bartvdbraak/blender
1
0
Fork 4
Code Issues 4 Pull Requests 1 Actions 1 Packages Projects Releases Wiki Activity

Camera tracking integration

Browse Source 
===========================

- Distortion/undistortion were accidentally swapped in both of grease
  pencil calibration and grid.

  This was fixed but distortion coefficients should be re-adjusted.

  There are some issues with high distortion coefficients but it
  came from libmv and until it'll be fixed there nothing really
  can be done here.

- Fixed displayed aspect ratio for muted footage when pixel/display
  aspect ratio is differ from 1.0 or proxy size is not Full Render,

- Added c-api for image distortion/undistortion, Not used yet.
This commit is contained in:
Sergey Sharybin 2011-08-12 21:56:08 +00:00
parent fa89789247
commit 36c5f57616
8 changed files with 201 additions and 96 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

85
extern/libmv/ChangeLog vendored
View File

@ -1,3 +1,33 @@
commit 10bdad9ad2cea2603896263cde5a5339169a9af0
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 12 21:05:32 2011 +0200
Fix out of bound access in warp bilinear sampling.
commit dd9a418db021a28af2c1198d5e5b9e68fe048a03
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 12 19:14:36 2011 +0200
Fix compilation with -funsigned-char.
commit bd1a268ede39b67f2ba4b360f6fc693419e7cd7f
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 12 18:39:27 2011 +0200
CameraIntrinsics fixes.
commit ae513b39fb779632f96ceff7c1e014fb8e68702a
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Tue Aug 9 19:38:58 2011 +0200
Remove stray QDebug include.
commit 1e58f55078ce6009a885be30ae0316aec6ed8239
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Tue Aug 9 14:16:31 2011 +0200
Make API future-proof (for an eventual affine or planar tracker).
commit c2af303e7bf0dddcb02937323ac5846b1801e6cc
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Tue Aug 9 11:13:29 2011 +0200
@ -388,58 +418,3 @@ Date: Wed Jul 13 10:21:52 2011 +0200
Add feature detection.
Remove unused keyframe selection code.
commit 1088517da70ae9ec2369752fbc17dde4bb869c47
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Mon Jul 11 22:42:14 2011 +0200
Replace system file dialog with custom one which supports multiple file/folder selection.
Add Stop button when adding frame from video.
commit 323af7a3a1344e7ef419c72fe22b674c17c578e3
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Mon Jul 11 16:30:59 2011 +0200
Add stub for feature detection.
commit 739ec729fa8bc6e0ba6a40cc7b89d85e5332e900
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Mon Jul 11 16:30:42 2011 +0200
Fix compilation of Qt Calibration tool.
commit 113ccc413db6bdfb75839418bddfba5ce3ba60f7
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Mon Jul 11 12:27:47 2011 +0200
Add raw on-disk video cache.
This is useful for faster testing iterations.
It avoids waiting for the footage to decode on startup.
Using file memory mapping, we let the OS handle caching.
The OS disk cache also has the advantage of being kept in memory between runs.
A cache is only created for shot < 1GiB (e.g 17s of 1080@30).
commit efbe8b6a3e2a8cff497726e11afffbce0ec6aa53
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Mon Jul 11 11:11:47 2011 +0200
Miscellaneous UI fixes, faster grayscale conversion, compute window size from pattern size and pyramid level count.
commit 0c6911831b0a391da14bf1c5833b1e5c0d5056b7
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Sun Jul 10 22:48:15 2011 +0200
Add Video support using FFmpeg to Qt Calibration.
commit c9f2bd5a17585f816bf0ef89097ac8f222ad058e
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Sun Jul 10 19:44:35 2011 +0200
Add Video support using FFmpeg to Qt Tracker.
commit af8f9c412b0592868a0e68a14686651b45de9737
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Sat Jul 9 12:08:28 2011 +0200
Update README with instructions to build Qt OpenCV Calibration tool.

