a12a8a71bb
The goal is to solve confusion of the "All rights reserved" for licensing
code under an open-source license.
The phrase "All rights reserved" comes from a historical convention that
required this phrase for the copyright protection to apply. This convention
is no longer relevant.
However, even though the phrase has no meaning in establishing the copyright
it has not lost meaning in terms of licensing.
This change makes it so code under the Blender Foundation copyright does
not use "all rights reserved". This is also how the GPL license itself
states how to apply it to the source code:
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software ...
This change does not change copyright notice in cases when the copyright
is dual (BF and an author), or just an author of the code. It also does
mot change copyright which is inherited from NaN Holding BV as it needs
some further investigation about what is the proper way to handle it.
411 lines
15 KiB
C++
411 lines
15 KiB
C++
/* SPDX-License-Identifier: GPL-2.0-or-later
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* Copyright 2011 Blender Foundation */
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#include "intern/camera_intrinsics.h"
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#include "intern/utildefines.h"
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#include "libmv/simple_pipeline/camera_intrinsics.h"
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using libmv::BrownCameraIntrinsics;
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using libmv::CameraIntrinsics;
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using libmv::DivisionCameraIntrinsics;
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using libmv::NukeCameraIntrinsics;
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using libmv::PolynomialCameraIntrinsics;
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libmv_CameraIntrinsics* libmv_cameraIntrinsicsNew(
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const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options) {
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CameraIntrinsics* camera_intrinsics =
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libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options);
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return (libmv_CameraIntrinsics*)camera_intrinsics;
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}
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libmv_CameraIntrinsics* libmv_cameraIntrinsicsCopy(
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const libmv_CameraIntrinsics* libmv_intrinsics) {
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const CameraIntrinsics* orig_intrinsics =
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(const CameraIntrinsics*)libmv_intrinsics;
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CameraIntrinsics* new_intrinsics = NULL;
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switch (orig_intrinsics->GetDistortionModelType()) {
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case libmv::DISTORTION_MODEL_POLYNOMIAL: {
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const PolynomialCameraIntrinsics* polynomial_intrinsics =
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static_cast<const PolynomialCameraIntrinsics*>(orig_intrinsics);
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new_intrinsics =
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LIBMV_OBJECT_NEW(PolynomialCameraIntrinsics, *polynomial_intrinsics);
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break;
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}
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case libmv::DISTORTION_MODEL_DIVISION: {
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const DivisionCameraIntrinsics* division_intrinsics =
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static_cast<const DivisionCameraIntrinsics*>(orig_intrinsics);
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new_intrinsics =
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LIBMV_OBJECT_NEW(DivisionCameraIntrinsics, *division_intrinsics);
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break;
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}
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case libmv::DISTORTION_MODEL_NUKE: {
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const NukeCameraIntrinsics* nuke_intrinsics =
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static_cast<const NukeCameraIntrinsics*>(orig_intrinsics);
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new_intrinsics = LIBMV_OBJECT_NEW(NukeCameraIntrinsics, *nuke_intrinsics);
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break;
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}
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case libmv::DISTORTION_MODEL_BROWN: {
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const BrownCameraIntrinsics* brown_intrinsics =
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static_cast<const BrownCameraIntrinsics*>(orig_intrinsics);
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new_intrinsics =
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LIBMV_OBJECT_NEW(BrownCameraIntrinsics, *brown_intrinsics);
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break;
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}
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default: assert(!"Unknown distortion model");
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}
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return (libmv_CameraIntrinsics*)new_intrinsics;
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}
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void libmv_cameraIntrinsicsDestroy(libmv_CameraIntrinsics* libmv_intrinsics) {
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LIBMV_OBJECT_DELETE(libmv_intrinsics, CameraIntrinsics);
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}
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void libmv_cameraIntrinsicsUpdate(
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const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
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libmv_CameraIntrinsics* libmv_intrinsics) {
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CameraIntrinsics* camera_intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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double focal_length = libmv_camera_intrinsics_options->focal_length;
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double principal_x = libmv_camera_intrinsics_options->principal_point_x;
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double principal_y = libmv_camera_intrinsics_options->principal_point_y;
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int image_width = libmv_camera_intrinsics_options->image_width;
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int image_height = libmv_camera_intrinsics_options->image_height;
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/* Try avoid unnecessary updates, so pre-computed distortion grids
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* are not freed.
