Welcome to mirror list, hosted at ThFree Co, Russian Federation.

git.blender.org/blender.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
path: root/intern/libmv/libmv/multiview/projection.h
diff options
context:
space:
mode:
Diffstat (limited to 'intern/libmv/libmv/multiview/projection.h')
-rw-r--r--intern/libmv/libmv/multiview/projection.h124
1 files changed, 62 insertions, 62 deletions
diff --git a/intern/libmv/libmv/multiview/projection.h b/intern/libmv/libmv/multiview/projection.h
index 8f304f31ec6..ba8fc5d8303 100644
--- a/intern/libmv/libmv/multiview/projection.h
+++ b/intern/libmv/libmv/multiview/projection.h
@@ -25,108 +25,108 @@
namespace libmv {
-void P_From_KRt(const Mat3 &K, const Mat3 &R, const Vec3 &t, Mat34 *P);
-void KRt_From_P(const Mat34 &P, Mat3 *K, Mat3 *R, Vec3 *t);
+void P_From_KRt(const Mat3& K, const Mat3& R, const Vec3& t, Mat34* P);
+void KRt_From_P(const Mat34& P, Mat3* K, Mat3* R, Vec3* t);
// Applies a change of basis to the image coordinates of the projection matrix
// so that the principal point becomes principal_point_new.
-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);
// Applies a change of basis to the image coordinates of the projection matrix
// so that the aspect ratio becomes aspect_ratio_new. This is done by
// stretching the y axis. The aspect ratio is defined as the quotient between
// the focal length of the y and the x axis.
-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);
-
-void HomogeneousToEuclidean(const Mat &H, Mat *X);
-void HomogeneousToEuclidean(const Mat3X &h, Mat2X *e);
-void HomogeneousToEuclidean(const Mat4X &h, Mat3X *e);
-void HomogeneousToEuclidean(const Vec3 &H, Vec2 *X);
-void HomogeneousToEuclidean(const Vec4 &H, Vec3 *X);
-inline Vec2 HomogeneousToEuclidean(const Vec3 &h) {
+ Mat34* P_new);
+
+void HomogeneousToEuclidean(const Mat& H, Mat* X);
+void HomogeneousToEuclidean(const Mat3X& h, Mat2X* e);
+void HomogeneousToEuclidean(const Mat4X& h, Mat3X* e);
+void HomogeneousToEuclidean(const Vec3& H, Vec2* X);
+void HomogeneousToEuclidean(const Vec4& H, Vec3* X);
+inline Vec2 HomogeneousToEuclidean(const Vec3& h) {
return h.head<2>() / h(2);
}
-inline Vec3 HomogeneousToEuclidean(const Vec4 &h) {
+inline Vec3 HomogeneousToEuclidean(const Vec4& h) {
return h.head<3>() / h(3);
}
-inline Mat2X HomogeneousToEuclidean(const Mat3X &h) {
+inline Mat2X HomogeneousToEuclidean(const Mat3X& h) {
Mat2X e(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();
return e;
}
-void EuclideanToHomogeneous(const Mat &X, Mat *H);
-inline Mat3X EuclideanToHomogeneous(const Mat2X &x) {
+void EuclideanToHomogeneous(const Mat& X, Mat* H);
+inline Mat3X EuclideanToHomogeneous(const Mat2X& x) {
Mat3X h(3, x.cols());
h.block(0, 0, 2, x.cols()) = x;
h.row(2).setOnes();
return h;
}
-inline void EuclideanToHomogeneous(const Mat2X &x, Mat3X *h) {
+inline void EuclideanToHomogeneous(const Mat2X& x, Mat3X* h) {
h->resize(3, x.cols());
h->block(0, 0, 2, x.cols()) = x;
