Merge remote-tracking branch 'upstream/3.4' into merge-3.4

Author: alalek

modules/sfm/src/libmv_capi.h

@@ -75,7 +75,7 @@ struct libmv_Reconstruction {
   EuclideanReconstruction reconstruction;
   /* Used for per-track average error calculation after reconstruction */
   Tracks tracks;
-  CameraIntrinsics *intrinsics;
+  std::shared_ptr<CameraIntrinsics> intrinsics;
   double error;
   bool is_valid;
 };
@@ -252,21 +252,22 @@ static void libmv_cameraIntrinsicsFillFromOptions(
  * options values.
  */
 
-static CameraIntrinsics* libmv_cameraIntrinsicsCreateFromOptions(
+static
+std::shared_ptr<CameraIntrinsics> libmv_cameraIntrinsicsCreateFromOptions(
     const libmv_CameraIntrinsicsOptions* camera_intrinsics_options) {
-  CameraIntrinsics *camera_intrinsics = NULL;
+  std::shared_ptr<CameraIntrinsics> camera_intrinsics;
   switch (camera_intrinsics_options->distortion_model) {
     case SFM_DISTORTION_MODEL_POLYNOMIAL:
-      camera_intrinsics = new PolynomialCameraIntrinsics();
+      camera_intrinsics = std::make_shared<PolynomialCameraIntrinsics>();
       break;
     case SFM_DISTORTION_MODEL_DIVISION:
-      camera_intrinsics = new DivisionCameraIntrinsics();
+      camera_intrinsics = std::make_shared<DivisionCameraIntrinsics>();
       break;
     default:
       assert(!"Unknown distortion model");
   }
   libmv_cameraIntrinsicsFillFromOptions(camera_intrinsics_options,
-                                        camera_intrinsics);
+                                        camera_intrinsics.get());
   return camera_intrinsics;
 }
 
@@ -361,19 +362,19 @@ static void finishReconstruction(
 /* Perform the complete reconstruction process
  */
 
-static libmv_Reconstruction *libmv_solveReconstruction(
+static
+std::shared_ptr<libmv_Reconstruction> libmv_solveReconstruction(
     const Tracks &libmv_tracks,
     const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
     libmv_ReconstructionOptions* libmv_reconstruction_options) {
-  libmv_Reconstruction *libmv_reconstruction =
-    new libmv_Reconstruction();
+  std::shared_ptr<libmv_Reconstruction> libmv_reconstruction = std::make_shared<libmv_Reconstruction>();
 
   Tracks tracks = libmv_tracks;
   EuclideanReconstruction &reconstruction =
     libmv_reconstruction->reconstruction;
 
   /* Retrieve reconstruction options from C-API to libmv API. */
-  CameraIntrinsics *camera_intrinsics;
+  std::shared_ptr<CameraIntrinsics> camera_intrinsics;
   camera_intrinsics = libmv_reconstruction->intrinsics =
     libmv_cameraIntrinsicsCreateFromOptions(libmv_camera_intrinsics_options);
 
@@ -426,18 +427,18 @@ static libmv_Reconstruction *libmv_solveReconstruction(
                                 libmv_reconstruction_options->refine_intrinsics,
                                 libmv::BUNDLE_NO_CONSTRAINTS,
                                 &reconstruction,
-                                camera_intrinsics);
+                                camera_intrinsics.get());
   }
 
   /* Set reconstruction scale to unity. */
   EuclideanScaleToUnity(&reconstruction);
 
   finishReconstruction(tracks,
                        *camera_intrinsics,
-                       libmv_reconstruction);
+                       libmv_reconstruction.get());
 
   libmv_reconstruction->is_valid = true;
-  return (libmv_Reconstruction *) libmv_reconstruction;
+  return libmv_reconstruction;
 }
 
 #endif

modules/sfm/src/simple_pipeline.cpp

@@ -118,7 +118,8 @@ parser_2D_tracks( const libmv::Matches &matches, libmv::Tracks &tracks )
  * reconstruction pipeline.
  */
 
