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Camera tracking: libmv distortion API now also uses camera intrinsics

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structure instead of passing all the parameters to every function.

Makes it much easier to tweak distortion model.

---
svn merge -r52854:52855 ^/branches/soc-2011-tomato
This commit is contained in:
Sergey Sharybin
2013-02-25 09:36:52 +00:00
parent a0d646d186 5137b5a146
commit 2df945d8ff
3 changed files with 144 additions and 106 deletions
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162
extern/libmv/libmv-capi.cpp vendored
View File

@@ -564,6 +564,9 @@ static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsi
camera_intrinsics->SetRadialDistortion(camera_intrinsics_options->k1,
camera_intrinsics_options->k2,
camera_intrinsics_options->k3);
camera_intrinsics->SetImageSize(camera_intrinsics_options->image_width,
camera_intrinsics_options->image_height);
}
static libmv::Tracks getNormalizedTracks(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics)
@@ -897,17 +900,13 @@ struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libm
return (struct libmv_CameraIntrinsics *)&libmv_Reconstruction->intrinsics;
}
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(double focal_length, double principal_x, double principal_y,
double k1, double k2, double k3, int width, int height)
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
{
libmv::CameraIntrinsics *intrinsics= new libmv::CameraIntrinsics();
libmv::CameraIntrinsics *camera_intrinsics = new libmv::CameraIntrinsics();
intrinsics->SetFocalLength(focal_length, focal_length);
intrinsics->SetPrincipalPoint(principal_x, principal_y);
intrinsics->SetRadialDistortion(k1, k2, k3);
intrinsics->SetImageSize(width, height);
cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
return (struct libmv_CameraIntrinsics *) intrinsics;
return (struct libmv_CameraIntrinsics *) camera_intrinsics;
}
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics)
@@ -925,40 +924,63 @@ void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsic
delete intrinsics;
}
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
double principal_x, double principal_y, double k1, double k2, double k3, int width, int height)
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
if (intrinsics->focal_length() != focal_length)
intrinsics->SetFocalLength(focal_length, focal_length);
double focal_length = libmv_camera_intrinsics_options->focal_length;
double principal_x = libmv_camera_intrinsics_options->principal_point_x;
double principal_y = libmv_camera_intrinsics_options->principal_point_y;
double k1 = libmv_camera_intrinsics_options->k1;
double k2 = libmv_camera_intrinsics_options->k2;
double k3 = libmv_camera_intrinsics_options->k3;
int image_width = libmv_camera_intrinsics_options->image_width;
int image_height = libmv_camera_intrinsics_options->image_height;
if (intrinsics->principal_point_x() != principal_x || intrinsics->principal_point_y() != principal_y)
intrinsics->SetPrincipalPoint(principal_x, principal_y);
/* try avoid unnecessary updates so pre-computed distortion grids are not freed */
if (intrinsics->k1() != k1 || intrinsics->k2() != k2 || intrinsics->k3() != k3)
intrinsics->SetRadialDistortion(k1, k2, k3);
if (camera_intrinsics->focal_length() != focal_length)
camera_intrinsics->SetFocalLength(focal_length, focal_length);
if (intrinsics->image_width() != width || intrinsics->image_height() != height)
intrinsics->SetImageSize(width, height);
if (camera_intrinsics->principal_point_x() != principal_x ||
camera_intrinsics->principal_point_y() != principal_y)
{
camera_intrinsics->SetPrincipalPoint(principal_x, principal_y);
}
if (camera_intrinsics->k1() != k1 ||
camera_intrinsics->k2() != k2 ||
camera_intrinsics->k3() != k3)
{
camera_intrinsics->SetRadialDistortion(k1, k2, k3);
}
if (camera_intrinsics->image_width() != image_width ||
camera_intrinsics->image_height() != image_height)
{
camera_intrinsics->SetImageSize(image_width, image_height);
}
}
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, double *focal_length,
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height) {
libmv::CameraIntrinsics *intrinsics= (libmv::CameraIntrinsics *) libmvIntrinsics;
*focal_length = intrinsics->focal_length();
*principal_x = intrinsics->principal_point_x();
*principal_y = intrinsics->principal_point_y();
*k1 = intrinsics->k1();
*k2 = intrinsics->k2();
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height)
{
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
*focal_length = camera_intrinsics->focal_length();
*principal_x = camera_intrinsics->principal_point_x();
*principal_y = camera_intrinsics->principal_point_y();
*k1 = camera_intrinsics->k1();
*k2 = camera_intrinsics->k2();
}
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
intrinsics->Undistort(src, dst, width, height, overscan, channels);
camera_intrinsics->Undistort(src, dst, width, height, overscan, channels);
}
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
@@ -986,85 +1008,77 @@ void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntr
/* ************ distortion ************ */