h->row(2).setOnes();
}
-inline Mat4X EuclideanToHomogeneous(const Mat3X &x) {
+inline Mat4X EuclideanToHomogeneous(const Mat3X& x) {
Mat4X h(4, x.cols());
h.block(0, 0, 3, x.cols()) = x;
h.row(3).setOnes();
return h;
}
-inline void EuclideanToHomogeneous(const Mat3X &x, Mat4X *h) {
+inline void EuclideanToHomogeneous(const Mat3X& x, Mat4X* h) {
h->resize(4, x.cols());
h->block(0, 0, 3, x.cols()) = x;
h->row(3).setOnes();
}
-void EuclideanToHomogeneous(const Vec2 &X, Vec3 *H);
-void EuclideanToHomogeneous(const Vec3 &X, Vec4 *H);
-inline Vec3 EuclideanToHomogeneous(const Vec2 &x) {
+void EuclideanToHomogeneous(const Vec2& X, Vec3* H);
+void EuclideanToHomogeneous(const Vec3& X, Vec4* H);
+inline Vec3 EuclideanToHomogeneous(const Vec2& x) {
return Vec3(x(0), x(1), 1);
}
-inline Vec4 EuclideanToHomogeneous(const Vec3 &x) {
+inline Vec4 EuclideanToHomogeneous(const Vec3& x) {
return Vec4(x(0), x(1), x(2), 1);
}
// Conversion from image coordinates to normalized camera coordinates
-void EuclideanToNormalizedCamera(const Mat2X &x, const Mat3 &K, Mat2X *n);
-void HomogeneousToNormalizedCamera(const Mat3X &x, const Mat3 &K, Mat2X *n);
+void EuclideanToNormalizedCamera(const Mat2X& x, const Mat3& K, Mat2X* n);
+void HomogeneousToNormalizedCamera(const Mat3X& x, const Mat3& K, Mat2X* n);
-inline Vec2 Project(const Mat34 &P, const Vec3 &X) {
+inline Vec2 Project(const Mat34& P, const Vec3& X) {
Vec4 HX;
HX << X, 1.0;
Vec3 hx = P * HX;
return hx.head<2>() / hx(2);
}
-inline void Project(const Mat34 &P, const Vec4 &X, Vec3 *x) {
+inline void Project(const Mat34& P, const Vec4& X, Vec3* x) {
*x = P * X;
}
-inline void Project(const Mat34 &P, const Vec4 &X, Vec2 *x) {
+inline void Project(const Mat34& P, const Vec4& X, Vec2* x) {
Vec3 hx = P * X;
*x = hx.head<2>() / hx(2);
}
-inline void Project(const Mat34 &P, const Vec3 &X, Vec3 *x) {
+inline void Project(const Mat34& P, const Vec3& X, Vec3* x) {
Vec4 HX;
HX << X, 1.0;
Project(P, HX, x);
}
-inline void Project(const Mat34 &P, const Vec3 &X, Vec2 *x) {
+inline void Project(const Mat34& P, const Vec3& X, Vec2* x) {
Vec3 hx;
Project(P, X, &hx);
*x = hx.head<2>() / hx(2);
}
-inline void Project(const Mat34 &P, const Mat4X &X, Mat2X *x) {
+inline void Project(const Mat34& P, const Mat4X& X, Mat2X* x) {
x->resize(2, X.cols());
for (int c = 0; c < X.cols(); ++c) {
Vec3 hx = P * X.col(c);
@@ -134,13 +134,13 @@ inline void Project(const Mat34 &P, const Mat4X &X, Mat2X *x) {
}
}
-inline Mat2X Project(const Mat34 &P, const Mat4X &X) {
+inline Mat2X Project(const Mat34& P, const Mat4X& X) {
Mat2X x;
Project(P, X, &x);
return x;
}
-inline void Project(const Mat34 &P, const Mat3X &X, Mat2X *x) {
+inline void Project(const Mat34& P, const Mat3X& X, Mat2X* x) {
x->resize(2, X.cols());
for (int c = 0; c < X.cols(); ++c) {
Vec4 HX;
@@ -150,7 +150,7 @@ inline void Project(const Mat34 &P, const Mat3X &X, Mat2X *x) {
}
}
-inline void Project(const Mat34 &P, const Mat3X &X, const Vecu &ids, Mat2X *x) {