50
extern/libmv/libmv-capi.cpp vendored
View File

@ -501,6 +501,56 @@ void libmv_destroyCorners(struct libmv_Corners *libmv_corners)
delete (std::vector<libmv::Corner> *)libmv_corners;
}
/* ************ distortion ************ */
void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Undistort(src, dst, width, height, channels);
}
void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Undistort(src, dst, width, height, channels);
}
void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Distort(src, dst, width, height, channels);
}
void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Distort(src, dst, width, height, channels);
}
/* ************ utils ************ */
void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,

11
extern/libmv/libmv-capi.h vendored
View File

@ -71,6 +71,17 @@ int libmv_countCorners(struct libmv_Corners *libmv_corners);
void libmv_getCorner(struct libmv_Corners *libmv_corners, int number, double *x, double *y, double *score, double *size);
void libmv_destroyCorners(struct libmv_Corners *libmv_corners);
/* dsitortion */
void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, int channels);
void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, int channels);
void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, int channels);
void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, int channels);
/* utils */
void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
double x, double y, double *x1, double *y1);

56
extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc vendored
View File

@ -23,7 +23,7 @@
namespace libmv {
struct Offset { char ix,iy; unsigned char fx,fy; };
struct Offset { signed char ix,iy; unsigned char fx,fy; };
CameraIntrinsics::CameraIntrinsics()
: K_(Mat3::Identity()),
@ -42,6 +42,44 @@ CameraIntrinsics::~CameraIntrinsics() {
if(undistort_) delete[] undistort_;
}
/// Set the entire calibration matrix at once.
void CameraIntrinsics::SetK(const Mat3 new_k) {
K_ = new_k;
FreeLookupGrid();
}
/// Set both x and y focal length in pixels.
void CameraIntrinsics::SetFocalLength(double focal_x, double focal_y) {
K_(0, 0) = focal_x;
K_(1, 1) = focal_y;
FreeLookupGrid();
}
void CameraIntrinsics::SetPrincipalPoint(double cx, double cy) {
K_(0, 2) = cx;
K_(1, 2) = cy;
FreeLookupGrid();
}
void CameraIntrinsics::SetImageSize(int width, int height) {
image_width_ = width;
image_height_ = height;
FreeLookupGrid();
}
void CameraIntrinsics::SetRadialDistortion(double k1, double k2, double k3) {
k1_ = k1;
k2_ = k2;
k3_ = k3;
FreeLookupGrid();
}
void CameraIntrinsics::SetTangentialDistortion(double p1, double p2) {
p1_ = p1;
p2_ = p2;
FreeLookupGrid();
}
void CameraIntrinsics::ApplyIntrinsics(double normalized_x,
double normalized_y,
double *image_x,
@ -117,18 +155,11 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
int fx = round((warp_x-ix)*256), fy = round((warp_y-iy)*256);
if(fx == 256) { fx=0; ix++; }
if(fy == 256) { fy=0; iy++; }
#ifdef CLIP
// Use nearest border pixel
if( ix < 0 ) { ix = 0, fx = 0; }
if( iy < 0 ) { iy = 0, fy = 0; }
if( ix >= width-1 ) { ix = width-1, fx = 0; }
if( iy >= height-1 ) { iy = height-1, fy = 0; }
#else
// No offset: Avoid adding out of bounds to error.
if( ix < 0 || iy < 0 || ix >= width-1 || iy >= height-1 ) {
ix = x; iy = y; fx = fy = 0;
}
#endif
if( ix >= width-2 ) ix = width-2;
if( iy >= height-2 ) iy = height-2;
//assert( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 );
Offset offset = { ix-x, iy-y, fx, fy };
grid[y*width+x] = offset;
@ -152,6 +183,11 @@ static void Warp(const Offset* grid, const T* src, T* dst,
}
}
void CameraIntrinsics::FreeLookupGrid() {
if(distort_) delete distort_, distort_=0;
if(undistort_) delete undistort_, undistort_=0;
}
// FIXME: C++ templates limitations makes thing complicated, but maybe there is a simpler method.
struct ApplyIntrinsicsFunction {
ApplyIntrinsicsFunction(CameraIntrinsics* intrinsics, double x, double y,

