Blender  V3.3
camera_intrinsics_impl.h
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20 
21 namespace libmv {
22 
23 namespace {
24 
25 // FIXME: C++ templates limitations makes thing complicated,
26 // but maybe there is a simpler method.
27 struct ApplyIntrinsicsFunction {
28  ApplyIntrinsicsFunction(const CameraIntrinsics& intrinsics,
29  double x,
30  double y,
31  double* warp_x,
32  double* warp_y) {
33  double normalized_x, normalized_y;
34  intrinsics.ImageSpaceToNormalized(x, y, &normalized_x, &normalized_y);
35  intrinsics.ApplyIntrinsics(normalized_x, normalized_y, warp_x, warp_y);
36  }
37 };
38 
39 struct InvertIntrinsicsFunction {
40  InvertIntrinsicsFunction(const CameraIntrinsics& intrinsics,
41  double x,
42  double y,
43  double* warp_x,
44  double* warp_y) {
45  double normalized_x, normalized_y;
46  intrinsics.InvertIntrinsics(x, y, &normalized_x, &normalized_y);
47  intrinsics.NormalizedToImageSpace(
48  normalized_x, normalized_y, warp_x, warp_y);
49  }
50 };
51 
52 } // namespace
53 
54 namespace internal {
55 
56 // TODO(MatthiasF): downsample lookup
57 template <typename WarpFunction>
58 void LookupWarpGrid::Compute(const CameraIntrinsics& intrinsics,
59  int width,
60  int height,
61  double overscan) {
62  double w = (double)width / (1.0 + overscan);
63  double h = (double)height / (1.0 + overscan);
64  double aspx = (double)w / intrinsics.image_width();
65  double aspy = (double)h / intrinsics.image_height();
66 #if defined(_OPENMP)
67 # pragma omp parallel for schedule(static) \
68  num_threads(threads_) if (threads_ > 1 && height > 100)
69 #endif
70  for (int y = 0; y < height; y++) {
71  for (int x = 0; x < width; x++) {
72  double src_x = (x - 0.5 * overscan * w) / aspx,
73  src_y = (y - 0.5 * overscan * h) / aspy;
74  double warp_x, warp_y;
75  WarpFunction(intrinsics, src_x, src_y, &warp_x, &warp_y);
76  warp_x = warp_x * aspx + 0.5 * overscan * w;
77  warp_y = warp_y * aspy + 0.5 * overscan * h;
78  int ix = int(warp_x), iy = int(warp_y);
79  int fx = round((warp_x - ix) * 256), fy = round((warp_y - iy) * 256);
80  if (fx == 256) {
81  fx = 0;
82  ix++;
83  } // NOLINT
84  if (fy == 256) {
85  fy = 0;
86  iy++;
87  } // NOLINT
88  // Use nearest border pixel
89  if (ix < 0) {
90  ix = 0, fx = 0;
91  } // NOLINT
92  if (iy < 0) {
93  iy = 0, fy = 0;
94  } // NOLINT
95  if (ix >= width - 2)
96  ix = width - 2;
97  if (iy >= height - 2)
98  iy = height - 2;
99 
100  Offset offset = {(short)(ix - x),
101  (short)(iy - y),
102  (unsigned char)fx,
103  (unsigned char)fy};
104  offset_[y * width + x] = offset;
105  }
106  }
107 }
108 
109 template <typename WarpFunction>
111  int width,
112  int height,
113  double overscan) {
114  if (width_ != width || height_ != height || overscan_ != overscan) {
115  Reset();
116  }
117 
118  if (offset_ == NULL) {
119  offset_ = new Offset[width * height];
120  Compute<WarpFunction>(intrinsics, width, height, overscan);
121  }
122 
123  width_ = width;
124  height_ = height;
125  overscan_ = overscan;
126 }
127 
128 // TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup
129 template <typename PixelType>
130 void LookupWarpGrid::Apply(const PixelType* input_buffer,
131  int width,
132  int height,
133  int channels,
134  PixelType* output_buffer) {
135 #if defined(_OPENMP)
136 # pragma omp parallel for schedule(static) \
137  num_threads(threads_) if (threads_ > 1 && height > 100)
138 #endif
139  for (int y = 0; y < height; y++) {
140  for (int x = 0; x < width; x++) {
141  Offset offset = offset_[y * width + x];
142  const int pixel_index =
143  ((y + offset.iy) * width + (x + offset.ix)) * channels;
144  const PixelType* s = &input_buffer[pixel_index];
145  for (int i = 0; i < channels; i++) {
146  output_buffer[(y * width + x) * channels + i] =
147  ((s[i] * (256 - offset.fx) + s[channels + i] * offset.fx) *
148  (256 - offset.fy) +
149  (s[width * channels + i] * (256 - offset.fx) +
150  s[width * channels + channels + i] * offset.fx) *
151  offset.fy) /
152  (256 * 256);
153  }
154  }
155  }
156 }
157 
158 } // namespace internal
159 
160 template <typename PixelType>
161 void CameraIntrinsics::DistortBuffer(const PixelType* input_buffer,
162  int width,
163  int height,
164  double overscan,
165  int channels,
166  PixelType* output_buffer) {
167  assert(channels >= 1);
168  assert(channels <= 4);
169  distort_.Update<InvertIntrinsicsFunction>(*this, width, height, overscan);
170  distort_.Apply<PixelType>(
171  input_buffer, width, height, channels, output_buffer);
172 }
173 
174 template <typename PixelType>
175 void CameraIntrinsics::UndistortBuffer(const PixelType* input_buffer,
176  int width,
177  int height,
178  double overscan,
179  int channels,
180  PixelType* output_buffer) {
181  assert(channels >= 1);
182  assert(channels <= 4);
183  undistort_.Update<ApplyIntrinsicsFunction>(*this, width, height, overscan);
184 
185  undistort_.Apply<PixelType>(
186  input_buffer, width, height, channels, output_buffer);
187 }
188 
189 } // namespace libmv
typedef double(DMatrix)[4][4]
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Group Output data from inside of a node group A color picker Mix two input colors RGB to Convert a color s luminance to a grayscale value Generate a normal vector and a dot product Bright Control the brightness and contrast of the input color Vector Map an input vectors to used to fine tune the interpolation of the input Camera Retrieve information about the camera and how it relates to the current shading point s position Clamp a value between a minimum and a maximum Vector Perform vector math operation Invert a producing a negative Combine Generate a color from its and blue channels(Deprecated)") DefNode(ShaderNode
SIMD_FORCE_INLINE const btScalar & w() const
Return the w value.
Definition: btQuadWord.h:119
void DistortBuffer(const PixelType *input_buffer, int width, int height, double overscan, int channels, PixelType *output_buffer)
void UndistortBuffer(const PixelType *input_buffer, int width, int height, double overscan, int channels, PixelType *output_buffer)
void Apply(const PixelType *input_buffer, int width, int height, int channels, PixelType *output_buffer)
void Update(const CameraIntrinsics &intrinsics, int width, int height, double overscan)
ccl_gpu_kernel_postfix ccl_global float int int int int float bool int offset
struct Offset Offset
Definition: msgfmt.c:165