void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
void libmv_undistortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
unsigned char *src, unsigned char *dst, int width, int height,
float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
libmv::CameraIntrinsics camera_intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
intrinsics.Undistort(src, dst, width, height, overscan, channels);
camera_intrinsics.Undistort(src, dst, width, height, overscan, channels);
}
void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, float overscan, int channels)
void libmv_undistortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
float *src, float *dst, int width, int height,
float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
libmv::CameraIntrinsics camera_intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
intrinsics.Undistort(src, dst, width, height, overscan, channels);
camera_intrinsics.Undistort(src, dst, width, height, overscan, channels);
}
void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
void libmv_distortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
unsigned char *src, unsigned char *dst, int width, int height,
float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
libmv::CameraIntrinsics camera_intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
intrinsics.Distort(src, dst, width, height, overscan, channels);
camera_intrinsics.Distort(src, dst, width, height, overscan, channels);
}
void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, float overscan, int channels)
void libmv_distortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
float *src, float *dst, int width, int height,
float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
libmv::CameraIntrinsics camera_intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
intrinsics.Distort(src, dst, width, height, overscan, channels);
camera_intrinsics.Distort(src, dst, width, height, overscan, channels);
}
/* ************ utils ************ */
void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
double x, double y, double *x1, double *y1)
void libmv_applyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1)
{
libmv::CameraIntrinsics intrinsics;
libmv::CameraIntrinsics camera_intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
if(focal_length) {
if (libmv_camera_intrinsics_options->focal_length) {
/* do a lens undistortion if focal length is non-zero only */
intrinsics.ApplyIntrinsics(x, y, x1, y1);
camera_intrinsics.ApplyIntrinsics(x, y, x1, y1);
}
}
void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
double x, double y, double *x1, double *y1)
void libmv_InvertIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1)
{
libmv::CameraIntrinsics intrinsics;
libmv::CameraIntrinsics camera_intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
if(focal_length) {
if (libmv_camera_intrinsics_options->focal_length) {
/* do a lens distortion if focal length is non-zero only */
intrinsics.InvertIntrinsics(x, y, x1, y1);
camera_intrinsics.InvertIntrinsics(x, y, x1, y1);
}
}

34
extern/libmv/libmv-capi.h vendored
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@@ -97,6 +97,7 @@ typedef struct libmv_cameraIntrinsicsOptions {
double principal_point_x, principal_point_y;
double k1, k2, k3;
double p1, p2;
int image_width, image_height;
} libmv_cameraIntrinsicsOptions;
typedef struct libmv_reconstructionOptions {
@@ -139,46 +140,45 @@ void libmv_destroyFeatures(struct libmv_Features *libmv_features);
/* camera intrinsics */
struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(double focal_length, double principal_x, double principal_y,
double k1, double k2, double k3, int width, int height);
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics);
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmv_intrinsics);
void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics);
void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
double principal_x, double principal_y, double k1, double k2, double k3, int width, int height);
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, double *focal_length,
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
float *src, float *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
float *src, float *dst, int width, int height, float overscan, int channels);
/* dsitortion */
void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
void libmv_undistortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
void libmv_undistortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
float *src, float *dst, int width, int height, float overscan, int channels);
void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
void libmv_distortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
void libmv_distortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
float *src, float *dst, int width, int height, float overscan, int channels);
/* utils */
void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
void libmv_applyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1);
void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
void libmv_InvertIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1);
/* point clouds */