diff options
Diffstat (limited to 'intern/libmv')
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/bundle.cc | 120 |
1 files changed, 108 insertions, 12 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.cc b/intern/libmv/libmv/simple_pipeline/bundle.cc index c055846318a..ffe85c9d0c2 100644 --- a/intern/libmv/libmv/simple_pipeline/bundle.cc +++ b/intern/libmv/libmv/simple_pipeline/bundle.cc @@ -391,37 +391,133 @@ void BundleIntrinsicsLogMessage(const int bundle_intrinsics) { // and faster minimization. void PackIntrinisicsIntoArray(const CameraIntrinsics &intrinsics, double intrinsics_block[OFFSET_MAX]) { + // Pack common intrinsics part. intrinsics_block[OFFSET_FOCAL_LENGTH] = intrinsics.focal_length(); intrinsics_block[OFFSET_PRINCIPAL_POINT_X] = intrinsics.principal_point_x(); intrinsics_block[OFFSET_PRINCIPAL_POINT_Y] = intrinsics.principal_point_y(); - int num_distortion_parameters = intrinsics.num_distortion_parameters(); - assert(num_distortion_parameters <= NUM_DISTORTION_COEFFICIENTS); + // Per-model intrinsics block. + // + // The goal here is to get named parameters from the intrinsics object and + // place them into well-defined position within the intrinsics block. This + // simplifies logic of marking parameters constant. + // + // TODO(sergey): The code is very much similar to what is goping on in the + // cost functors. With some templates and helper functions it will be + // possible to reduce level of duplication. + switch (intrinsics.GetDistortionModelType()) { + case DISTORTION_MODEL_POLYNOMIAL: + { + const PolynomialCameraIntrinsics& polynomial_intrinsics = + static_cast<const PolynomialCameraIntrinsics&>(intrinsics); + intrinsics_block[OFFSET_K1] = polynomial_intrinsics.k1(); + intrinsics_block[OFFSET_K2] = polynomial_intrinsics.k2(); + intrinsics_block[OFFSET_K3] = polynomial_intrinsics.k3(); + intrinsics_block[OFFSET_P1] = polynomial_intrinsics.p1(); + intrinsics_block[OFFSET_P2] = polynomial_intrinsics.p2(); + return; + } + + case DISTORTION_MODEL_DIVISION: + { + const DivisionCameraIntrinsics& division_intrinsics = + static_cast<const DivisionCameraIntrinsics&>(intrinsics); + intrinsics_block[OFFSET_K1] = division_intrinsics.k1(); + intrinsics_block[OFFSET_K2] = division_intrinsics.k2(); + return; + } - const double *distortion_parameters = intrinsics.distortion_parameters(); - for (int i = 0; i < num_distortion_parameters; ++i) { - intrinsics_block[FIRST_DISTORTION_COEFFICIENT + i] = - distortion_parameters[i]; + case DISTORTION_MODEL_NUKE: + { + const NukeCameraIntrinsics& nuke_intrinsics = + static_cast<const NukeCameraIntrinsics&>(intrinsics); + intrinsics_block[OFFSET_K1] = nuke_intrinsics.k1(); + intrinsics_block[OFFSET_K2] = nuke_intrinsics.k2(); + return; + } + + case DISTORTION_MODEL_BROWN: + { + const BrownCameraIntrinsics& brown_intrinsics = + static_cast<const BrownCameraIntrinsics&>(intrinsics); + intrinsics_block[OFFSET_K1] = brown_intrinsics.k1(); + intrinsics_block[OFFSET_K2] = brown_intrinsics.k2(); + intrinsics_block[OFFSET_K3] = brown_intrinsics.k3(); + intrinsics_block[OFFSET_K4] = brown_intrinsics.k4(); + intrinsics_block[OFFSET_P1] = brown_intrinsics.p1(); + intrinsics_block[OFFSET_P2] = brown_intrinsics.p2(); + return; + } } + + LOG(FATAL) << "Unknown distortion model."; } // Unpack intrinsics back from an array to an object. void UnpackIntrinsicsFromArray(const double intrinsics_block[OFFSET_MAX], CameraIntrinsics *intrinsics) { + // Unpack common intrinsics part. intrinsics->SetFocalLength(intrinsics_block[OFFSET_FOCAL_LENGTH], intrinsics_block[OFFSET_FOCAL_LENGTH]); intrinsics->SetPrincipalPoint(intrinsics_block[OFFSET_PRINCIPAL_POINT_X], intrinsics_block[OFFSET_PRINCIPAL_POINT_Y]); - int num_distortion_parameters = intrinsics->num_distortion_parameters(); - assert(num_distortion_parameters <= NUM_DISTORTION_COEFFICIENTS); + // Per-model intrinsics block. + // + // The goal here is to get named parameters from the intrinsics object and + // place them into well-defined position within the intrinsics block. This + // simplifies logic of marking parameters constant. + // + // TODO(sergey): The code is very much similar to what is goping on in the + // cost functors. With some templates and helper functions it will be + // possible to reduce level of duplication. + switch (intrinsics->GetDistortionModelType()) { + case DISTORTION_MODEL_POLYNOMIAL: + { + PolynomialCameraIntrinsics* polynomial_intrinsics = + static_cast<PolynomialCameraIntrinsics*>(intrinsics); + polynomial_intrinsics->SetRadialDistortion(intrinsics_block[OFFSET_K1], + intrinsics_block[OFFSET_K2], + intrinsics_block[OFFSET_K3]); + polynomial_intrinsics->SetTangentialDistortion( + intrinsics_block[OFFSET_P1], intrinsics_block[OFFSET_P2]); + return; + } + + case DISTORTION_MODEL_DIVISION: + { + DivisionCameraIntrinsics* division_intrinsics = + static_cast<DivisionCameraIntrinsics*>(intrinsics); + division_intrinsics->SetDistortion(intrinsics_block[OFFSET_K1], + intrinsics_block[OFFSET_K2]); + return; + } - double *distortion_parameters = intrinsics->distortion_parameters(); - for (int i = 0; i < num_distortion_parameters; ++i) { - distortion_parameters[i] = - intrinsics_block[FIRST_DISTORTION_COEFFICIENT + i]; + case DISTORTION_MODEL_NUKE: + { + NukeCameraIntrinsics* nuke_intrinsics = + static_cast<NukeCameraIntrinsics*>(intrinsics); + nuke_intrinsics->SetDistortion(intrinsics_block[OFFSET_K1], + intrinsics_block[OFFSET_K2]); + return; + } + + case DISTORTION_MODEL_BROWN: + { + BrownCameraIntrinsics* brown_intrinsics = + static_cast<BrownCameraIntrinsics*>(intrinsics); + brown_intrinsics->SetRadialDistortion(intrinsics_block[OFFSET_K1], + intrinsics_block[OFFSET_K2], + intrinsics_block[OFFSET_K3], + intrinsics_block[OFFSET_K4]); + brown_intrinsics->SetTangentialDistortion(intrinsics_block[OFFSET_P1], + intrinsics_block[OFFSET_P2]); + return; + } } + + LOG(FATAL) << "Unknown distortion model."; } // Get a vector of camera's rotations denoted by angle axis |