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Libmv: Add generic class for packed intrinsics 

This is a common class which can be used in all sort of minimization
problems which needs camera intrinsics as a parameter block.

Currently unused, but will replace a lot of hard-coded logic in the
bundle adjustment code.
This commit is contained in:
Sergey Sharybin 2020-10-13 11:32:35 +02:00
parent 151173fefe
commit 549841bbc0
5 changed files with 275 additions and 0 deletions
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2
intern/libmv/CMakeLists.txt
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@ -111,6 +111,7 @@ if(WITH_LIBMV)
libmv/simple_pipeline/intersect.cc
libmv/simple_pipeline/keyframe_selection.cc
libmv/simple_pipeline/modal_solver.cc
libmv/simple_pipeline/packed_intrinsics.cc
libmv/simple_pipeline/pipeline.cc
libmv/simple_pipeline/reconstruction.cc
libmv/simple_pipeline/reconstruction_scale.cc
@ -192,6 +193,7 @@ if(WITH_LIBMV)
libmv/simple_pipeline/intersect.h
libmv/simple_pipeline/keyframe_selection.h
libmv/simple_pipeline/modal_solver.h
libmv/simple_pipeline/packed_intrinsics.h
libmv/simple_pipeline/pipeline.h
libmv/simple_pipeline/reconstruction.h
libmv/simple_pipeline/reconstruction_scale.h

95
intern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
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@ -22,6 +22,7 @@
#include "libmv/logging/logging.h"
#include "libmv/simple_pipeline/distortion_models.h"
#include "libmv/simple_pipeline/packed_intrinsics.h"
namespace libmv {
@ -131,6 +132,20 @@ void CameraIntrinsics::ResetLookupGrids() {
undistort_.Reset();
}
void CameraIntrinsics::Pack(PackedIntrinsics* packed_intrinsics) const {
packed_intrinsics->SetFocalLength(focal_length());
packed_intrinsics->SetPrincipalPoint(principal_point_x(),
principal_point_y());
}
void CameraIntrinsics::Unpack(const PackedIntrinsics& packed_intrinsics) {
SetFocalLength(packed_intrinsics.GetFocalLength(),
packed_intrinsics.GetFocalLength());
SetPrincipalPoint(packed_intrinsics.GetPrincipalPointX(),
packed_intrinsics.GetPrincipalPointY());
}
// Polynomial model.
PolynomialCameraIntrinsics::PolynomialCameraIntrinsics()
@ -195,6 +210,30 @@ void PolynomialCameraIntrinsics::InvertIntrinsics(
normalized_y);
}
void PolynomialCameraIntrinsics::Pack(
PackedIntrinsics* packed_intrinsics) const {
CameraIntrinsics::Pack(packed_intrinsics);
packed_intrinsics->SetK1(k1());
packed_intrinsics->SetK2(k2());
packed_intrinsics->SetK3(k3());
packed_intrinsics->SetP1(p1());
packed_intrinsics->SetP2(p2());
}
void PolynomialCameraIntrinsics::Unpack(
const PackedIntrinsics& packed_intrinsics) {
CameraIntrinsics::Unpack(packed_intrinsics);
SetRadialDistortion(packed_intrinsics.GetK1(),
packed_intrinsics.GetK2(),
packed_intrinsics.GetK3());
SetTangentialDistortion(packed_intrinsics.GetP1(),
packed_intrinsics.GetP2());
}
// Division model.
DivisionCameraIntrinsics::DivisionCameraIntrinsics()
@ -245,6 +284,21 @@ void DivisionCameraIntrinsics::InvertIntrinsics(double image_x,
normalized_y);
}
void DivisionCameraIntrinsics::Pack(
PackedIntrinsics* packed_intrinsics) const {
CameraIntrinsics::Pack(packed_intrinsics);
packed_intrinsics->SetK1(k1());
packed_intrinsics->SetK2(k2());
}
void DivisionCameraIntrinsics::Unpack(
const PackedIntrinsics& packed_intrinsics) {
CameraIntrinsics::Unpack(packed_intrinsics);
SetDistortion(packed_intrinsics.GetK1(), packed_intrinsics.GetK2());
}
// Nuke model.
NukeCameraIntrinsics::NukeCameraIntrinsics()
@ -296,6 +350,21 @@ void NukeCameraIntrinsics::InvertIntrinsics(double image_x,
normalized_y);
}
void NukeCameraIntrinsics::Pack(
PackedIntrinsics* packed_intrinsics) const {
CameraIntrinsics::Pack(packed_intrinsics);
packed_intrinsics->SetK1(k1());
packed_intrinsics->SetK2(k2());
}
void NukeCameraIntrinsics::Unpack(
const PackedIntrinsics& packed_intrinsics) {
CameraIntrinsics::Unpack(packed_intrinsics);
SetDistortion(packed_intrinsics.GetK1(), packed_intrinsics.GetK2());
}
// Brown model.
BrownCameraIntrinsics::BrownCameraIntrinsics()
@ -362,6 +431,32 @@ void BrownCameraIntrinsics::InvertIntrinsics(
normalized_y);
}
void BrownCameraIntrinsics::Pack(
PackedIntrinsics* packed_intrinsics) const {
CameraIntrinsics::Pack(packed_intrinsics);
packed_intrinsics->SetK1(k1());
packed_intrinsics->SetK2(k2());
packed_intrinsics->SetK3(k3());
packed_intrinsics->SetK4(k4());
packed_intrinsics->SetP1(p1());
packed_intrinsics->SetP2(p2());
}
void BrownCameraIntrinsics::Unpack(
const PackedIntrinsics& packed_intrinsics) {
CameraIntrinsics::Unpack(packed_intrinsics);
SetRadialDistortion(packed_intrinsics.GetK1(),
packed_intrinsics.GetK2(),
packed_intrinsics.GetK3(),
packed_intrinsics.GetK4());
SetTangentialDistortion(packed_intrinsics.GetP1(),
packed_intrinsics.GetP2());
}
std::ostream& operator <<(std::ostream &os,
const CameraIntrinsics &intrinsics) {
if (intrinsics.focal_length_x() == intrinsics.focal_length_x()) {