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*/
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camera_intrinsics->SetThreads(libmv_camera_intrinsics_options->num_threads);
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if (camera_intrinsics->focal_length() != focal_length) {
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camera_intrinsics->SetFocalLength(focal_length, focal_length);
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}
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if (camera_intrinsics->principal_point_x() != principal_x ||
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camera_intrinsics->principal_point_y() != principal_y) {
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camera_intrinsics->SetPrincipalPoint(principal_x, principal_y);
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}
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if (camera_intrinsics->image_width() != image_width ||
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camera_intrinsics->image_height() != image_height) {
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camera_intrinsics->SetImageSize(image_width, image_height);
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}
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switch (libmv_camera_intrinsics_options->distortion_model) {
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case LIBMV_DISTORTION_MODEL_POLYNOMIAL: {
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assert(camera_intrinsics->GetDistortionModelType() ==
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libmv::DISTORTION_MODEL_POLYNOMIAL);
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PolynomialCameraIntrinsics* polynomial_intrinsics =
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(PolynomialCameraIntrinsics*)camera_intrinsics;
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double k1 = libmv_camera_intrinsics_options->polynomial_k1;
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double k2 = libmv_camera_intrinsics_options->polynomial_k2;
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double k3 = libmv_camera_intrinsics_options->polynomial_k3;
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if (polynomial_intrinsics->k1() != k1 ||
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polynomial_intrinsics->k2() != k2 ||
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polynomial_intrinsics->k3() != k3) {
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polynomial_intrinsics->SetRadialDistortion(k1, k2, k3);
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}
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break;
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}
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case LIBMV_DISTORTION_MODEL_DIVISION: {
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assert(camera_intrinsics->GetDistortionModelType() ==
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libmv::DISTORTION_MODEL_DIVISION);
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DivisionCameraIntrinsics* division_intrinsics =
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(DivisionCameraIntrinsics*)camera_intrinsics;
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double k1 = libmv_camera_intrinsics_options->division_k1;
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double k2 = libmv_camera_intrinsics_options->division_k2;
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if (division_intrinsics->k1() != k1 || division_intrinsics->k2() != k2) {
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division_intrinsics->SetDistortion(k1, k2);
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}
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break;
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}
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case LIBMV_DISTORTION_MODEL_NUKE: {
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assert(camera_intrinsics->GetDistortionModelType() ==
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libmv::DISTORTION_MODEL_NUKE);
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NukeCameraIntrinsics* nuke_intrinsics =
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(NukeCameraIntrinsics*)camera_intrinsics;
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double k1 = libmv_camera_intrinsics_options->nuke_k1;
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double k2 = libmv_camera_intrinsics_options->nuke_k2;
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if (nuke_intrinsics->k1() != k1 || nuke_intrinsics->k2() != k2) {
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nuke_intrinsics->SetDistortion(k1, k2);
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}
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break;
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}
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case LIBMV_DISTORTION_MODEL_BROWN: {
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assert(camera_intrinsics->GetDistortionModelType() ==
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libmv::DISTORTION_MODEL_BROWN);
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BrownCameraIntrinsics* brown_intrinsics =
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(BrownCameraIntrinsics*)camera_intrinsics;
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double k1 = libmv_camera_intrinsics_options->brown_k1;
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double k2 = libmv_camera_intrinsics_options->brown_k2;
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double k3 = libmv_camera_intrinsics_options->brown_k3;
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double k4 = libmv_camera_intrinsics_options->brown_k4;
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if (brown_intrinsics->k1() != k1 || brown_intrinsics->k2() != k2 ||
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brown_intrinsics->k3() != k3 || brown_intrinsics->k4() != k4) {
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brown_intrinsics->SetRadialDistortion(k1, k2, k3, k4);
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}
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double p1 = libmv_camera_intrinsics_options->brown_p1;
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double p2 = libmv_camera_intrinsics_options->brown_p2;
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if (brown_intrinsics->p1() != p1 || brown_intrinsics->p2() != p2) {
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brown_intrinsics->SetTangentialDistortion(p1, p2);
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}
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break;
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}
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default: assert(!"Unknown distortion model");
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}
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}
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void libmv_cameraIntrinsicsSetThreads(libmv_CameraIntrinsics* libmv_intrinsics,
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int threads) {
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CameraIntrinsics* camera_intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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camera_intrinsics->SetThreads(threads);
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}
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void libmv_cameraIntrinsicsExtractOptions(
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const libmv_CameraIntrinsics* libmv_intrinsics,
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libmv_CameraIntrinsicsOptions* camera_intrinsics_options) {
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const CameraIntrinsics* camera_intrinsics =
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(const CameraIntrinsics*)libmv_intrinsics;
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// Fill in options which are common for all distortion models.
