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-rw-r--r--intern/libmv/libmv/simple_pipeline/pipeline.cc192
1 files changed, 96 insertions, 96 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/pipeline.cc b/intern/libmv/libmv/simple_pipeline/pipeline.cc
index 728601f3732..5d52aeb7406 100644
--- a/intern/libmv/libmv/simple_pipeline/pipeline.cc
+++ b/intern/libmv/libmv/simple_pipeline/pipeline.cc
@@ -24,11 +24,11 @@
#include "libmv/logging/logging.h"
#include "libmv/simple_pipeline/bundle.h"
+#include "libmv/simple_pipeline/camera_intrinsics.h"
#include "libmv/simple_pipeline/intersect.h"
-#include "libmv/simple_pipeline/resect.h"
#include "libmv/simple_pipeline/reconstruction.h"
+#include "libmv/simple_pipeline/resect.h"
#include "libmv/simple_pipeline/tracks.h"
-#include "libmv/simple_pipeline/camera_intrinsics.h"
#ifdef _MSC_VER
# define snprintf _snprintf
@@ -46,24 +46,25 @@ struct EuclideanPipelineRoutines {
typedef EuclideanCamera Camera;
typedef EuclideanPoint Point;
- static void Bundle(const Tracks &tracks,
- EuclideanReconstruction *reconstruction) {
+ static void Bundle(const Tracks& tracks,
+ EuclideanReconstruction* reconstruction) {
EuclideanBundle(tracks, reconstruction);
}
- static bool Resect(const vector<Marker> &markers,
- EuclideanReconstruction *reconstruction, bool final_pass) {
+ static bool Resect(const vector<Marker>& markers,
+ EuclideanReconstruction* reconstruction,
+ bool final_pass) {
return EuclideanResect(markers, reconstruction, final_pass);
}
- static bool Intersect(const vector<Marker> &markers,
- EuclideanReconstruction *reconstruction) {
+ static bool Intersect(const vector<Marker>& markers,
+ EuclideanReconstruction* reconstruction) {
return EuclideanIntersect(markers, reconstruction);
}
- static Marker ProjectMarker(const EuclideanPoint &point,
- const EuclideanCamera &camera,
- const CameraIntrinsics &intrinsics) {
+ static Marker ProjectMarker(const EuclideanPoint& point,
+ const EuclideanCamera& camera,
+ const CameraIntrinsics& intrinsics) {
Vec3 projected = camera.R * point.X + camera.t;
projected /= projected(2);
@@ -84,26 +85,27 @@ struct ProjectivePipelineRoutines {
typedef ProjectiveCamera Camera;
typedef ProjectivePoint Point;
- static void Bundle(const Tracks &tracks,
- ProjectiveReconstruction *reconstruction) {
+ static void Bundle(const Tracks& tracks,
+ ProjectiveReconstruction* reconstruction) {
ProjectiveBundle(tracks, reconstruction);
}
- static bool Resect(const vector<Marker> &markers,
- ProjectiveReconstruction *reconstruction, bool final_pass) {
- (void) final_pass; // Ignored.
+ static bool Resect(const vector<Marker>& markers,
+ ProjectiveReconstruction* reconstruction,
+ bool final_pass) {
+ (void)final_pass; // Ignored.
