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-rw-r--r--intern/libmv/libmv/simple_pipeline/distortion_models.cc193
1 files changed, 118 insertions, 75 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/distortion_models.cc b/intern/libmv/libmv/simple_pipeline/distortion_models.cc
index f602234b630..4556e3ceaf9 100644
--- a/intern/libmv/libmv/simple_pipeline/distortion_models.cc
+++ b/intern/libmv/libmv/simple_pipeline/distortion_models.cc
@@ -41,25 +41,34 @@ struct InvertPolynomialIntrinsicsCostFunction {
const double p2,
const double image_x,
const double image_y)
- : focal_length_x_(focal_length_x),
- focal_length_y_(focal_length_y),
- principal_point_x_(principal_point_x),
- principal_point_y_(principal_point_y),
- k1_(k1), k2_(k2), k3_(k3),
- p1_(p1), p2_(p2),
- x_(image_x), y_(image_y) {}
-
- Vec2 operator()(const Vec2 &u) const {
+ : focal_length_x_(focal_length_x),
+ focal_length_y_(focal_length_y),
+ principal_point_x_(principal_point_x),
+ principal_point_y_(principal_point_y),
+ k1_(k1),
+ k2_(k2),
+ k3_(k3),
+ p1_(p1),
+ p2_(p2),
+ x_(image_x),
+ y_(image_y) {}
+
+ Vec2 operator()(const Vec2& u) const {
double xx, yy;
ApplyPolynomialDistortionModel(focal_length_x_,
focal_length_y_,
principal_point_x_,
principal_point_y_,
- k1_, k2_, k3_,
- p1_, p2_,
- u(0), u(1),
- &xx, &yy);
+ k1_,
+ k2_,
+ k3_,
+ p1_,
+ p2_,
+ u(0),
+ u(1),
+ &xx,
+ &yy);
Vec2 fx;
fx << (xx - x_), (yy - y_);
@@ -87,23 +96,28 @@ struct InvertDivisionIntrinsicsCostFunction {
const double k2,
const double image_x,
const double image_y)
- : focal_length_x_(focal_length_x),
- focal_length_y_(focal_length_y),
- principal_point_x_(principal_point_x),
- principal_point_y_(principal_point_y),
- k1_(k1), k2_(k2),
- x_(image_x), y_(image_y) {}
-
- Vec2 operator()(const Vec2 &u) const {
+ : focal_length_x_(focal_length_x),
+ focal_length_y_(focal_length_y),
+ principal_point_x_(principal_point_x),
+ principal_point_y_(principal_point_y),
+ k1_(k1),
+ k2_(k2),
+ x_(image_x),
+ y_(image_y) {}
+
+ Vec2 operator()(const Vec2& u) const {
double xx, yy;
ApplyDivisionDistortionModel(focal_length_x_,
focal_length_y_,
principal_point_x_,
principal_point_y_,
- k1_, k2_,
- u(0), u(1),
- &xx, &yy);
+ k1_,
+ k2_,
+ u(0),
+ u(1),
+ &xx,
+ &yy);
Vec2 fx;
fx << (xx - x_), (yy - y_);
@@ -134,25 +148,36 @@ struct InvertBrownIntrinsicsCostFunction {
const double p2,
const double image_x,
const double image_y)
- : focal_length_x_(focal_length_x),
- focal_length_y_(focal_length_y),
- principal_point_x_(principal_point_x),
- principal_point_y_(principal_point_y),
- k1_(k1), k2_(k2), k3_(k3), k4_(k4),
- p1_(p1), p2_(p2),
- x_(image_x), y_(image_y) {}
-
- Vec2 operator()(const Vec2 &u) const {
+ : focal_length_x_(focal_length_x),
+ focal_length_y_(focal_length_y),
+ principal_point_x_(principal_point_x),
+ principal_point_y_(principal_point_y),
+ k1_(k1),
+ k2_(k2),
+ k3_(k3),
+ k4_(k4),
+ p1_(p1),
+ p2_(p2),
+ x_(image_x),
+ y_(image_y) {}
+
+ Vec2 operator()(const Vec2& u) const {
double xx, yy;
ApplyBrownDistortionModel(focal_length_x_,
focal_length_y_,
principal_point_x_,
principal_point_y_,
- k1_, k2_, k3_, k4_,
- p1_, p2_,
- u(0), u(1),
- &xx, &yy);
+ k1_,
+ k2_,
+ k3_,
+ k4_,
+ p1_,
+ p2_,
+ u(0),
+ u(1),
+ &xx,
+ &yy);
Vec2 fx;
fx << (xx - x_), (yy - y_);
@@ -180,8 +205,8 @@ void InvertPolynomialDistortionModel(const double focal_length_x,
const double p2,
const double image_x,
const double image_y,
- double *normalized_x,
- double *normalized_y) {
+ double* normalized_x,
+ double* normalized_y) {
// Compute the initial guess. For a camera with no distortion, this will also
// be the final answer; the LM iteration will terminate immediately.