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camera_intrinsics_options->focal_length = camera_intrinsics->focal_length();
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camera_intrinsics_options->principal_point_x =
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camera_intrinsics->principal_point_x();
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camera_intrinsics_options->principal_point_y =
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camera_intrinsics->principal_point_y();
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camera_intrinsics_options->image_width = camera_intrinsics->image_width();
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camera_intrinsics_options->image_height = camera_intrinsics->image_height();
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switch (camera_intrinsics->GetDistortionModelType()) {
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case libmv::DISTORTION_MODEL_POLYNOMIAL: {
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const PolynomialCameraIntrinsics* polynomial_intrinsics =
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static_cast<const PolynomialCameraIntrinsics*>(camera_intrinsics);
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camera_intrinsics_options->distortion_model =
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LIBMV_DISTORTION_MODEL_POLYNOMIAL;
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camera_intrinsics_options->polynomial_k1 = polynomial_intrinsics->k1();
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camera_intrinsics_options->polynomial_k2 = polynomial_intrinsics->k2();
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camera_intrinsics_options->polynomial_k3 = polynomial_intrinsics->k3();
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camera_intrinsics_options->polynomial_p1 = polynomial_intrinsics->p1();
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camera_intrinsics_options->polynomial_p2 = polynomial_intrinsics->p2();
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break;
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}
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case libmv::DISTORTION_MODEL_DIVISION: {
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const DivisionCameraIntrinsics* division_intrinsics =
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static_cast<const DivisionCameraIntrinsics*>(camera_intrinsics);
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camera_intrinsics_options->distortion_model =
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LIBMV_DISTORTION_MODEL_DIVISION;
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camera_intrinsics_options->division_k1 = division_intrinsics->k1();
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camera_intrinsics_options->division_k2 = division_intrinsics->k2();
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break;
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}
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case libmv::DISTORTION_MODEL_NUKE: {
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const NukeCameraIntrinsics* nuke_intrinsics =
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static_cast<const NukeCameraIntrinsics*>(camera_intrinsics);
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camera_intrinsics_options->distortion_model = LIBMV_DISTORTION_MODEL_NUKE;
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camera_intrinsics_options->nuke_k1 = nuke_intrinsics->k1();
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camera_intrinsics_options->nuke_k2 = nuke_intrinsics->k2();
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break;
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}
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case libmv::DISTORTION_MODEL_BROWN: {
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const BrownCameraIntrinsics* brown_intrinsics =
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static_cast<const BrownCameraIntrinsics*>(camera_intrinsics);
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camera_intrinsics_options->distortion_model =
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LIBMV_DISTORTION_MODEL_BROWN;
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camera_intrinsics_options->brown_k1 = brown_intrinsics->k1();
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camera_intrinsics_options->brown_k2 = brown_intrinsics->k2();
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camera_intrinsics_options->brown_k3 = brown_intrinsics->k3();
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camera_intrinsics_options->brown_k4 = brown_intrinsics->k4();
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camera_intrinsics_options->brown_p1 = brown_intrinsics->p1();
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camera_intrinsics_options->brown_p2 = brown_intrinsics->p2();
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break;
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}
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default: assert(!"Unknown distortion model");
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}
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}
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void libmv_cameraIntrinsicsUndistortByte(
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const libmv_CameraIntrinsics* libmv_intrinsics,
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const unsigned char* source_image,
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int width,
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int height,
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float overscan,
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int channels,
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unsigned char* destination_image) {
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CameraIntrinsics* camera_intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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camera_intrinsics->UndistortBuffer(
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source_image, width, height, overscan, channels, destination_image);
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}
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void libmv_cameraIntrinsicsUndistortFloat(
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const libmv_CameraIntrinsics* libmv_intrinsics,
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const float* source_image,
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int width,
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int height,
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float overscan,
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int channels,
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float* destination_image) {
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CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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intrinsics->UndistortBuffer(
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source_image, width, height, overscan, channels, destination_image);
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}
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void libmv_cameraIntrinsicsDistortByte(
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const struct libmv_CameraIntrinsics* libmv_intrinsics,
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const unsigned char* source_image,
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int width,
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int height,
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float overscan,
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int channels,
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unsigned char* destination_image) {
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CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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intrinsics->DistortBuffer(
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source_image, width, height, overscan, channels, destination_image);
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}
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void libmv_cameraIntrinsicsDistortFloat(
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const libmv_CameraIntrinsics* libmv_intrinsics,
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float* source_image,
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int width,
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int height,
