ed2ddc9f70
This commit makes it so CameraIntrinsics is no longer hardcoded to use the traditional polynomial radial distortion model. Currently the distortion code has generic logic which is shared between different distortion models, but had no other models until now. This moves everything specific to the polynomial radial distortion to a subclass PolynomialDistortionCameraIntrinsics(), and adds a new division distortion model suitable for cameras such as the GoPro which have much stronger distortion due to their fisheye lens. This also cleans up the internal API of CameraIntrinsics to make it easier to understand and reduces old C-style code. New distortion model is available in the Lens panel of MCE. - Polynomial is the old well-known model - Division is the new one which s intended to deal better with huge distortion. Coefficients of this model works independent from each other and for division model one probably want to have positive values to have a barrel distortion.
207 lines
9.0 KiB
C
207 lines
9.0 KiB
C
/*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2011 Blender Foundation.
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* All rights reserved.
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*
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* Contributor(s): Blender Foundation,
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* Sergey Sharybin
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef LIBMV_C_API_H
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#define LIBMV_C_API_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct libmv_Tracks;
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struct libmv_Reconstruction;
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struct libmv_Features;
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struct libmv_CameraIntrinsics;
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/* Logging */
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void libmv_initLogging(const char *argv0);
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void libmv_startDebugLogging(void);
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void libmv_setLoggingVerbosity(int verbosity);
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/* Planar tracker */
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typedef struct libmv_TrackRegionOptions {
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int motion_model;
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int num_iterations;
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int use_brute;
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int use_normalization;
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double minimum_correlation;
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double sigma;
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float *image1_mask;
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} libmv_TrackRegionOptions;
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typedef struct libmv_TrackRegionResult {
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int termination;
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const char *termination_reason;
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double correlation;
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} libmv_TrackRegionResult;
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int libmv_trackRegion(const libmv_TrackRegionOptions *options,
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const float *image1, int image1_width, int image1_height,
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const float *image2, int image2_width, int image2_height,
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const double *x1, const double *y1,
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libmv_TrackRegionResult *result,
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double *x2, double *y2);
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void libmv_samplePlanarPatch(const float *image,
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int width, int height,
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int channels,
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const double *xs, const double *ys,
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int num_samples_x, int num_samples_y,
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const float *mask,
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float *patch,
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double *warped_position_x, double *warped_position_y);
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void libmv_samplePlanarPatchByte(const unsigned char *image,
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int width, int height,
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int channels,
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const double *xs, const double *ys,
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int num_samples_x, int num_samples_y,
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const float *mask,
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unsigned char *patch,
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double *warped_position_x, double *warped_position_y);
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/* Tracks */
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struct libmv_Tracks *libmv_tracksNew(void);
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void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
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void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y, double weight);
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/* Reconstruction */
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#define LIBMV_REFINE_FOCAL_LENGTH (1 << 0)
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#define LIBMV_REFINE_PRINCIPAL_POINT (1 << 1)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1 << 2)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1 << 4)
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enum {
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LIBMV_DISTORTION_MODEL_POLYNOMIAL = 0,
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LIBMV_DISTORTION_MODEL_DIVISION = 1,
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};
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typedef struct libmv_CameraIntrinsicsOptions {
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/* Common settings of all distortion models. */
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int distortion_model;
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int image_width, image_height;
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double focal_length;
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double principal_point_x, principal_point_y;
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/* Radial distortion model. */
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double polynomial_k1, polynomial_k2, polynomial_k3;
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double polynomial_p1, polynomial_p2;
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/* Division distortion model. */
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double division_k1, division_k2;
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} libmv_CameraIntrinsicsOptions;
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typedef struct libmv_ReconstructionOptions {
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int select_keyframes;
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int keyframe1, keyframe2;
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int refine_intrinsics;
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} libmv_ReconstructionOptions;
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typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
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struct libmv_Reconstruction *libmv_solveReconstruction(const struct libmv_Tracks *libmv_tracks,
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const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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libmv_ReconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata);
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struct libmv_Reconstruction *libmv_solveModal(const struct libmv_Tracks *libmv_tracks,
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const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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const libmv_ReconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata);
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void libmv_reconstructionDestroy(struct libmv_Reconstruction *libmv_reconstruction);
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int libmv_reprojectionPointForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
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double libmv_reprojectionErrorForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track);
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double libmv_reprojectionErrorForImage(const struct libmv_Reconstruction *libmv_reconstruction, int image);
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int libmv_reprojectionCameraForImage(const struct libmv_Reconstruction *libmv_reconstruction,
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int image, double mat[4][4]);
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double libmv_reprojectionError(const struct libmv_Reconstruction *libmv_reconstruction);
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struct libmv_CameraIntrinsics *libmv_reconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
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/* Feature detector */
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enum {
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LIBMV_DETECTOR_FAST,
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LIBMV_DETECTOR_MORAVEC,
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LIBMV_DETECTOR_HARRIS,
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};
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typedef struct libmv_DetectOptions {
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int detector;
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int margin;
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int min_distance;
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int fast_min_trackness;
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int moravec_max_count;
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unsigned char *moravec_pattern;
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double harris_threshold;
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} libmv_DetectOptions;
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struct libmv_Features *libmv_detectFeaturesByte(const unsigned char *image_buffer,
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int width, int height, int channels,
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libmv_DetectOptions *options);
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struct libmv_Features *libmv_detectFeaturesFloat(const float *image_buffer,
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int width, int height, int channels,
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libmv_DetectOptions *options);
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void libmv_featuresDestroy(struct libmv_Features *libmv_features);
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int libmv_countFeatures(const struct libmv_Features *libmv_features);
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void libmv_getFeature(const struct libmv_Features *libmv_features, int number, double *x, double *y, double *score,
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double *size);
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/* Camera intrinsics */
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struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew(
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const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options);
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struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy(const struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_cameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_cameraIntrinsicsUpdate(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_cameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads);
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void libmv_cameraIntrinsicsExtractOptions(
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const struct libmv_CameraIntrinsics *libmv_intrinsics,
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struct libmv_CameraIntrinsicsOptions *camera_intrinsics_options);
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void libmv_cameraIntrinsicsUndistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsUndistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsDistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsDistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsApply(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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void libmv_cameraIntrinsicsInvert(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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void libmv_homography2DFromCorrespondencesEuc(double (*x1)[2], double (*x2)[2], int num_points, double H[3][3]);
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#ifdef __cplusplus
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}
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#endif
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#endif // LIBMV_C_API_H
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