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@ -68,7 +68,10 @@ enum { |
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In case that the camera model was SFM_DISTORTION_MODEL_DIVISION, it's only needed to provide |
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_polynomial_k1 and _polynomial_k2 which will be assigned as division distortion parameters. |
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*/ |
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typedef struct libmv_CameraIntrinsicsOptions { |
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class CV_EXPORTS_W_SIMPLE libmv_CameraIntrinsicsOptions |
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{ |
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public: |
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CV_WRAP |
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libmv_CameraIntrinsicsOptions(const int _distortion_model=0, |
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const double _focal_length=0, |
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const double _principal_point_x=0, |
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@ -87,8 +90,8 @@ typedef struct libmv_CameraIntrinsicsOptions { |
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polynomial_k1(_polynomial_k1), |
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polynomial_k2(_polynomial_k2), |
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polynomial_k3(_polynomial_k3), |
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division_k1(0), |
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division_k2(0) |
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division_k1(_polynomial_p1), |
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division_k2(_polynomial_p2) |
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{ |
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if ( _distortion_model == SFM_DISTORTION_MODEL_DIVISION ) |
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{ |
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@ -98,18 +101,18 @@ typedef struct libmv_CameraIntrinsicsOptions { |
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} |
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// Common settings of all distortion models.
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int distortion_model; |
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int image_width, image_height; |
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double focal_length; |
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double principal_point_x, principal_point_y; |
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CV_PROP_RW int distortion_model; |
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CV_PROP_RW int image_width, image_height; |
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CV_PROP_RW double focal_length; |
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CV_PROP_RW double principal_point_x, principal_point_y; |
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// Radial distortion model.
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double polynomial_k1, polynomial_k2, polynomial_k3; |
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double polynomial_p1, polynomial_p2; |
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CV_PROP_RW double polynomial_k1, polynomial_k2, polynomial_k3; |
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CV_PROP_RW double polynomial_p1, polynomial_p2; |
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// Division distortion model.
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double division_k1, division_k2; |
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} libmv_CameraIntrinsicsOptions; |
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CV_PROP_RW double division_k1, division_k2; |
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}; |
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/** @brief All internal camera parameters that libmv is able to refine.
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@ -128,7 +131,10 @@ enum { SFM_REFINE_FOCAL_LENGTH = (1 << 0), // libmv::BUNDLE_FOCAL_LENGT |
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@param _select_keyframes allows to select automatically the initial keyframes. If 1 then autoselection is enabled. If 0 then is disabled. |
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@param _verbosity_level verbosity logs level for Glog. If -1 then logs are disabled, otherwise the log level will be the input integer. |
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*/ |
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typedef struct libmv_ReconstructionOptions { |
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class CV_EXPORTS_W_SIMPLE libmv_ReconstructionOptions |
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{ |
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public: |
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CV_WRAP |
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libmv_ReconstructionOptions(const int _keyframe1=1, |
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const int _keyframe2=2, |
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const int _refine_intrinsics=1, |
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@ -138,21 +144,25 @@ typedef struct libmv_ReconstructionOptions { |
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refine_intrinsics(_refine_intrinsics), |
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select_keyframes(_select_keyframes), |
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verbosity_level(_verbosity_level) {} |
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int keyframe1, keyframe2; |
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int refine_intrinsics; |
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int select_keyframes; |
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int verbosity_level; |
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} libmv_ReconstructionOptions; |
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CV_PROP_RW int keyframe1, keyframe2; |
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CV_PROP_RW int refine_intrinsics; |
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CV_PROP_RW int select_keyframes; |
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CV_PROP_RW int verbosity_level; |
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}; |
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/** @brief base class BaseSFM declares a common API that would be used in a typical scene reconstruction scenario
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*/ |
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class CV_EXPORTS BaseSFM |
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class CV_EXPORTS_W BaseSFM |
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{ |
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public: |
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virtual ~BaseSFM() {}; |
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CV_WRAP |
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virtual void run(InputArrayOfArrays points2d) = 0; |
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CV_WRAP |
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virtual void run(InputArrayOfArrays points2d, InputOutputArray K, OutputArray Rs, |
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OutputArray Ts, OutputArray points3d) = 0; |
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@ -160,21 +170,23 @@ public: |
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virtual void run(const std::vector <std::string> &images, InputOutputArray K, OutputArray Rs, |
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OutputArray Ts, OutputArray points3d) = 0; |
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virtual double getError() const = 0; |
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virtual void getPoints(OutputArray points3d) = 0; |
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virtual cv::Mat getIntrinsics() const = 0; |
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virtual void getCameras(OutputArray Rs, OutputArray Ts) = 0; |
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CV_WRAP virtual double getError() const = 0; |
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CV_WRAP virtual void getPoints(OutputArray points3d) = 0; |
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CV_WRAP virtual cv::Mat getIntrinsics() const = 0; |
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CV_WRAP virtual void getCameras(OutputArray Rs, OutputArray Ts) = 0; |
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CV_WRAP |
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virtual void |
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setReconstructionOptions(const libmv_ReconstructionOptions &libmv_reconstruction_options) = 0; |
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CV_WRAP |
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virtual void |
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setCameraIntrinsicOptions(const libmv_CameraIntrinsicsOptions &libmv_camera_intrinsics_options) = 0; |
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}; |
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/** @brief SFMLibmvEuclideanReconstruction class provides an interface with the Libmv Structure From Motion pipeline.
