diff options
Diffstat (limited to 'intern/libmv')
| -rw-r--r-- | intern/libmv/intern/reconstruction.cc | 23 | ||||
| -rw-r--r-- | intern/libmv/intern/reconstruction.h | 20 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/bundle.cc | 24 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/bundle.h | 24 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc | 4 | ||||
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/packed_intrinsics.h | 2 |
6 files changed, 67 insertions, 30 deletions
diff --git a/intern/libmv/intern/reconstruction.cc b/intern/libmv/intern/reconstruction.cc index 64f00b19df0..0f4e890d4ca 100644 --- a/intern/libmv/intern/reconstruction.cc +++ b/intern/libmv/intern/reconstruction.cc @@ -95,12 +95,23 @@ void libmv_solveRefineIntrinsics( if (refine_intrinsics & LIBMV_REFINE_PRINCIPAL_POINT) { bundle_intrinsics |= libmv::BUNDLE_PRINCIPAL_POINT; } - if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K1) { - bundle_intrinsics |= libmv::BUNDLE_RADIAL_K1; - } - if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K2) { - bundle_intrinsics |= libmv::BUNDLE_RADIAL_K2; - } + +#define SET_DISTORTION_FLAG_CHECKED(type, coefficient) \ + do { \ + if (refine_intrinsics & LIBMV_REFINE_ ## type ##_DISTORTION_ ## coefficient) { \ + bundle_intrinsics |= libmv::BUNDLE_ ## type ## _ ## coefficient; \ + } \ + } while (0) + + SET_DISTORTION_FLAG_CHECKED(RADIAL, K1); + SET_DISTORTION_FLAG_CHECKED(RADIAL, K2); + SET_DISTORTION_FLAG_CHECKED(RADIAL, K3); + SET_DISTORTION_FLAG_CHECKED(RADIAL, K4); + + SET_DISTORTION_FLAG_CHECKED(TANGENTIAL, P1); + SET_DISTORTION_FLAG_CHECKED(TANGENTIAL, P2); + +#undef SET_DISTORTION_FLAG_CHECKED progress_update_callback(callback_customdata, 1.0, "Refining solution"); diff --git a/intern/libmv/intern/reconstruction.h b/intern/libmv/intern/reconstruction.h index 727a4943add..408ac884684 100644 --- a/intern/libmv/intern/reconstruction.h +++ b/intern/libmv/intern/reconstruction.h @@ -31,10 +31,22 @@ struct libmv_CameraIntrinsicsOptions; typedef struct libmv_Reconstruction libmv_Reconstruction; enum { - LIBMV_REFINE_FOCAL_LENGTH = (1 << 0), - LIBMV_REFINE_PRINCIPAL_POINT = (1 << 1), - LIBMV_REFINE_RADIAL_DISTORTION_K1 = (1 << 2), - LIBMV_REFINE_RADIAL_DISTORTION_K2 = (1 << 4), + LIBMV_REFINE_FOCAL_LENGTH = (1 << 0), + LIBMV_REFINE_PRINCIPAL_POINT = (1 << 1), + + LIBMV_REFINE_RADIAL_DISTORTION_K1 = (1 << 2), + LIBMV_REFINE_RADIAL_DISTORTION_K2 = (1 << 3), + LIBMV_REFINE_RADIAL_DISTORTION_K3 = (1 << 4), + LIBMV_REFINE_RADIAL_DISTORTION_K4 = (1 << 5), + LIBMV_REFINE_RADIAL_DISTORTION = (LIBMV_REFINE_RADIAL_DISTORTION_K1 | + LIBMV_REFINE_RADIAL_DISTORTION_K2 | + LIBMV_REFINE_RADIAL_DISTORTION_K3 | + LIBMV_REFINE_RADIAL_DISTORTION_K4), + + LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 = (1 << 6), + LIBMV_REFINE_TANGENTIAL_DISTORTION_P2 = (1 << 7), + LIBMV_REFINE_TANGENTIAL_DISTORTION = (LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 | + LIBMV_REFINE_TANGENTIAL_DISTORTION_P2), }; typedef struct libmv_ReconstructionOptions { diff --git a/intern/libmv/libmv/simple_pipeline/bundle.cc b/intern/libmv/libmv/simple_pipeline/bundle.cc index 3df39ab8936..d62f0ebe94f 100644 --- a/intern/libmv/libmv/simple_pipeline/bundle.cc +++ b/intern/libmv/libmv/simple_pipeline/bundle.cc @@ -368,6 +368,8 @@ void BundleIntrinsicsLogMessage(const int bundle_intrinsics) { APPEND_BUNDLING_INTRINSICS("px, py", BUNDLE_PRINCIPAL_POINT); APPEND_BUNDLING_INTRINSICS("k1", BUNDLE_RADIAL_K1); APPEND_BUNDLING_INTRINSICS("k2", BUNDLE_RADIAL_K2); + APPEND_BUNDLING_INTRINSICS("k3", BUNDLE_RADIAL_K3); + APPEND_BUNDLING_INTRINSICS("k4", BUNDLE_RADIAL_K4); APPEND_BUNDLING_INTRINSICS("p1", BUNDLE_TANGENTIAL_P1); APPEND_BUNDLING_INTRINSICS("p2", BUNDLE_TANGENTIAL_P2); @@ -744,7 +746,8 @@ void EuclideanBundleCommonIntrinsics( std::vector<int> constant_intrinsics; #define MAYBE_SET_CONSTANT(bundle_enum, offset) \ - if (!