-static libmv_Reconstruction *libmv_solveReconstructionImpl(
+static
+std::shared_ptr<libmv_Reconstruction> libmv_solveReconstructionImpl(
   const std::vector<String> &images,
   const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
   libmv_ReconstructionOptions* libmv_reconstruction_options)
@@ -182,9 +183,10 @@ class SFMLibmvReconstructionImpl : public T
 
     // Perform reconstruction
     libmv_reconstruction_ =
-      *libmv_solveReconstruction(tracks,
+      libmv_solveReconstruction(tracks,
                                  &libmv_camera_intrinsics_options_,
                                  &libmv_reconstruction_options_);
+    CV_Assert(libmv_reconstruction_);
   }
 
   virtual void run(InputArrayOfArrays points2d, InputOutputArray K, OutputArray Rs,
@@ -216,9 +218,10 @@ class SFMLibmvReconstructionImpl : public T
     // Perform reconstruction
 
     libmv_reconstruction_ =
-      *libmv_solveReconstructionImpl(images,
+      libmv_solveReconstructionImpl(images,
                                      &libmv_camera_intrinsics_options_,
                                      &libmv_reconstruction_options_);
+    CV_Assert(libmv_reconstruction_);
   }
 
 
@@ -232,12 +235,12 @@ class SFMLibmvReconstructionImpl : public T
     extractLibmvReconstructionData(K, Rs, Ts, points3d);
   }
 
-  virtual double getError() const { return libmv_reconstruction_.error; }
+  virtual double getError() const { return libmv_reconstruction_->error; }
 
   virtual void
   getPoints(OutputArray points3d) {
     const size_t n_points =
-      libmv_reconstruction_.reconstruction.AllPoints().size();
+      libmv_reconstruction_->reconstruction.AllPoints().size();
 
     points3d.create(n_points, 1, CV_64F);
 
@@ -246,22 +249,22 @@ class SFMLibmvReconstructionImpl : public T
     {
       for ( int j = 0; j < 3; ++j )
         point3d[j] =
-          libmv_reconstruction_.reconstruction.AllPoints()[i].X[j];
+          libmv_reconstruction_->reconstruction.AllPoints()[i].X[j];
       Mat(point3d).copyTo(points3d.getMatRef(i));
     }
 
   }
 
   virtual cv::Mat getIntrinsics() const {
     Mat K;
-    eigen2cv(libmv_reconstruction_.intrinsics->K(), K);
+    eigen2cv(libmv_reconstruction_->intrinsics->K(), K);
     return K;
   }
 
   virtual void
   getCameras(OutputArray Rs, OutputArray Ts) {
     const size_t n_views =
-      libmv_reconstruction_.reconstruction.AllCameras().size();
+      libmv_reconstruction_->reconstruction.AllCameras().size();
 
     Rs.create(n_views, 1, CV_64F);
     Ts.create(n_views, 1, CV_64F);
@@ -270,8 +273,8 @@ class SFMLibmvReconstructionImpl : public T
     Vec3d t;
     for(size_t i = 0; i < n_views; ++i)
     {
-      eigen2cv(libmv_reconstruction_.reconstruction.AllCameras()[i].R, R);
-      eigen2cv(libmv_reconstruction_.reconstruction.AllCameras()[i].t, t);
+      eigen2cv(libmv_reconstruction_->reconstruction.AllCameras()[i].R, R);
+      eigen2cv(libmv_reconstruction_->reconstruction.AllCameras()[i].t, t);
       Mat(R).copyTo(Rs.getMatRef(i));
       Mat(t).copyTo(Ts.getMatRef(i));
     }
@@ -300,7 +303,7 @@ class SFMLibmvReconstructionImpl : public T
     getIntrinsics().copyTo(K.getMat());
   }
 
-  libmv_Reconstruction libmv_reconstruction_;
+  std::shared_ptr<libmv_Reconstruction> libmv_reconstruction_;
   libmv_ReconstructionOptions libmv_reconstruction_options_;
   libmv_CameraIntrinsicsOptions libmv_camera_intrinsics_options_;
 };