31
extern/libmv/libmv/simple_pipeline/camera_intrinsics.h vendored
View File

@ -49,36 +49,18 @@ class CameraIntrinsics {
double p2() const { return p2_; }
/// Set the entire calibration matrix at once.
void SetK(const Mat3 new_k) {
K_ = new_k;
}
void SetK(const Mat3 new_k);
/// Set both x and y focal length in pixels.
void SetFocalLength(double focal_x, double focal_y) {
K_(0, 0) = focal_x;
K_(1, 1) = focal_y;
}
void SetFocalLength(double focal_x, double focal_y);
void SetPrincipalPoint(double cx, double cy) {
K_(0, 2) = cx;
K_(1, 2) = cy;
}
void SetPrincipalPoint(double cx, double cy);
void SetImageSize(int width, int height) {
image_width_ = width;
image_height_ = height;
}
void SetImageSize(int width, int height);
void SetRadialDistortion(double k1, double k2, double k3 = 0) {
k1_ = k1;
k2_ = k2;
k3_ = k3;
}
void SetRadialDistortion(double k1, double k2, double k3 = 0);
void SetTangentialDistortion(double p1, double p2) {
p1_ = p1;
p2_ = p2;
}
void SetTangentialDistortion(double p1, double p2);
/*!
Apply camera intrinsics to the normalized point to get image coordinates.
@ -142,6 +124,7 @@ class CameraIntrinsics {
private:
template<typename WarpFunction> void ComputeLookupGrid(Offset* grid, int width, int height);
void FreeLookupGrid();
// The traditional intrinsics matrix from x = K[R|t]X.
Mat3 K_;

2
source/blender/blenkernel/BKE_tracking.h
View File

@ -92,6 +92,8 @@ void BKE_tracking_stabilization_data(struct MovieTracking *tracking, int framenr
struct ImBuf *BKE_tracking_stabilize_shot(struct MovieTracking *tracking, int framenr, struct ImBuf *ibuf, float loc[2], float *scale);
void BKE_tracking_stabdata_to_mat4(float loc[2], float scale, float mat[4][4]);
struct ImBuf *BKE_tracking_undistort(struct MovieTracking *tracking, struct ImBuf *ibuf);
#define TRACK_SELECTED(track) ((((track)->flag&TRACK_HIDDEN)==0) && ((track)->flag&SELECT || (track)->pat_flag&SELECT || (track)->search_flag&SELECT))
#define TRACK_AREA_SELECTED(track, area) ((((track)->flag&TRACK_HIDDEN)==0) && ((area)==TRACK_AREA_POINT?(track)->flag&SELECT : ((area)==TRACK_AREA_PAT?(track)->pat_flag&SELECT:(track)->search_flag&SELECT)))
#define TRACK_VIEW_SELECTED(sc, track) ((TRACK_AREA_SELECTED(track, TRACK_AREA_POINT) || (((sc)->flag&SC_SHOW_MARKER_PATTERN && TRACK_AREA_SELECTED(track, TRACK_AREA_PAT))) || (((sc)->flag&SC_SHOW_MARKER_SEARCH && TRACK_AREA_SELECTED(track, TRACK_AREA_SEARCH)))))