(bundle_intrinsics & bundle_enum)) { \ + if (!(bundle_intrinsics & bundle_enum) || \ + !packed_intrinsics.IsParameterDefined(offset)) { \ constant_intrinsics.push_back(offset); \ } MAYBE_SET_CONSTANT(BUNDLE_FOCAL_LENGTH, @@ -755,22 +758,19 @@ void EuclideanBundleCommonIntrinsics( PackedIntrinsics::OFFSET_PRINCIPAL_POINT_Y); MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K1, PackedIntrinsics::OFFSET_K1); MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K2, PackedIntrinsics::OFFSET_K2); + MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K3, PackedIntrinsics::OFFSET_K3); + MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K4, PackedIntrinsics::OFFSET_K4); MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P1, PackedIntrinsics::OFFSET_P1); MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P2, PackedIntrinsics::OFFSET_P2); #undef MAYBE_SET_CONSTANT - // Always set K3 and K4 constant, it's not used at the moment. - constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K3); - constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K4); + if (!constant_intrinsics.empty()) { + ceres::SubsetParameterization *subset_parameterization = + new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS, + constant_intrinsics); - // TODO(sergey): Mark all parameters which are not used by the distortion - // model as constant. - - ceres::SubsetParameterization *subset_parameterization = - new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS, - constant_intrinsics); - - problem.SetParameterization(intrinsics_block, subset_parameterization); + problem.SetParameterization(intrinsics_block, subset_parameterization); + } } // Configure the solver. diff --git a/intern/libmv/libmv/simple_pipeline/bundle.h b/intern/libmv/libmv/simple_pipeline/bundle.h index 781bd8476fe..5f420da0045 100644 --- a/intern/libmv/libmv/simple_pipeline/bundle.h +++ b/intern/libmv/libmv/simple_pipeline/bundle.h @@ -101,14 +101,22 @@ void EuclideanBundle(const Tracks &tracks, */ enum BundleIntrinsics { BUNDLE_NO_INTRINSICS = 0, - BUNDLE_FOCAL_LENGTH = 1, - BUNDLE_PRINCIPAL_POINT = 2, - BUNDLE_RADIAL_K1 = 4, - BUNDLE_RADIAL_K2 = 8, - BUNDLE_RADIAL = 12, - BUNDLE_TANGENTIAL_P1 = 16, - BUNDLE_TANGENTIAL_P2 = 32, - BUNDLE_TANGENTIAL = 48, + + BUNDLE_FOCAL_LENGTH = (1 << 0), + BUNDLE_PRINCIPAL_POINT = (1 << 1), + + BUNDLE_RADIAL_K1 = (1 << 2), + BUNDLE_RADIAL_K2 = (1 << 3), + BUNDLE_RADIAL_K3 = (1 << 4), + BUNDLE_RADIAL_K4 = (1 << 5), + BUNDLE_RADIAL = (BUNDLE_RADIAL_K1 | + BUNDLE_RADIAL_K2 | + BUNDLE_RADIAL_K3 | + BUNDLE_RADIAL_K4), + + BUNDLE_TANGENTIAL_P1 = (1 << 6), + BUNDLE_TANGENTIAL_P2 = (1 << 7), + BUNDLE_TANGENTIAL = (BUNDLE_TANGENTIAL_P1 | BUNDLE_TANGENTIAL_P2), }; enum BundleConstraints { BUNDLE_NO_CONSTRAINTS = 0, diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc index 1888e18867e..73ad4faed9c 100644 --- a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc +++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc @@ -55,4 +55,8 @@ double PackedIntrinsics::GetParameter(int index) const { return parameters_.at(index); } +bool PackedIntrinsics::IsParameterDefined(int offset) { + return known_parameters_.at(offset); +} + } // namespace libmv diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h index e551fe74800..cbea599fccd 100644 --- a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h +++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h @@ -86,6 +86,8 @@ class PackedIntrinsics { 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; |