Vec2 normalized;
@@ -194,13 +219,17 @@ void InvertPolynomialDistortionModel(const double focal_length_x,
focal_length_y,
principal_point_x,
principal_point_y,
- k1, k2, k3,
- p1, p2,
- image_x, image_y);
+ k1,
+ k2,
+ k3,
+ p1,
+ p2,
+ image_x,
+ image_y);
Solver::SolverParameters params;
Solver solver(intrinsics_cost);
- /*Solver::Results results =*/ solver.minimize(params, &normalized);
+ /*Solver::Results results =*/solver.minimize(params, &normalized);
// TODO(keir): Better error handling.
@@ -216,8 +245,8 @@ void InvertDivisionDistortionModel(const double focal_length_x,
const double k2,
const double image_x,
const double image_y,
- double *normalized_x,
- double *normalized_y) {
+ double* normalized_x,
+ double* normalized_y) {
// Compute the initial guess. For a camera with no distortion, this will also
// be the final answer; the LM iteration will terminate immediately.
Vec2 normalized;
@@ -231,12 +260,14 @@ void InvertDivisionDistortionModel(const double focal_length_x,
focal_length_y,
principal_point_x,
principal_point_y,
- k1, k2,
- image_x, image_y);
+ k1,
+ k2,
+ image_x,
+ image_y);
Solver::SolverParameters params;
Solver solver(intrinsics_cost);
- /*Solver::Results results =*/ solver.minimize(params, &normalized);
+ /*Solver::Results results =*/solver.minimize(params, &normalized);
// TODO(keir): Better error handling.
@@ -256,8 +287,8 @@ void InvertBrownDistortionModel(const double focal_length_x,
const double p2,
const double image_x,
const double image_y,
- double *normalized_x,
- double *normalized_y) {
+ double* normalized_x,
+ double* normalized_y) {
// Compute the initial guess. For a camera with no distortion, this will also
// be the final answer; the LM iteration will terminate immediately.
Vec2 normalized;
@@ -270,13 +301,18 @@ void InvertBrownDistortionModel(const double focal_length_x,
focal_length_y,
principal_point_x,
principal_point_y,
- k1, k2, k3, k4,
- p1, p2,
- image_x, image_y);
+ k1,
+ k2,
+ k3,
+ k4,
+ p1,
+ p2,
+ image_x,
+ image_y);
Solver::SolverParameters params;
Solver solver(intrinsics_cost);
- /*Solver::Results results =*/ solver.minimize(params, &normalized);
+ /*Solver::Results results =*/solver.minimize(params, &normalized);
// TODO(keir): Better error handling.
@@ -299,31 +335,36 @@ struct ApplyNukeIntrinsicsCostFunction {
const double k2,
const double expected_normalized_x,
const double expected_normalized_y)
- : focal_length_x_(focal_length_x),
- focal_length_y_(focal_length_y),
- principal_point_x_(principal_point_x),
- principal_point_y_(principal_point_y),
- image_width_(image_width),
- image_height_(image_height),
- k1_(k1), k2_(k2),
- expected_normalized_x_(expected_normalized_x),
- expected_normalized_y_(expected_normalized_y) {}
-
- Vec2 operator()(const Vec2 &image_coordinate) const {
+ : focal_length_x_(focal_length_x),
+ focal_length_y_(focal_length_y),
+ principal_point_x_(principal_point_x),
+ principal_point_y_(principal_point_y),
+ image_width_(image_width),
+ image_height_(image_height),
+ k1_(k1),
+ k2_(k2),
+ expected_normalized_x_(expected_normalized_x),
+ expected_normalized_y_(expected_normalized_y) {}
+
+ Vec2 operator()(const Vec2& image_coordinate) const {
double actual_normalized_x, actual_normalized_y;
InvertNukeDistortionModel(focal_length_x_,
focal_length_y_,
principal_point_x_,
principal_point_y_,
- image_width_, image_height_,
- k1_, k2_,
- image_coordinate(0), image_coordinate(1),
- &actual_normalized_x, &actual_normalized_y);
+ image_width_,
+ image_height_,
+ k1_,
+ k2_,
+ image_coordinate(0),
+ image_coordinate(1),
+ &actual_normalized_x,
+ &actual_normalized_y);
Vec2 fx;
fx << (actual_normalized_x - expected_normalized_x_),
- (actual_normalized_y - expected_normalized_y_);
+ (actual_normalized_y - expected_normalized_y_);
return fx;
}
double focal_length_x_;
@@ -346,8 +387,8 @@ void ApplyNukeDistortionModel(const double focal_length_x,
const double k2,
const double normalized_x,
const double normalized_y,
- double *image_x,
- double *image_y) {
+ double* image_x,
+ double* image_y) {
// Compute the initial guess. For a camera with no distortion, this will also
// be the final answer; the LM iteration will terminate immediately.
Vec2 image;
@@ -363,12 +404,14 @@ void ApplyNukeDistortionModel(const double focal_length_x,
principal_point_y,
image_width,
image_height,
- k1, k2,
- normalized_x, normalized_y);
+ k1,
+ k2,
+ normalized_x,
+ normalized_y);
Solver::SolverParameters params;
Solver solver(intrinsics_cost);
- /*Solver::Results results =*/ solver.minimize(params, &image);
+ /*Solver::Results results =*/solver.minimize(params, &image);
// TODO(keir): Better error handling.
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-19 07:39:59 +0300