return ProjectiveResect(markers, reconstruction);
}
- static bool Intersect(const vector<Marker> &markers,
- ProjectiveReconstruction *reconstruction) {
+ static bool Intersect(const vector<Marker>& markers,
+ ProjectiveReconstruction* reconstruction) {
return ProjectiveIntersect(markers, reconstruction);
}
- static Marker ProjectMarker(const ProjectivePoint &point,
- const ProjectiveCamera &camera,
- const CameraIntrinsics &intrinsics) {
+ static Marker ProjectMarker(const ProjectivePoint& point,
+ const ProjectiveCamera& camera,
+ const CameraIntrinsics& intrinsics) {
Vec3 projected = camera.P * point.X;
projected /= projected(2);
@@ -122,28 +124,33 @@ struct ProjectivePipelineRoutines {
} // namespace
static void CompleteReconstructionLogProgress(
- ProgressUpdateCallback *update_callback,
+ ProgressUpdateCallback* update_callback,
double progress,
- const char *step = NULL) {
+ const char* step = NULL) {
if (update_callback) {
char message[256];
if (step)
- snprintf(message, sizeof(message), "Completing solution %d%% | %s",
- (int)(progress*100), step);
+ snprintf(message,
+ sizeof(message),
+ "Completing solution %d%% | %s",
+ (int)(progress * 100),
+ step);
else
- snprintf(message, sizeof(message), "Completing solution %d%%",
- (int)(progress*100));
+ snprintf(message,
+ sizeof(message),
+ "Completing solution %d%%",
+ (int)(progress * 100));
update_callback->invoke(progress, message);
}
}
-template<typename PipelineRoutines>
+template <typename PipelineRoutines>
void InternalCompleteReconstruction(
- const Tracks &tracks,
- typename PipelineRoutines::Reconstruction *reconstruction,
- ProgressUpdateCallback *update_callback = NULL) {
+ const Tracks& tracks,
+ typename PipelineRoutines::Reconstruction* reconstruction,
+ ProgressUpdateCallback* update_callback = NULL) {
int max_track = tracks.MaxTrack();
int max_image = tracks.MaxImage();
int num_resects = -1;
@@ -173,7 +180,7 @@ void InternalCompleteReconstruction(
<< " reconstructed markers for track " << track;
if (reconstructed_markers.size() >= 2) {
CompleteReconstructionLogProgress(update_callback,
- (double)tot_resects/(max_image));
+ (double)tot_resects / (max_image));
if (PipelineRoutines::Intersect(reconstructed_markers,
reconstruction)) {
num_intersects++;
@@ -184,9 +191,8 @@ void InternalCompleteReconstruction(
}
}
if (num_intersects) {
- CompleteReconstructionLogProgress(update_callback,
- (double)tot_resects/(max_image),
- "Bundling...");
+ CompleteReconstructionLogProgress(
+ update_callback, (double)tot_resects / (max_image), "Bundling...");
PipelineRoutines::Bundle(tracks, reconstruction);
LG << "Ran Bundle() after intersections.";
}
@@ -212,9 +218,9 @@ void InternalCompleteReconstruction(
<< " reconstructed markers for image " << image;
if (reconstructed_markers.size() >= 5) {
CompleteReconstructionLogProgress(update_callback,
- (double)tot_resects/(max_image));
- if (PipelineRoutines::Resect(reconstructed_markers,
- reconstruction, false)) {
+ (double)tot_resects / (max_image));
+ if (PipelineRoutines::Resect(
+ reconstructed_markers, reconstruction, false)) {
num_resects++;
tot_resects++;
LG << "Ran Resect() for image " << image;
@@ -224,9 +230,8 @@ void InternalCompleteReconstruction(
}
}
if (num_resects) {
- CompleteReconstructionLogProgress(update_callback,
- (double)tot_resects/(max_image),
- "Bundling...");
+ CompleteReconstructionLogProgress(
+ update_callback, (double)tot_resects / (max_image), "Bundling...");
PipelineRoutines::Bundle(tracks, reconstruction);
}
LG << "Did " << num_resects << " resects.";
@@ -249,9 +254,9 @@ void InternalCompleteReconstruction(
}
if (reconstructed_markers.size() >= 5) {
CompleteReconstructionLogProgress(update_callback,
- (double)tot_resects/(max_image));
- if (PipelineRoutines::Resect(reconstructed_markers,
- reconstruction, true)) {
+ (double)tot_resects / (max_image));
+ if (PipelineRoutines::Resect(
+ reconstructed_markers, reconstruction, true)) {
num_resects++;
LG << "Ran final Resect() for image " << image;
} else {
@@ -260,27 +265,26 @@ void InternalCompleteReconstruction(
}
}
if (num_resects) {
- CompleteReconstructionLogProgress(update_callback,
- (double)tot_resects/(max_image),
- "Bundling...");
+ CompleteReconstructionLogProgress(
+ update_callback, (double)tot_resects / (max_image), "Bundling...");
PipelineRoutines::Bundle(tracks, reconstruction);
}
}
-template<typename PipelineRoutines>
