1 files changed, 148 insertions, 0 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.h b/intern/libmv/libmv/simple_pipeline/bundle.h
new file mode 100644
index 00000000000..781bd8476fe
--- /dev/null
+++ b/intern/libmv/libmv/simple_pipeline/bundle.h
@@ -0,0 +1,148 @@
+// Copyright (c) 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_SIMPLE_PIPELINE_BUNDLE_H
+#define LIBMV_SIMPLE_PIPELINE_BUNDLE_H
+
+#include "libmv/numeric/numeric.h"
+
+namespace libmv {
+
+class CameraIntrinsics;
+class EuclideanReconstruction;
+class ProjectiveReconstruction;
+class Tracks;
+
+struct BundleEvaluation {
+  BundleEvaluation() :
+    num_cameras(0),
+    num_points(0),
+    evaluate_jacobian(false) {
+  }
+
+  // Number of cameras appeared in bundle adjustment problem
+  int num_cameras;
+
+  // Number of points appeared in bundle adjustment problem
+  int num_points;
+
+  // When set to truth, jacobian of the problem after optimization
+  // will be evaluated and stored in \parameter jacobian
+  bool evaluate_jacobian;
+
+  // Contains evaluated jacobian of the problem.
+  // Parameters are ordered in the following way:
+  //   - Intrinsics block
+  //   - Cameras (for each camera rotation goes first, then translation)
+  //   - Points
+  Mat jacobian;
+};
+
+/*!
+    Refine camera poses and 3D coordinates using bundle adjustment.
+
+    This routine adjusts all cameras and points in \a *reconstruction. This
+    assumes a full observation for reconstructed tracks; this implies that if
+    there is a reconstructed 3D point (a bundle) for a track, then all markers
+    for that track will be included in the minimization. \a tracks should
+    contain markers used in the initial reconstruction.
+
+    The cameras and bundles (3D points) are refined in-place.
+
+    \note This assumes an outlier-free set of markers.
+    \note This assumes a calibrated reconstruction, e.g. the markers are
+          already corrected for camera intrinsics and radial distortion.
+
+    \sa EuclideanResect, EuclideanIntersect, EuclideanReconstructTwoFrames
+*/
+void EuclideanBundle(const Tracks &tracks,
+                     EuclideanReconstruction *reconstruction);
+
+/*!
+    Refine camera poses and 3D coordinates using bundle adjustment.
+
+    This routine adjusts all cameras positions, points, and the camera
+    intrinsics (assumed common across all images) in \a *reconstruction. This
+    assumes a full observation for reconstructed tracks; this implies that if
+    there is a reconstructed 3D point (a bundle) for a track, then all markers
+    for that track will be included in the minimization. \a tracks should
+    contain markers used in the initial reconstruction.
+
+    The cameras, bundles, and intrinsics are refined in-place.
+
+    Constraints denotes which blocks to keep constant during bundling.
+    For example it is useful to keep camera translations constant
+    when bundling tripod motions.
+
+    If evaluaiton is not null, different evaluation statistics is filled in
+    there, plus all the requested additional information (like jacobian) is
+    also calculating there. Also see comments for BundleEvaluation.
+
+    \note This assumes an outlier-free set of markers.
+
+    \sa EuclideanResect, EuclideanIntersect, EuclideanReconstructTwoFrames
+*/
+enum BundleIntrinsics {
+  BUNDLE_NO_INTRINSICS = 0,
+  BUNDLE_FOCAL_LENGTH = 1,
+  BUNDLE_PRINCIPAL_POINT = 2,
+  BUNDLE_RADIAL_K1 = 4,
+  BUNDLE_RADIAL_K2 = 8,
+  BUNDLE_RADIAL = 12,
+  BUNDLE_TANGENTIAL_P1 = 16,
+  BUNDLE_TANGENTIAL_P2 = 32,
+  BUNDLE_TANGENTIAL = 48,
+};
+enum BundleConstraints {
+  BUNDLE_NO_CONSTRAINTS = 0,
+  BUNDLE_NO_TRANSLATION = 1,
+};
+void EuclideanBundleCommonIntrinsics(
+    const Tracks &tracks,
+    const int bundle_intrinsics,
+    const int bundle_constraints,
+    EuclideanReconstruction *reconstruction,
+    CameraIntrinsics *intrinsics,
+    BundleEvaluation *evaluation = NULL);
+
+/*!
+    Refine camera poses and 3D coordinates using bundle adjustment.
+
+    This routine adjusts all cameras and points in \a *reconstruction. This
+    assumes a full observation for reconstructed tracks; this implies that if
+    there is a reconstructed 3D point (a bundle) for a track, then all markers
+    for that track will be included in the minimization. \a tracks should
+    contain markers used in the initial reconstruction.
+
+    The cameras and bundles (homogeneous 3D points) are refined in-place.
+
+    \note This assumes an outlier-free set of markers.
+    \note This assumes that radial distortion is already corrected for, but
+          does not assume that that other intrinsics are.
+
+    \sa ProjectiveResect, ProjectiveIntersect, ProjectiveReconstructTwoFrames
+*/
+void ProjectiveBundle(const Tracks &tracks,
+                      ProjectiveReconstruction *reconstruction);
+
+}  // namespace libmv
+
+#endif   // LIBMV_SIMPLE_PIPELINE_BUNDLE_H
+