+inline void Project(const Mat34& P, const Mat3X& X, const Vecu& ids, Mat2X* x) {
x->resize(2, ids.size());
Vec4 HX;
Vec3 hx;
@@ -161,26 +161,26 @@ inline void Project(const Mat34 &P, const Mat3X &X, const Vecu &ids, Mat2X *x) {
}
}
-inline Mat2X Project(const Mat34 &P, const Mat3X &X) {
+inline Mat2X Project(const Mat34& P, const Mat3X& X) {
Mat2X x(2, X.cols());
Project(P, X, &x);
return x;
}
-inline Mat2X Project(const Mat34 &P, const Mat3X &X, const Vecu &ids) {
+inline Mat2X Project(const Mat34& P, const Mat3X& X, const Vecu& ids) {
Mat2X x(2, ids.size());
Project(P, X, ids, &x);
return x;
}
-double Depth(const Mat3 &R, const Vec3 &t, const Vec3 &X);
-double Depth(const Mat3 &R, const Vec3 &t, const Vec4 &X);
+double Depth(const Mat3& R, const Vec3& t, const Vec3& X);
+double Depth(const Mat3& R, const Vec3& t, const Vec4& X);
/**
-* Returns true if the homogenious 3D point X is in front of
-* the camera P.
-*/
-inline bool isInFrontOfCamera(const Mat34 &P, const Vec4 &X) {
+ * Returns true if the homogenious 3D point X is in front of
+ * the camera P.
+ */
+inline bool isInFrontOfCamera(const Mat34& P, const Vec4& X) {
double condition_1 = P.row(2).dot(X) * X[3];
double condition_2 = X[2] * X[3];
if (condition_1 > 0 && condition_2 > 0)
@@ -189,37 +189,37 @@ inline bool isInFrontOfCamera(const Mat34 &P, const Vec4 &X) {
return false;
}
-inline bool isInFrontOfCamera(const Mat34 &P, const Vec3 &X) {
+inline bool isInFrontOfCamera(const Mat34& P, const Vec3& X) {
Vec4 X_homo;
X_homo.segment<3>(0) = X;
X_homo(3) = 1;
- return isInFrontOfCamera( P, X_homo);
+ return isInFrontOfCamera(P, X_homo);
}
/**
-* Transforms a 2D point from pixel image coordinates to a 2D point in
-* normalized image coordinates.
-*/
-inline Vec2 ImageToNormImageCoordinates(Mat3 &Kinverse, Vec2 &x) {
- Vec3 x_h = Kinverse*EuclideanToHomogeneous(x);
- return HomogeneousToEuclidean( x_h );
+ * Transforms a 2D point from pixel image coordinates to a 2D point in
+ * normalized image coordinates.
+ */
+inline Vec2 ImageToNormImageCoordinates(Mat3& Kinverse, Vec2& x) {
+ Vec3 x_h = Kinverse * EuclideanToHomogeneous(x);
+ return HomogeneousToEuclidean(x_h);
}
/// Estimates the root mean square error (2D)
-inline double RootMeanSquareError(const Mat2X &x_image,
- const Mat4X &X_world,
- const Mat34 &P) {
+inline double RootMeanSquareError(const Mat2X& x_image,
+ const Mat4X& X_world,
+ const Mat34& P) {
size_t num_points = x_image.cols();
Mat2X dx = Project(P, X_world) - x_image;
return dx.norm() / num_points;
}
/// Estimates the root mean square error (2D)
-inline double RootMeanSquareError(const Mat2X &x_image,
- const Mat3X &X_world,
- const Mat3 &K,
- const Mat3 &R,
- const Vec3 &t) {
+inline double RootMeanSquareError(const Mat2X& x_image,
+ const Mat3X& X_world,
+ const Mat3& K,
+ const Mat3& R,
+ const Vec3& t) {
Mat34 P;
P_From_KRt(K, R, t, &P);
size_t num_points = x_image.cols();
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-18 21:11:00 +0300