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-rw-r--r--intern/libmv/libmv/simple_pipeline/camera_intrinsics.h111
1 files changed, 86 insertions, 25 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
index 782fd56c54c..ba67ec468dc 100644
--- a/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
+++ b/intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
@@ -32,6 +32,7 @@
namespace libmv {
class CameraIntrinsics;
+class PackedIntrinsics;
namespace internal {
@@ -146,10 +147,6 @@ class CameraIntrinsics {
double principal_point_x() const { return K_(0, 2); }
double principal_point_y() const { return K_(1, 2); }
- virtual int num_distortion_parameters() const = 0;
- virtual double *distortion_parameters() = 0;
- virtual const double *distortion_parameters() const = 0;
-
// Set the image size in pixels.
// Image is the size of image camera intrinsics were calibrated with.
void SetImageSize(int width, int height);
@@ -197,6 +194,9 @@ class CameraIntrinsics {
double *normalized_x,
double *normalized_y) const = 0;
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics);
+
// Distort an image using the current camera instrinsics
//
// The distorted image is computed in output_buffer using samples from
@@ -292,14 +292,10 @@ class PolynomialCameraIntrinsics : public CameraIntrinsics {
PolynomialCameraIntrinsics();
PolynomialCameraIntrinsics(const PolynomialCameraIntrinsics &from);
- DistortionModelType GetDistortionModelType() const {
+ DistortionModelType GetDistortionModelType() const override {
return DISTORTION_MODEL_POLYNOMIAL;
}
- int num_distortion_parameters() const { return NUM_PARAMETERS; }
- double *distortion_parameters() { return parameters_; };
- const double *distortion_parameters() const { return parameters_; };
-
double k1() const { return parameters_[OFFSET_K1]; }
double k2() const { return parameters_[OFFSET_K2]; }
double k3() const { return parameters_[OFFSET_K3]; }
@@ -320,7 +316,7 @@ class PolynomialCameraIntrinsics : public CameraIntrinsics {
void ApplyIntrinsics(double normalized_x,
double normalized_y,
double *image_x,
- double *image_y) const;
+ double *image_y) const override;
// Invert camera intrinsics on the image point to get normalized coordinates.
//
@@ -329,7 +325,10 @@ class PolynomialCameraIntrinsics : public CameraIntrinsics {
void InvertIntrinsics(double image_x,
double image_y,
double *normalized_x,
- double *normalized_y) const;
+ double *normalized_y) const override;
+
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
private:
// OpenCV's distortion model with third order polynomial radial distortion
@@ -355,14 +354,10 @@ class DivisionCameraIntrinsics : public CameraIntrinsics {
DivisionCameraIntrinsics();
DivisionCameraIntrinsics(const DivisionCameraIntrinsics &from);
- DistortionModelType GetDistortionModelType() const {
+ DistortionModelType GetDistortionModelType() const override {
return DISTORTION_MODEL_DIVISION;
}
- int num_distortion_parameters() const { return NUM_PARAMETERS; }
- double *distortion_parameters() { return parameters_; };
- const double *distortion_parameters() const { return parameters_; };
-
double k1() const { return parameters_[OFFSET_K1]; }
double k2() const { return parameters_[OFFSET_K2]; }
@@ -377,7 +372,7 @@ class DivisionCameraIntrinsics : public CameraIntrinsics {
void ApplyIntrinsics(double normalized_x,
double normalized_y,
double *image_x,
- double *image_y) const;
+ double *image_y) const override;
// Invert camera intrinsics on the image point to get normalized coordinates.
//
@@ -386,7 +381,10 @@ class DivisionCameraIntrinsics : public CameraIntrinsics {
void InvertIntrinsics(double image_x,
double image_y,
double *normalized_x,
- double *normalized_y) const;
+ double *normalized_y) const override;
+
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
private:
// Double-parameter division distortion model.
@@ -409,14 +407,10 @@ class NukeCameraIntrinsics : public CameraIntrinsics {
NukeCameraIntrinsics();
NukeCameraIntrinsics(const NukeCameraIntrinsics &from);
- DistortionModelType GetDistortionModelType() const {
+ DistortionModelType GetDistortionModelType() const override {
return DISTORTION_MODEL_NUKE;
}
- int num_distortion_parameters() const { return NUM_PARAMETERS; }
- double *distortion_parameters() { return parameters_; };
- const double *distortion_parameters() const { return parameters_; };
-
double k1() const { return parameters_[OFFSET_K1]; }
double k2() const { return parameters_[OFFSET_K2]; }
@@ -431,7 +425,7 @@ class NukeCameraIntrinsics : public CameraIntrinsics {
void ApplyIntrinsics(double normalized_x,
double normalized_y,
double *image_x,
- double *image_y) const;
+ double *image_y) const override;
// Invert camera intrinsics on the image point to get normalized coordinates.
//
@@ -440,13 +434,80 @@ class NukeCameraIntrinsics : public CameraIntrinsics {
void InvertIntrinsics(double image_x,
double image_y,
double *normalized_x,
- double *normalized_y) const;
+ double *normalized_y) const override;
+
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
private:
// Double-parameter division distortion model.
double parameters_[NUM_PARAMETERS];
};
+class BrownCameraIntrinsics : public CameraIntrinsics {
+ public:
+ // This constants defines an offset of corresponding coefficients
+ // in the parameters_ array.
+ enum {
+ OFFSET_K1,
+ OFFSET_K2,
+ OFFSET_K3,
+ OFFSET_K4,
+ OFFSET_P1,
+ OFFSET_P2,
+
+ // This defines the size of array which we need to have in order
+ // to store all the coefficients.
+ NUM_PARAMETERS,
+ };
+
+ BrownCameraIntrinsics();
+ BrownCameraIntrinsics(const BrownCameraIntrinsics &from);
+
+ DistortionModelType GetDistortionModelType() const override {
+ return DISTORTION_MODEL_BROWN;
+ }
+
+ double k1() const { return parameters_[OFFSET_K1]; }
+ double k2() const { return parameters_[OFFSET_K2]; }
+ double k3() const { return parameters_[OFFSET_K3]; }
+ double k4() const { return parameters_[OFFSET_K4]; }
+ double p1() const { return parameters_[OFFSET_P1]; }
+ double p2() const { return parameters_[OFFSET_P2]; }
+
+ // Set radial distortion coeffcients.
+ void SetRadialDistortion(double k1, double k2, double k3, double k4);
+
+ // Set tangential distortion coeffcients.
+ void SetTangentialDistortion(double p1, double p2);
+
+ // Apply camera intrinsics to the normalized point to get image coordinates.
+ //
+ // This applies the lens distortion to a point which is in normalized
+ // camera coordinates (i.e. the principal point is at (0, 0)) to get image
+ // coordinates in pixels.
+ void ApplyIntrinsics(double normalized_x,
+ double normalized_y,
+ double *image_x,
+ double *image_y) const override;
+
+ // Invert camera intrinsics on the image point to get normalized coordinates.
+ //
+ // This reverses the effect of lens distortion on a point which is in image
+ // coordinates to get normalized camera coordinates.
+ void InvertIntrinsics(double image_x,
+ double image_y,
+ double *normalized_x,
+ double *normalized_y) const override;
+
+ virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
+ virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
+
+ private:
+ double parameters_[NUM_PARAMETERS];
+};
+
+
/// A human-readable representation of the camera intrinsic parameters.
std::ostream& operator <<(std::ostream &os,
const CameraIntrinsics &intrinsics);
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-19 05:17:56 +0300