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*/ |
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class CV_EXPORTS SFMLibmvEuclideanReconstruction : public BaseSFM |
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class CV_EXPORTS_W SFMLibmvEuclideanReconstruction : public BaseSFM |
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{ |
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public: |
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/** @brief Calls the pipeline in order to perform Eclidean reconstruction.
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@ -183,6 +195,7 @@ public: |
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@note |
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- Tracks must be as precise as possible. It does not handle outliers and is very sensible to them. |
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*/ |
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CV_WRAP |
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virtual void run(InputArrayOfArrays points2d) = 0; |
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/** @brief Calls the pipeline in order to perform Eclidean reconstruction.
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@ -195,6 +208,7 @@ public: |
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@note |
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- Tracks must be as precise as possible. It does not handle outliers and is very sensible to them. |
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*/ |
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CV_WRAP |
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virtual void run(InputArrayOfArrays points2d, InputOutputArray K, OutputArray Rs, |
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OutputArray Ts, OutputArray points3d) = 0; |
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@ -205,6 +219,7 @@ public: |
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- The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior. |
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- For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images. |
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*/ |
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/* CV_WRAP */ // error: ‘vector_string’ was not declared in this scope
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virtual void run(const std::vector <std::string> &images) = 0; |
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/** @brief Calls the pipeline in order to perform Eclidean reconstruction.
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@ -218,32 +233,38 @@ public: |
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- The images must be ordered as they were an image sequence. Additionally, each frame should be as close as posible to the previous and posterior. |
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- For now DAISY features are used in order to compute the 2d points tracks and it only works for 3-4 images. |
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*/ |
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/* CV_WRAP */ // error: ‘vector_string’ was not declared in this scope
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virtual void run(const std::vector <std::string> &images, InputOutputArray K, OutputArray Rs, |
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OutputArray Ts, OutputArray points3d) = 0; |
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/** @brief Returns the computed reprojection error.
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*/ |
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CV_WRAP |
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virtual double getError() const = 0; |
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/** @brief Returns the estimated 3d points.
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@param points3d Output array with estimated 3d points. |
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*/ |
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CV_WRAP |
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virtual void getPoints(OutputArray points3d) = 0; |
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/** @brief Returns the refined camera calibration matrix.
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*/ |
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CV_WRAP |
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virtual cv::Mat getIntrinsics() const = 0; |
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/** @brief Returns the estimated camera extrinsic parameters.
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@param Rs Output vector of 3x3 rotations of the camera. |
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@param Ts Output vector of 3x1 translations of the camera. |
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*/ |
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CV_WRAP |
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virtual void getCameras(OutputArray Rs, OutputArray Ts) = 0; |
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/** @brief Setter method for reconstruction options.
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@param libmv_reconstruction_options struct with reconstruction options such as initial keyframes, |
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automatic keyframe selection, parameters to refine and the verbosity level. |
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*/ |
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CV_WRAP |
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virtual void |
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setReconstructionOptions(const libmv_ReconstructionOptions &libmv_reconstruction_options) = 0; |
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@ -251,14 +272,16 @@ public: |
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@param libmv_camera_intrinsics_options struct with camera intrinsic options such as camera model and |
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the internal camera parameters. |
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*/ |
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CV_WRAP |
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virtual void |
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setCameraIntrinsicOptions(const libmv_CameraIntrinsicsOptions &libmv_camera_intrinsics_options) = 0; |
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/** @brief Creates an instance of the SFMLibmvEuclideanReconstruction class. Initializes Libmv. */ |
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/* CV_WRAP */ // error: ‘SFMLibmvEuclideanReruction’ was not declared in this scope
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static Ptr<SFMLibmvEuclideanReconstruction> |
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create(const libmv_CameraIntrinsicsOptions &camera_instrinsic_options=libmv_CameraIntrinsicsOptions(), |
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const libmv_ReconstructionOptions &reconstruction_options=libmv_ReconstructionOptions()); |
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}; |
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create(const libmv_CameraIntrinsicsOptions &camera_instrinsic_options=libmv_CameraIntrinsicsOptions(), |
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const libmv_ReconstructionOptions &reconstruction_options=libmv_ReconstructionOptions()); |
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}; |
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//! @} sfm
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edgarriba
10 years ago