+template <typename PipelineRoutines>
double InternalReprojectionError(
- const Tracks &image_tracks,
- const typename PipelineRoutines::Reconstruction &reconstruction,
- const CameraIntrinsics &intrinsics) {
+ const Tracks& image_tracks,
+ const typename PipelineRoutines::Reconstruction& reconstruction,
+ const CameraIntrinsics& intrinsics) {
int num_skipped = 0;
int num_reprojected = 0;
double total_error = 0.0;
vector<Marker> markers = image_tracks.AllMarkers();
for (int i = 0; i < markers.size(); ++i) {
double weight = markers[i].weight;
- const typename PipelineRoutines::Camera *camera =
+ const typename PipelineRoutines::Camera* camera =
reconstruction.CameraForImage(markers[i].image);
- const typename PipelineRoutines::Point *point =
+ const typename PipelineRoutines::Point* point =
reconstruction.PointForTrack(markers[i].track);
if (!camera || !point || weight == 0.0) {
num_skipped++;
@@ -295,24 +299,25 @@ double InternalReprojectionError(
const int N = 100;
char line[N];
- snprintf(line, N,
- "image %-3d track %-3d "
- "x %7.1f y %7.1f "
- "rx %7.1f ry %7.1f "
- "ex %7.1f ey %7.1f"
- " e %7.1f",
- markers[i].image,
- markers[i].track,
- markers[i].x,
- markers[i].y,
- reprojected_marker.x,
- reprojected_marker.y,
- ex,
- ey,
- sqrt(ex*ex + ey*ey));
+ snprintf(line,
+ N,
+ "image %-3d track %-3d "
+ "x %7.1f y %7.1f "
+ "rx %7.1f ry %7.1f "
+ "ex %7.1f ey %7.1f"
+ " e %7.1f",
+ markers[i].image,
+ markers[i].track,
+ markers[i].x,
+ markers[i].y,
+ reprojected_marker.x,
+ reprojected_marker.y,
+ ex,
+ ey,
+ sqrt(ex * ex + ey * ey));
VLOG(1) << line;
- total_error += sqrt(ex*ex + ey*ey);
+ total_error += sqrt(ex * ex + ey * ey);
}
LG << "Skipped " << num_skipped << " markers.";
LG << "Reprojected " << num_reprojected << " markers.";
@@ -321,46 +326,41 @@ double InternalReprojectionError(
return total_error / num_reprojected;
}
-double EuclideanReprojectionError(const Tracks &image_tracks,
- const EuclideanReconstruction &reconstruction,
- const CameraIntrinsics &intrinsics) {
- return InternalReprojectionError<EuclideanPipelineRoutines>(image_tracks,
- reconstruction,
- intrinsics);
+double EuclideanReprojectionError(const Tracks& image_tracks,
+ const EuclideanReconstruction& reconstruction,
+ const CameraIntrinsics& intrinsics) {
+ return InternalReprojectionError<EuclideanPipelineRoutines>(
+ image_tracks, reconstruction, intrinsics);
}
double ProjectiveReprojectionError(
- const Tracks &image_tracks,
- const ProjectiveReconstruction &reconstruction,
- const CameraIntrinsics &intrinsics) {
- return InternalReprojectionError<ProjectivePipelineRoutines>(image_tracks,
- reconstruction,
- intrinsics);
+ const Tracks& image_tracks,
+ const ProjectiveReconstruction& reconstruction,
+ const CameraIntrinsics& intrinsics) {
+ return InternalReprojectionError<ProjectivePipelineRoutines>(
+ image_tracks, reconstruction, intrinsics);
}
-void EuclideanCompleteReconstruction(const Tracks &tracks,
- EuclideanReconstruction *reconstruction,
- ProgressUpdateCallback *update_callback) {
- InternalCompleteReconstruction<EuclideanPipelineRoutines>(tracks,
- reconstruction,
- update_callback);
+void EuclideanCompleteReconstruction(const Tracks& tracks,
+ EuclideanReconstruction* reconstruction,
+ ProgressUpdateCallback* update_callback) {
+ InternalCompleteReconstruction<EuclideanPipelineRoutines>(
+ tracks, reconstruction, update_callback);
}
-void ProjectiveCompleteReconstruction(const Tracks &tracks,
- ProjectiveReconstruction *reconstruction) {
+void ProjectiveCompleteReconstruction(
+ const Tracks& tracks, ProjectiveReconstruction* reconstruction) {
InternalCompleteReconstruction<ProjectivePipelineRoutines>(tracks,
reconstruction);
}
-void InvertIntrinsicsForTracks(const Tracks &raw_tracks,
- const CameraIntrinsics &camera_intrinsics,
- Tracks *calibrated_tracks) {
+void InvertIntrinsicsForTracks(const Tracks& raw_tracks,
+ const CameraIntrinsics& camera_intrinsics,
+ Tracks* calibrated_tracks) {
vector<Marker> markers = raw_tracks.AllMarkers();
for (int i = 0; i < markers.size(); ++i) {
- camera_intrinsics.InvertIntrinsics(markers[i].x,
- markers[i].y,
- &(markers[i].x),
- &(markers[i].y));
+ camera_intrinsics.InvertIntrinsics(
+ markers[i].x, markers[i].y, &(markers[i].x), &(markers[i].y));
}
*calibrated_tracks = Tracks(markers);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-09 10:46:13 +0300