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Diffstat (limited to 'intern/libmv/libmv/simple_pipeline/camera_intrinsics_impl.h')
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/camera_intrinsics_impl.h | 192 |
1 files changed, 192 insertions, 0 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/camera_intrinsics_impl.h b/intern/libmv/libmv/simple_pipeline/camera_intrinsics_impl.h new file mode 100644 index 00000000000..97abee7ab01 --- /dev/null +++ b/intern/libmv/libmv/simple_pipeline/camera_intrinsics_impl.h @@ -0,0 +1,192 @@ +// Copyright (c) 2014 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. + +namespace libmv { + +namespace { + +// FIXME: C++ templates limitations makes thing complicated, +// but maybe there is a simpler method. +struct ApplyIntrinsicsFunction { + ApplyIntrinsicsFunction(const CameraIntrinsics &intrinsics, + double x, + double y, + double *warp_x, + double *warp_y) { + double normalized_x, normalized_y; + intrinsics.ImageSpaceToNormalized(x, y, &normalized_x, &normalized_y); + intrinsics.ApplyIntrinsics(normalized_x, normalized_y, warp_x, warp_y); + } +}; + +struct InvertIntrinsicsFunction { + InvertIntrinsicsFunction(const CameraIntrinsics &intrinsics, + double x, + double y, + double *warp_x, + double *warp_y) { + double normalized_x, normalized_y; + intrinsics.InvertIntrinsics(x, y, &normalized_x, &normalized_y); + intrinsics.NormalizedToImageSpace(normalized_x, normalized_y, warp_x, warp_y); + } +}; + +} // namespace + +namespace internal { + +// TODO(MatthiasF): downsample lookup +template<typename WarpFunction> +void LookupWarpGrid::Compute(const CameraIntrinsics &intrinsics, + int width, + int height, + double overscan) { + double w = (double) width / (1.0 + overscan); + double h = (double) height / (1.0 + overscan); + double aspx = (double) w / intrinsics.image_width(); + double aspy = (double) h / intrinsics.image_height(); +#if defined(_OPENMP) +# pragma omp parallel for schedule(dynamic) num_threads(threads_) \ + if (threads_ > 1 && height > 100) +#endif + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + double src_x = (x - 0.5 * overscan * w) / aspx, + src_y = (y - 0.5 * overscan * h) / aspy; + double warp_x, warp_y; + WarpFunction(intrinsics, src_x, src_y, &warp_x, &warp_y); + warp_x = warp_x * aspx + 0.5 * overscan * w; + warp_y = warp_y * aspy + 0.5 * overscan * h; + int ix = int(warp_x), iy = int(warp_y); + int fx = round((warp_x - ix) * 256), fy = round((warp_y - iy) * 256); + if (fx == 256) { fx = 0; ix++; } // NOLINT + if (fy == 256) { fy = 0; iy++; } // NOLINT + // Use nearest border pixel + if (ix < 0) { ix = 0, fx = 0; } // NOLINT + if (iy < 0) { iy = 0, fy = 0; } // NOLINT + if (ix >= width - 2) ix = width - 2; + if (iy >= height - 2) iy = height - 2; + + Offset offset = { (short) (ix - x), + (short) (iy - y), + (unsigned char) fx, + (unsigned char) fy }; + offset_[y * width + x] = offset; + } + } +} + +template<typename WarpFunction> +void LookupWarpGrid::Update(const CameraIntrinsics &intrinsics, + int width, + int height, + double overscan) { + if (width_ != width || + height_ != height || + overscan_ != overscan) { + Reset(); + } + + if (offset_ == NULL) { + offset_ = new Offset[width * height]; + Compute<WarpFunction>(intrinsics, + width, + height, + overscan); + } + + width_ = width; + height_ = height; + overscan_ = overscan; +} + +// TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup +template<typename PixelType> +void LookupWarpGrid::Apply(const PixelType *input_buffer, + int width, + int height, + int channels, + PixelType *output_buffer) { +#if defined(_OPENMP) +# pragma omp parallel for schedule(dynamic) num_threads(threads_) \ + if (threads_ > 1 && height > 100) +#endif + for (int y = 0; y < height; y++) { + for (int x = 0; x < width; x++) { + Offset offset = offset_[y * width + x]; + const int pixel_index = ((y + offset.iy) * width + + (x + offset.ix)) * channels; + const PixelType *s = &input_buffer[pixel_index]; + for (int i = 0; i < channels; i++) { + output_buffer[(y * width + x) * channels + i] = + ((s[i] * (256 - offset.fx) + + s[channels + i] * offset.fx) * (256 - offset.fy) + + (s[width * channels + i] * (256 - offset.fx) + + s[width * channels + channels + i] * offset.fx) * offset.fy) + / (256 * 256); + } + } + } +} + +} // namespace internal + +template<typename PixelType> +void CameraIntrinsics::DistortBuffer(const PixelType *input_buffer, + int width, + int height, + double overscan, + int channels, + PixelType *output_buffer) { + assert(channels >= 1); + assert(channels <= 4); + distort_.Update<InvertIntrinsicsFunction>(*this, + width, + height, + overscan); + distort_.Apply<PixelType>(input_buffer, + width, + height, + channels, + output_buffer); +} + +template<typename PixelType> +void CameraIntrinsics::UndistortBuffer(const PixelType *input_buffer, + int width, + int height, + double overscan, + int channels, + PixelType *output_buffer) { + assert(channels >= 1); + assert(channels <= 4); + undistort_.Update<ApplyIntrinsicsFunction>(*this, + width, + height, + overscan); + + undistort_.Apply<PixelType>(input_buffer, + width, + height, + channels, + output_buffer); +} + +} // namespace libmv |