Commit: 62b8a0f75b7b654cb1bdf99bf0356f57e75d09dd
Author: Tianwei Shen
Date: Wed Jun 29 21:30:27 2016 +0800
Branches: soc-2016-multiview
https://developer.blender.org/rB62b8a0f75b7b654cb1bdf99bf0356f57e75d09dd
format the libmv code to google code style
===================================================================
M intern/libmv/intern/reconstructionN.cc
M intern/libmv/libmv/autotrack/bundle.cc
M intern/libmv/libmv/autotrack/pipeline.cc
M intern/libmv/libmv/autotrack/reconstruction.cc
M intern/libmv/libmv/autotrack/reconstruction.h
M intern/libmv/libmv/autotrack/tracks.cc
M intern/libmv/libmv/autotrack/tracks.h
===================================================================
diff --git a/intern/libmv/intern/reconstructionN.cc
b/intern/libmv/intern/reconstructionN.cc
index bdcb07f..2e13927 100644
--- a/intern/libmv/intern/reconstructionN.cc
+++ b/intern/libmv/intern/reconstructionN.cc
@@ -55,14 +55,13 @@ using libmv::CameraIntrinsics;
using libmv::ProgressUpdateCallback;
struct libmv_ReconstructionN {
- mv::Reconstruction reconstruction;
+ mv::Reconstruction reconstruction;
- /* Used for per-track average error calculation after reconstruction */
- mv::Tracks tracks;
- libmv::CameraIntrinsics *intrinsics;
-
- double error;
- bool is_valid;
+ /* Used for per-track average error calculation after reconstruction */
+ mv::Tracks tracks;
+ libmv::CameraIntrinsics *intrinsics;
+ double error;
+ bool is_valid;
};
namespace {
diff --git a/intern/libmv/libmv/autotrack/bundle.cc
b/intern/libmv/libmv/autotrack/bundle.cc
index 3f35a39..3d2e275 100644
--- a/intern/libmv/libmv/autotrack/bundle.cc
+++ b/intern/libmv/libmv/autotrack/bundle.cc
@@ -124,39 +124,39 @@ struct OpenCVReprojectionError {
// jet operations.
switch (distortion_model_) {
case libmv::DISTORTION_MODEL_POLYNOMIAL:
- {
- const T& k1 = intrinsics[OFFSET_K1];
- const T& k2 = intrinsics[OFFSET_K2];
- const T& k3 = intrinsics[OFFSET_K3];
- const T& p1 = intrinsics[OFFSET_P1];
- const T& p2 = intrinsics[OFFSET_P2];
-
- libmv::ApplyPolynomialDistortionModel(focal_length,
- focal_length,
- principal_point_x,
- principal_point_y,
- k1, k2, k3,
- p1, p2,
- xn, yn,
- &predicted_x,
- &predicted_y);
+ {
+ const T& k1 = intrinsics[OFFSET_K1];
+ const T& k2 = intrinsics[OFFSET_K2];
+ const T& k3 = intrinsics[OFFSET_K3];
+ const T& p1 = intrinsics[OFFSET_P1];
+ const T& p2 = intrinsics[OFFSET_P2];
+
+ libmv::ApplyPolynomialDistortionModel(focal_length,
+ focal_length,
+ principal_point_x,
+ principal_point_y,
+ k1, k2, k3,
+ p1, p2,
+ xn, yn,
+ &predicted_x,
+ &predicted_y);
break;
- }
+ }
case libmv::DISTORTION_MODEL_DIVISION:
- {
+ {
const T& k1 = intrinsics[OFFSET_K1];
const T& k2 = intrinsics[OFFSET_K2];
- libmv::ApplyDivisionDistortionModel(focal_length,
- focal_length,
- principal_point_x,
- principal_point_y,
- k1, k2,
- xn, yn,
- &predicted_x,
- &predicted_y);
+ libmv::ApplyDivisionDistortionModel(focal_length,
+ focal_length,
+ principal_point_x,
+ principal_point_y,
+ k1, k2,
+ xn, yn,
+ &predicted_x,
+ &predicted_y);
break;
- }
+ }
default:
LOG(FATAL) << "Unknown distortion model";
}
@@ -244,34 +244,34 @@ vector<Vec6> PackMultiCamerasRotationAndTranslation(
const Tracks &tracks,
const Reconstruction &reconstruction,
vector<vector<int> > &camera_pose_map) {
- vector<Vec6> all_cameras_R_t;
- int clip_num = tracks.GetClipNum();
- camera_pose_map.resize(clip_num);
- int total_frame = 0;
- for(int i = 0; i < clip_num; i++) {
- total_frame += tracks.MaxFrame(i) + 1;
- camera_pose_map[i].resize(tracks.MaxFrame(i) + 1);
- }
- printf("total frame: %d\n", total_frame);
-
- all_cameras_R_t.resize(total_frame); // maximum possible number of
camera poses
-
- int frame_count = 0;
- for(int i = 0; i < clip_num; i++) {
- int max_frame = tracks.MaxFrame(i);
- for(int j = 0; j <= max_frame; j++) {
- const CameraPose *camera =
reconstruction.CameraPoseForFrame(i, j);
- if (camera) {
- ceres::RotationMatrixToAngleAxis(&camera->R(0,
0),
-
&all_cameras_R_t[frame_count](0));
- all_cameras_R_t[frame_count].tail<3>()
= camera->t;
- camera_pose_map[i][j] = frame_count; // save
the global map
- frame_count++;
- }
- }
- }
-
- return all_cameras_R_t;
+ vector<Vec6> all_cameras_R_t;
+ int clip_num = tracks.GetClipNum();
+ camera_pose_map.resize(clip_num);
+ int total_frame = 0;
+ for(int i = 0; i < clip_num; i++) {
+ total_frame += tracks.MaxFrame(i) + 1;
+ camera_pose_map[i].resize(tracks.MaxFrame(i) + 1);
+ }
+ printf("total frame: %d\n", total_frame);
+
+ all_cameras_R_t.resize(total_frame); // maximum possible number of camera
poses
+
+ int frame_count = 0;
+ for(int i = 0; i < clip_num; i++) {
+ int max_frame = tracks.MaxFrame(i);
+ for(int j = 0; j <= max_frame; j++) {
+ const CameraPose *camera = reconstruction.CameraPoseForFrame(i, j);
+ if (camera) {
+ ceres::RotationMatrixToAngleAxis(&camera->R(0, 0),
+ &all_cameras_R_t[frame_count](0));
+ all_cameras_R_t[frame_count].tail<3>() = camera->t;
+ camera_pose_map[i][j] = frame_count; // save the global map
+ frame_count++;
+ }
+ }
+ }
+
+ return all_cameras_R_t;
}
// Convert cameras rotations fro mangle axis back to rotation matrix.
