; Q = Qy.transpose() * Q; } @@ -72,9 +76,11 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) { c /= l; s /= l; Mat3 Qz; + // clang-format off Qz << c, -s, 0, s, c, 0, 0, 0, 1; + // clang-format on K = K * Qz; Q = Qz.transpose() * Q; } @@ -92,17 +98,21 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) { } if (K(1, 1) < 0) { Mat3 S; + // clang-format off S << 1, 0, 0, 0, -1, 0, 0, 0, 1; + // clang-format on K = K * S; R = S * R; } if (K(0, 0) < 0) { Mat3 S; + // clang-format off S << -1, 0, 0, 0, 1, 0, 0, 0, 1; + // clang-format on K = K * S; R = S * R; } @@ -122,26 +132,30 @@ void KRt_From_P(const Mat34 &P, Mat3 *Kp, Mat3 *Rp, Vec3 *tp) { *tp = t; } -void ProjectionShiftPrincipalPoint(const Mat34 &P, - const Vec2 &principal_point, - const Vec2 &principal_point_new, - Mat34 *P_new) { +void ProjectionShiftPrincipalPoint(const Mat34& P, + const Vec2& principal_point, + const Vec2& principal_point_new, + Mat34* P_new) { Mat3 T; + // clang-format off T << 1, 0, principal_point_new(0) - principal_point(0), 0, 1, principal_point_new(1) - principal_point(1), 0, 0, 1; + // clang-format on *P_new = T * P; } -void ProjectionChangeAspectRatio(const Mat34 &P, - const Vec2 &principal_point, +void ProjectionChangeAspectRatio(const Mat34& P, + const Vec2& principal_point, double aspect_ratio, double aspect_ratio_new, - Mat34 *P_new) { + Mat34* P_new) { Mat3 T; + // clang-format off T << 1, 0, 0, 0, aspect_ratio_new / aspect_ratio, 0, 0, 0, 1; + // clang-format on Mat34 P_temp; ProjectionShiftPrincipalPoint(P, principal_point, Vec2(0, 0), &P_temp); @@ -149,7 +163,7 @@ void ProjectionChangeAspectRatio(const Mat34 &P, ProjectionShiftPrincipalPoint(P_temp, Vec2(0, 0), principal_point, P_new); } -void HomogeneousToEuclidean(const Mat &H, Mat *X) { +void HomogeneousToEuclidean(const Mat& H, Mat* X) { int d = H.rows() - 1; int n = H.cols(); X->resize(d, n); @@ -161,29 +175,29 @@ void HomogeneousToEuclidean(const Mat &H, Mat *X) { } } -void HomogeneousToEuclidean(const Mat3X &h, Mat2X *e) { +void HomogeneousToEuclidean(const Mat3X& h, Mat2X* e) { e->resize(2, h.cols()); e->row(0) = h.row(0).array() / h.row(2).array(); e->row(1) = h.row(1).array() / h.row(2).array(); } -void HomogeneousToEuclidean(const Mat4X &h, Mat3X *e) { +void HomogeneousToEuclidean(const Mat4X& h, Mat3X* e) { e->resize(3, h.cols()); e->row(0) = h.row(0).array() / h.row(3).array(); e->row(1) = h.row(1).array() / h.row(3).array(); e->row(2) = h.row(2).array() / h.row(3).array(); } -void HomogeneousToEuclidean(const Vec3 &H, Vec2 *X) { +void HomogeneousToEuclidean(const Vec3& H, Vec2* X) { double w = H(2); *X << H(0) / w, H(1) / w; } -void HomogeneousToEuclidean(const Vec4 &H, Vec3 *X) { +void HomogeneousToEuclidean(const Vec4& H, Vec3* X) { double w = H(3); *X << H(0) / w, H(1) / w, H(2) / w; } -void EuclideanToHomogeneous(const Mat &X, Mat *H) { +void EuclideanToHomogeneous(const Mat& X, Mat* H) { int d = X.rows(); int n = X.cols(); H->resize(d + 1, n); @@ -191,32 +205,32 @@ void EuclideanToHomogeneous(const Mat &X, Mat *H) { H->row(d).setOnes(); } -void EuclideanToHomogeneous(const Vec2 &X, Vec3 *H) { +void EuclideanToHomogeneous(const Vec2& X, Vec3* H) { *H << X(0), X(1), 1; } -void EuclideanToHomogeneous(const Vec3 &X, Vec4 *H) { +void EuclideanToHomogeneous(const Vec3& X, Vec4* H) { *H << X(0), X(1), X(2), 1; } // TODO(julien) Call conditioning.h/ApplyTransformationToPoints ? -void EuclideanToNormalizedCamera(const Mat2X &x, const Mat3 &K, Mat2X *n) { +void EuclideanToNormalizedCamera(const Mat2X& x, const Mat3& K, Mat2X* n) { Mat3X x_image_h; EuclideanToHomogeneous(x, &x_image_h); Mat3X x_camera_h = K.inverse() * x_image_h; HomogeneousToEuclidean(x_camera_h, n); } -void HomogeneousToNormalizedCamera(const Mat3X &x, const Mat3 &K, Mat2X *n) { +void HomogeneousToNormalizedCamera(const Mat3X& x, const Mat3& K, Mat2X* n) { Mat3X x_camera_h = K.inverse() * x; HomogeneousToEuclidean(x_camera_h, n); } -double Depth(const Mat3 &R, const Vec3 &t, const Vec3 &X) { - return (R*X)(2) + t(2); +double Depth(const Mat3& R, const Vec3& t, const Vec3& X) { + return (R * X)(2) + t(2); } -double Depth(const Mat3 &R, const Vec3 &t, const Vec4 &X) { +double Depth(const Mat3& R, const Vec3& t, const Vec4& X) { Vec3 Xe = X.head<3>() / X(3); return Depth(R, t, Xe); } |