packed_intrinsics.h

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// Copyright (c) 2020 libmv authors.
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#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(); }
 
  bool IsParameterDefined(int offset);
 
 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_