@@ -279,19 +279,19 @@ void UnpackMultiCamerasRotationAndTranslation(
const Tracks &tracks,
const vector<Vec6> &all_cameras_R_t,
Reconstruction *reconstruction) {
- int clip_num = tracks.GetClipNum();
- int frame_count = 0;
- for(int i = 0; i < clip_num; i++) {
- int max_frame = tracks.MaxFrame(i);
- for(int j = 0; j <= max_frame; j++) {
- CameraPose *camera =
reconstruction->CameraPoseForFrame(i, j);
- if(camera) {
-
ceres::AngleAxisToRotationMatrix(&all_cameras_R_t[frame_count](0),
&camera->R(0, 0));
- camera->t =
all_cameras_R_t[frame_count].tail<3>();
- frame_count++;
- }
- }
- }
+ int clip_num = tracks.GetClipNum();
+ int frame_count = 0;
+ for(int i = 0; i < clip_num; i++) {
+ int max_frame = tracks.MaxFrame(i);
+ for(int j = 0; j <= max_frame; j++) {
+ CameraPose *camera = reconstruction->CameraPoseForFrame(i, j);
+ if(camera) {
+ ceres::AngleAxisToRotationMatrix(&all_cameras_R_t[frame_count](0),
&camera->R(0, 0));
+ camera->t = all_cameras_R_t[frame_count].tail<3>();
+ frame_count++;
+ }
+ }
+ }
}
// Converts sparse CRSMatrix to Eigen matrix, so it could be used
@@ -339,7 +339,7 @@ void MultiviewBundlerPerformEvaluation(const Tracks &tracks,
// not so much tracks and only 2 frames anyway.
vector<Marker> marker_of_track;
- tracks.GetMarkersForTrack(i, &marker_of_track);
+ tracks.GetMarkersForTrack(i, &marker_of_track);
for (int j = 0; j < marker_of_track.size(); j++) {
if (marker_of_track.at(j).weight != 0.0) {
minimized_points.push_back(point);
@@ -361,23 +361,23 @@ void MultiviewBundlerPerformEvaluation(const Tracks
&tracks,
ceres::Problem::EvaluateOptions eval_options;
// Cameras goes first in the ordering.
- int frame_count = 0;
- int clip_num = tracks.GetClipNum();
- for(int i = 0; i < clip_num; i++) {
- int max_frame = tracks.MaxFrame(i);
- for(int j = 0; j < max_frame; j++) {
- const CameraPose *camera =
reconstruction->CameraPoseForFrame(i, j);
- if (camera) {
- double *current_camera_R_t =
&(*all_cameras_R_t)[frame_count](0);
-
- // All cameras are variable now.
-
problem->SetParameterBlockVariable(current_camera_R_t);
-
-
eval_options.parameter_blocks.push_back(current_camera_R_t);
- frame_count++;
- }
- }
- }
+ int frame_count = 0;
+ int clip_num = tracks.GetClipNum();
+ for(int i = 0; i < clip_num; i++) {
+ int max_frame = tracks.MaxFrame(i);
+ for(int j = 0; j < max_frame; j++) {
+ const CameraPose *camera = reconstruction->CameraPoseForFrame(i, j);
+ if (camera) {
+ double *current_camera_R_t = &(*all_cameras_R_t)[frame_count](0);
+
+ // All cameras are variable now.
+ problem->SetParameterBlockVariable(current_camera_R_t);
+
+ eval_options.parameter_blocks.push_back(current_camera_R_t);
+ frame_count++;
+ }
+ }
+ }
// Points goes at the end of ordering,
for (int i = 0; i < minimized_points.size(); i++) {
@@ -650,7 +650,7 @@ void EuclideanBundleCommonIntrinsics(
for (int track = 0; track < tracks.MaxTrack(); ++track) {
if (zero_weight_tracks_flags[track]) {
vector<Marker> current_markers;
- tracks.GetMarkersForTrack(track, ¤t_markers);
+ tracks.GetMarkersForTrack(track, ¤t_markers);
zero_weight_markers.reserve(zero_weight_markers.size() +
current_markers.size());
for (int i = 0; i < current_markers.size(); ++i) {
@@ -667,20 +667,20 @@ void EuclideanBundleCommonIntrinsics(
all_cameras_R_t,
ceres_intrinsics,
reconstruction,
- camera_pose_map);
+ camera_pose_map);
}
}
bool EuclideanBundleAll(const Tracks &tracks,
Reconstruction *reconstruction) {
- libmv::PolynomialCameraIntrinsics empty_in
@@ Diff output truncated at 10240 characters. @@
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