16
intern/libmv/libmv/simple_pipeline/camera_intrinsics.h
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@ -32,6 +32,7 @@
namespace libmv {
class CameraIntrinsics;
class PackedIntrinsics;
namespace internal {
@ -193,6 +194,9 @@ class CameraIntrinsics {
double *normalized_x,
double *normalized_y) const = 0;
virtual void Pack(PackedIntrinsics* packed_intrinsics) const;
virtual void Unpack(const PackedIntrinsics& packed_intrinsics);
// Distort an image using the current camera instrinsics
//
// The distorted image is computed in output_buffer using samples from
@ -323,6 +327,9 @@ class PolynomialCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
private:
// OpenCV's distortion model with third order polynomial radial distortion
// terms and second order tangential distortion. The distortion is applied to
@ -376,6 +383,9 @@ class DivisionCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
private:
// Double-parameter division distortion model.
double parameters_[NUM_PARAMETERS];
@ -426,6 +436,9 @@ class NukeCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
private:
// Double-parameter division distortion model.
double parameters_[NUM_PARAMETERS];
@ -487,6 +500,9 @@ class BrownCameraIntrinsics : public CameraIntrinsics {
double *normalized_x,
double *normalized_y) const;
virtual void Pack(PackedIntrinsics* packed_intrinsics) const override;
virtual void Unpack(const PackedIntrinsics& packed_intrinsics) override;
private:
double parameters_[NUM_PARAMETERS];
};

58
intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc Normal file
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@ -0,0 +1,58 @@
// 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.
#include "libmv/simple_pipeline/packed_intrinsics.h"
namespace libmv {
PackedIntrinsics::PackedIntrinsics() {
parameters_.fill(0.0);
known_parameters_.fill(false);
}
void PackedIntrinsics::SetFocalLength(double focal_length) {
SetParameter(OFFSET_FOCAL_LENGTH, focal_length);
}
double PackedIntrinsics::GetFocalLength() const {
return GetParameter(OFFSET_FOCAL_LENGTH);
}
void PackedIntrinsics::SetPrincipalPoint(double x, double y) {
SetParameter(OFFSET_PRINCIPAL_POINT_X, x);
SetParameter(OFFSET_PRINCIPAL_POINT_Y, y);
}
double PackedIntrinsics::GetPrincipalPointX() const {
return GetParameter(OFFSET_PRINCIPAL_POINT_X);
}
double PackedIntrinsics::GetPrincipalPointY() const {
return GetParameter(OFFSET_PRINCIPAL_POINT_Y);
}
void PackedIntrinsics::SetParameter(int index, double value) {
parameters_.at(index) = value;
known_parameters_.at(index) = value;
}
double PackedIntrinsics::GetParameter(int index) const {
// TODO(sergey): Consider adding a check for whether the parameter is known.
return parameters_.at(index);
}
} // namespace libmv

104
intern/libmv/libmv/simple_pipeline/packed_intrinsics.h Normal file
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@ -0,0 +1,104 @@
// 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(); }
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_