Sergey Sharybin
0269f0c574
Previously, only predefined and limited set of intrinsics combinations could have been refined. This was caused by a bundle adjustment library used in the early days of the solver. Now it is possible to fully customize which intrinsics are to be refined during camera solving. Internally solver supports per-parameter settings but in the interface they are grouped as following: * Focal length * Optical center * Radial distortion coefficients (which includes k1, k2, k3, k4) * Tangential distortion coefficients (which includes p1, p2) Differential Revision: https://developer.blender.org/D9294
108 lines
3.8 KiB
C++
108 lines
3.8 KiB
C++
/*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2011 Blender Foundation.
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* All rights reserved.
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*/
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#ifndef LIBMV_C_API_RECONSTRUCTION_H_
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#define LIBMV_C_API_RECONSTRUCTION_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct libmv_Tracks;
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struct libmv_CameraIntrinsics;
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struct libmv_CameraIntrinsicsOptions;
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typedef struct libmv_Reconstruction libmv_Reconstruction;
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enum {
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LIBMV_REFINE_FOCAL_LENGTH = (1 << 0),
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LIBMV_REFINE_PRINCIPAL_POINT = (1 << 1),
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LIBMV_REFINE_RADIAL_DISTORTION_K1 = (1 << 2),
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LIBMV_REFINE_RADIAL_DISTORTION_K2 = (1 << 3),
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LIBMV_REFINE_RADIAL_DISTORTION_K3 = (1 << 4),
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LIBMV_REFINE_RADIAL_DISTORTION_K4 = (1 << 5),
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LIBMV_REFINE_RADIAL_DISTORTION = (LIBMV_REFINE_RADIAL_DISTORTION_K1 |
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LIBMV_REFINE_RADIAL_DISTORTION_K2 |
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LIBMV_REFINE_RADIAL_DISTORTION_K3 |
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LIBMV_REFINE_RADIAL_DISTORTION_K4),
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LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 = (1 << 6),
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LIBMV_REFINE_TANGENTIAL_DISTORTION_P2 = (1 << 7),
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LIBMV_REFINE_TANGENTIAL_DISTORTION = (LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 |
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LIBMV_REFINE_TANGENTIAL_DISTORTION_P2),
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};
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typedef struct libmv_ReconstructionOptions {
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int select_keyframes;
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int keyframe1, keyframe2;
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int refine_intrinsics;
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} libmv_ReconstructionOptions;
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typedef void (*reconstruct_progress_update_cb) (void* customdata,
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double progress,
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const char* message);
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libmv_Reconstruction* libmv_solveReconstruction(
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const struct libmv_Tracks* libmv_tracks,
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const struct libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
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libmv_ReconstructionOptions* libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void* callback_customdata);
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libmv_Reconstruction* libmv_solveModal(
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const struct libmv_Tracks* libmv_tracks,
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const struct libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
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const libmv_ReconstructionOptions* libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void* callback_customdata);
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int libmv_reconstructionIsValid(libmv_Reconstruction *libmv_reconstruction);
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void libmv_reconstructionDestroy(libmv_Reconstruction* libmv_reconstruction);
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int libmv_reprojectionPointForTrack(
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const libmv_Reconstruction* libmv_reconstruction,
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int track,
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double pos[3]);
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double libmv_reprojectionErrorForTrack(
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const libmv_Reconstruction* libmv_reconstruction,
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int track);
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double libmv_reprojectionErrorForImage(
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const libmv_Reconstruction* libmv_reconstruction,
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int image);
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int libmv_reprojectionCameraForImage(
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const libmv_Reconstruction* libmv_reconstruction,
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int image,
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double mat[4][4]);
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double libmv_reprojectionError(const libmv_Reconstruction* libmv_reconstruction);
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struct libmv_CameraIntrinsics* libmv_reconstructionExtractIntrinsics(
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libmv_Reconstruction *libmv_Reconstruction);
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#ifdef __cplusplus
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}
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#endif
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#endif // LIBMV_C_API_RECONSTRUCTION_H_
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