48
source/blender/blenkernel/intern/tracking.c
View File

@ -1516,3 +1516,51 @@ void BKE_tracking_stabdata_to_mat4(float loc[2], float scale, float mat[4][4])
copy_v2_v2(mat[3], loc);
}
ImBuf *BKE_tracking_undistort(MovieTracking *tracking, ImBuf *ibuf)
{
ImBuf *resibuf;
MovieTrackingCamera *camera= &tracking->camera;
resibuf= IMB_dupImBuf(ibuf);
if(ibuf->rect_float) {
libmv_undistortFloat(camera->focal,
camera->principal[0], camera->principal[1],
camera->k1, camera->k2, camera->k3,
ibuf->rect_float, resibuf->rect_float, ibuf->x, ibuf->y, ibuf->channels);
ibuf->userflags|= IB_RECT_INVALID;
} else {
libmv_undistortByte(camera->focal,
camera->principal[0], camera->principal[1],
camera->k1, camera->k2, camera->k3,
(unsigned char*)ibuf->rect, (unsigned char*)resibuf->rect, ibuf->x, ibuf->y, ibuf->channels);
}
return resibuf;
}
ImBuf *BKE_tracking_distort(MovieTracking *tracking, ImBuf *ibuf)
{
ImBuf *resibuf;
MovieTrackingCamera *camera= &tracking->camera;
resibuf= IMB_dupImBuf(ibuf);
if(ibuf->rect_float) {
libmv_distortFloat(camera->focal,
camera->principal[0], camera->principal[1],
camera->k1, camera->k2, camera->k3,
ibuf->rect_float, resibuf->rect_float, ibuf->x, ibuf->y, ibuf->channels);
ibuf->userflags|= IB_RECT_INVALID;
} else {
libmv_distortByte(camera->focal,
camera->principal[0], camera->principal[1],
camera->k1, camera->k2, camera->k3,
(unsigned char*)ibuf->rect, (unsigned char*)resibuf->rect, ibuf->x, ibuf->y, ibuf->channels);
}
return resibuf;
}

14
source/blender/editors/space_clip/clip_draw.c
View File

@ -206,7 +206,7 @@ static void draw_movieclip_buffer(SpaceClip *sc, ARegion *ar, ImBuf *ibuf,
if(sc->flag&SC_MUTE_FOOTAGE) {
glColor3f(0.0f, 0.0f, 0.0f);
glRectf(x, y, x+ibuf->x*sc->zoom, y+ibuf->y*sc->zoom);
glRectf(x, y, x+zoomx*width, y+zoomy*height);
} else {
if(ibuf->rect_float && !ibuf->rect) {
IMB_rect_from_float(ibuf);
@ -971,7 +971,7 @@ static void draw_distortion(SpaceClip *sc, ARegion *ar, MovieClip *clip, int wid
for(i= 0; i<=n; i++) {
for(j= 0; j<=n; j++) {
if(i==0 || j==0 || i==n || j==n) {
BKE_tracking_invert_intrinsics(tracking, pos, tpos);
BKE_tracking_apply_intrinsics(tracking, pos, tpos);
for(a=0; a<4; a++) {
int ok;
@ -1000,7 +1000,7 @@ static void draw_distortion(SpaceClip *sc, ARegion *ar, MovieClip *clip, int wid
pos[0]= idx[a][0]*dx;
pos[1]= idx[a][1]*dy;
BKE_tracking_apply_intrinsics(tracking, pos, tpos);
BKE_tracking_invert_intrinsics(tracking, pos, tpos);
DO_MINMAX2(tpos, min, max);
}
@ -1011,7 +1011,7 @@ static void draw_distortion(SpaceClip *sc, ARegion *ar, MovieClip *clip, int wid
for(i= 0; i<=n; i++) {
for(j= 0; j<=n; j++) {
BKE_tracking_invert_intrinsics(tracking, pos, grid[i][j]);
BKE_tracking_apply_intrinsics(tracking, pos, grid[i][j]);
grid[i][j][0]/= width;
grid[i][j][1]/= height;
@ -1074,15 +1074,15 @@ static void draw_distortion(SpaceClip *sc, ARegion *ar, MovieClip *clip, int wid
/* we want to distort only long straight lines */
if(stroke->totpoints==2) {
BKE_tracking_apply_intrinsics(tracking, pos, pos);
BKE_tracking_apply_intrinsics(tracking, npos, npos);
BKE_tracking_invert_intrinsics(tracking, pos, pos);
BKE_tracking_invert_intrinsics(tracking, npos, npos);
}
sub_v2_v2v2(dpos, npos, pos);
mul_v2_fl(dpos, 1.f/steps);
for(j= 0; j<steps; j++) {
BKE_tracking_invert_intrinsics(tracking, pos, tpos);
BKE_tracking_apply_intrinsics(tracking, pos, tpos);
glVertex2f(tpos[0]/width, tpos[1]/height);
add_v2_v2(pos, dpos);