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float overscan,
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int channels,
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float* destination_image) {
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CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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intrinsics->DistortBuffer(
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source_image, width, height, overscan, channels, destination_image);
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}
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void libmv_cameraIntrinsicsApply(
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const struct libmv_CameraIntrinsics* libmv_intrinsics,
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double x,
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double y,
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double* x1,
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double* y1) {
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CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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intrinsics->ApplyIntrinsics(x, y, x1, y1);
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}
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void libmv_cameraIntrinsicsInvert(
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const struct libmv_CameraIntrinsics* libmv_intrinsics,
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double x,
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double y,
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double* x1,
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double* y1) {
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CameraIntrinsics* intrinsics = (CameraIntrinsics*)libmv_intrinsics;
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intrinsics->InvertIntrinsics(x, y, x1, y1);
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}
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static void libmv_cameraIntrinsicsFillFromOptions(
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const libmv_CameraIntrinsicsOptions* camera_intrinsics_options,
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CameraIntrinsics* camera_intrinsics) {
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camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length,
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camera_intrinsics_options->focal_length);
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camera_intrinsics->SetPrincipalPoint(
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camera_intrinsics_options->principal_point_x,
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camera_intrinsics_options->principal_point_y);
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camera_intrinsics->SetImageSize(camera_intrinsics_options->image_width,
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camera_intrinsics_options->image_height);
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switch (camera_intrinsics_options->distortion_model) {
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case LIBMV_DISTORTION_MODEL_POLYNOMIAL: {
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PolynomialCameraIntrinsics* polynomial_intrinsics =
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static_cast<PolynomialCameraIntrinsics*>(camera_intrinsics);
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polynomial_intrinsics->SetRadialDistortion(
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camera_intrinsics_options->polynomial_k1,
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camera_intrinsics_options->polynomial_k2,
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camera_intrinsics_options->polynomial_k3);
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break;
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}
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case LIBMV_DISTORTION_MODEL_DIVISION: {
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DivisionCameraIntrinsics* division_intrinsics =
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static_cast<DivisionCameraIntrinsics*>(camera_intrinsics);
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division_intrinsics->SetDistortion(
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camera_intrinsics_options->division_k1,
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camera_intrinsics_options->division_k2);
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break;
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}
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case LIBMV_DISTORTION_MODEL_NUKE: {
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NukeCameraIntrinsics* nuke_intrinsics =
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static_cast<NukeCameraIntrinsics*>(camera_intrinsics);
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nuke_intrinsics->SetDistortion(camera_intrinsics_options->nuke_k1,
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camera_intrinsics_options->nuke_k2);
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break;
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}
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case LIBMV_DISTORTION_MODEL_BROWN: {
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BrownCameraIntrinsics* brown_intrinsics =
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static_cast<BrownCameraIntrinsics*>(camera_intrinsics);
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brown_intrinsics->SetRadialDistortion(
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camera_intrinsics_options->brown_k1,
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camera_intrinsics_options->brown_k2,
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camera_intrinsics_options->brown_k3,
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camera_intrinsics_options->brown_k4);
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brown_intrinsics->SetTangentialDistortion(
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camera_intrinsics_options->brown_p1,
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camera_intrinsics_options->brown_p2);
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break;
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}
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default: assert(!"Unknown distortion model");
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}
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}
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CameraIntrinsics* libmv_cameraIntrinsicsCreateFromOptions(
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const libmv_CameraIntrinsicsOptions* camera_intrinsics_options) {
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CameraIntrinsics* camera_intrinsics = NULL;
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switch (camera_intrinsics_options->distortion_model) {
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case LIBMV_DISTORTION_MODEL_POLYNOMIAL:
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camera_intrinsics = LIBMV_OBJECT_NEW(PolynomialCameraIntrinsics);
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break;
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case LIBMV_DISTORTION_MODEL_DIVISION:
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camera_intrinsics = LIBMV_OBJECT_NEW(DivisionCameraIntrinsics);
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break;
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case LIBMV_DISTORTION_MODEL_NUKE:
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camera_intrinsics = LIBMV_OBJECT_NEW(NukeCameraIntrinsics);
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break;
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case LIBMV_DISTORTION_MODEL_BROWN:
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camera_intrinsics = LIBMV_OBJECT_NEW(BrownCameraIntrinsics);
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break;
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default: assert(!"Unknown distortion model");
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}
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libmv_cameraIntrinsicsFillFromOptions(camera_intrinsics_options,
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camera_intrinsics);
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return camera_intrinsics;
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}
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