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Diffstat (limited to 'intern/libmv/libmv/simple_pipeline/packed_intrinsics.h')
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/packed_intrinsics.h | 106 |
1 files changed, 106 insertions, 0 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h new file mode 100644 index 00000000000..cbea599fccd --- /dev/null +++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h @@ -0,0 +1,106 @@ +// Copyright (c) 2020 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_PACKED_INTRINSICS_H_ +#define LIBMV_SIMPLE_PIPELINE_PACKED_INTRINSICS_H_ + +#include "libmv/base/array.h" + +namespace libmv { + +// Intrinsics parameters packed into a single continuous block of memory. +// Used in cases like minimization problems which involves camera intrinsics +// as a minimizing parameters. +// +// It keeps track of which parameters has been specified explicitly, which +// allows to mark parameters which are not used by distortion model as constant, +// which improves minimization quality. +class PackedIntrinsics { + public: + // Offsets of corresponding parameters in the array of all parameters. + enum { + // Camera calibration values. + OFFSET_FOCAL_LENGTH, + OFFSET_PRINCIPAL_POINT_X, + OFFSET_PRINCIPAL_POINT_Y, + + // Distortion model coefficients. + OFFSET_K1, + OFFSET_K2, + OFFSET_K3, + OFFSET_K4, + OFFSET_P1, + OFFSET_P2, + + // Number of parameters which are to be stored in the block. + NUM_PARAMETERS, + }; + + PackedIntrinsics(); + + void SetFocalLength(double focal_length); + double GetFocalLength() const; + + void SetPrincipalPoint(double x, double y); + double GetPrincipalPointX() const; + double GetPrincipalPointY() const; + + // TODO(sergey): Consider adding vectorized (Vec2) accessors for the principal + // point. + +#define DEFINE_PARAMETER(parameter_name) \ + void Set ## parameter_name(double value) { \ + SetParameter(OFFSET_ ## parameter_name, value); \ + } \ + double Get ## parameter_name() const { \ + return GetParameter(OFFSET_ ## parameter_name); \ + } \ + + DEFINE_PARAMETER(K1) + DEFINE_PARAMETER(K2) + DEFINE_PARAMETER(K3) + DEFINE_PARAMETER(K4) + + DEFINE_PARAMETER(P1) + DEFINE_PARAMETER(P2) + +#undef DEFINE_PARAMETER + + double* GetParametersBlock() { return parameters_.data(); } + const double* GetParametersBlock() const { return parameters_.data(); } + + bool IsParameterDefined(int offset); + + private: + void SetParameter(int index, double value); + double GetParameter(int index) const; + + // All intrinsics parameters packed into a single block. + // Use OFFSET_FOO indexes to access corresponding values. + array<double, NUM_PARAMETERS> parameters_; + + // Indexed by parameter offset, set to truth if the value of the parameter is + // explicitly specified. + array<bool, NUM_PARAMETERS> known_parameters_; +}; + +} // namespace libmv + +#endif // LIBMV_SIMPLE_PIPELINE_PACKED_INTRINSICS_H_ |