forked from bartvdbraak/blender
32faec1a53
Makes code in tracking.cc much easier to understand and modify, without worring to breck compulation with Libmv disabled. It is still possible compilation will break due to libmv-capi changes, but that's not happening so much often.
968 lines
31 KiB
C++
968 lines
31 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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/* define this to generate PNG images with content of search areas
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tracking between which failed */
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#undef DUMP_FAILURE
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/* define this to generate PNG images with content of search areas
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on every itteration of tracking */
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#undef DUMP_ALWAYS
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#include "libmv-capi.h"
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#include "libmv/logging/logging.h"
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#include "libmv/tracking/track_region.h"
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#include "libmv/simple_pipeline/callbacks.h"
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#include "libmv/simple_pipeline/tracks.h"
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#include "libmv/simple_pipeline/initialize_reconstruction.h"
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#include "libmv/simple_pipeline/bundle.h"
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#include "libmv/simple_pipeline/detect.h"
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#include "libmv/simple_pipeline/pipeline.h"
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#include "libmv/simple_pipeline/camera_intrinsics.h"
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#include "libmv/simple_pipeline/modal_solver.h"
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#include "libmv/simple_pipeline/reconstruction_scale.h"
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#include <stdlib.h>
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#include <assert.h>
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#if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS)
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# include <png.h>
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#endif
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#ifdef _MSC_VER
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# define snprintf _snprintf
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#endif
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typedef struct libmv_Reconstruction {
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libmv::EuclideanReconstruction reconstruction;
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/* used for per-track average error calculation after reconstruction */
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libmv::Tracks tracks;
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libmv::CameraIntrinsics intrinsics;
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double error;
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} libmv_Reconstruction;
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typedef struct libmv_Features {
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int count, margin;
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libmv::Feature *features;
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} libmv_Features;
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/* ************ Logging ************ */
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void libmv_initLogging(const char *argv0)
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{
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/* Make it so FATAL messages are always print into console */
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char severity_fatal[32];
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snprintf(severity_fatal, sizeof(severity_fatal), "%d",
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google::GLOG_FATAL);
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google::InitGoogleLogging(argv0);
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google::SetCommandLineOption("logtostderr", "1");
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google::SetCommandLineOption("v", "0");
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google::SetCommandLineOption("stderrthreshold", severity_fatal);
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google::SetCommandLineOption("minloglevel", severity_fatal);
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}
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void libmv_startDebugLogging(void)
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{
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google::SetCommandLineOption("logtostderr", "1");
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google::SetCommandLineOption("v", "2");
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google::SetCommandLineOption("stderrthreshold", "1");
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google::SetCommandLineOption("minloglevel", "0");
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}
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void libmv_setLoggingVerbosity(int verbosity)
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{
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char val[10];
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snprintf(val, sizeof(val), "%d", verbosity);
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google::SetCommandLineOption("v", val);
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}
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/* ************ Utility ************ */
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static void floatBufToImage(const float *buf, int width, int height, int channels, libmv::FloatImage *image)
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{
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int x, y, k, a = 0;
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image->Resize(height, width, channels);
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for (y = 0; y < height; y++) {
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for (x = 0; x < width; x++) {
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for (k = 0; k < channels; k++) {
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(*image)(y, x, k) = buf[a++];
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}
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}
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}
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}
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static void imageToFloatBuf(const libmv::FloatImage *image, int channels, float *buf)
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{
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int x, y, k, a = 0;
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for (y = 0; y < image->Height(); y++) {
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for (x = 0; x < image->Width(); x++) {
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for (k = 0; k < channels; k++) {
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buf[a++] = (*image)(y, x, k);
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}
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}
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}
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}
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#if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS)
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static void savePNGImage(png_bytep *row_pointers, int width, int height, int depth, int color_type, char *file_name)
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{
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png_infop info_ptr;
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png_structp png_ptr;
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FILE *fp = fopen(file_name, "wb");
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if (!fp)
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return;
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/* Initialize stuff */
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png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
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info_ptr = png_create_info_struct(png_ptr);
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if (setjmp(png_jmpbuf(png_ptr))) {
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fclose(fp);
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return;
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}
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png_init_io(png_ptr, fp);
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/* write header */
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if (setjmp(png_jmpbuf(png_ptr))) {
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fclose(fp);
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return;
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}
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png_set_IHDR(png_ptr, info_ptr, width, height,
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depth, color_type, PNG_INTERLACE_NONE,
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PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE);
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png_write_info(png_ptr, info_ptr);
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/* write bytes */
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if (setjmp(png_jmpbuf(png_ptr))) {
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fclose(fp);
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return;
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}
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png_write_image(png_ptr, row_pointers);
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/* end write */
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if (setjmp(png_jmpbuf(png_ptr))) {
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fclose(fp);
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return;
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}
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png_write_end(png_ptr, NULL);
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fclose(fp);
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}
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static void saveImage(const char *prefix, libmv::FloatImage image, int x0, int y0)
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{
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int x, y;
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png_bytep *row_pointers;
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row_pointers= (png_bytep*)malloc(sizeof(png_bytep)*image.Height());
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for (y = 0; y < image.Height(); y++) {
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row_pointers[y]= (png_bytep)malloc(sizeof(png_byte)*4*image.Width());
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for (x = 0; x < image.Width(); x++) {
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if (x0 == x && image.Height() - y0 - 1 == y) {
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row_pointers[y][x*4+0]= 255;
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row_pointers[y][x*4+1]= 0;
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row_pointers[y][x*4+2]= 0;
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row_pointers[y][x*4+3]= 255;
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}
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else {
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float pixel = image(image.Height() - y - 1, x, 0);
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row_pointers[y][x*4+0]= pixel*255;
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row_pointers[y][x*4+1]= pixel*255;
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row_pointers[y][x*4+2]= pixel*255;
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row_pointers[y][x*4+3]= 255;
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}
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}
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}
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{
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static int a= 0;
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char buf[128];
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snprintf(buf, sizeof(buf), "%s_%02d.png", prefix, ++a);
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savePNGImage(row_pointers, image.Width(), image.Height(), 8, PNG_COLOR_TYPE_RGBA, buf);
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}
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for (y = 0; y < image.Height(); y++) {
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free(row_pointers[y]);
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}
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free(row_pointers);
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}
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static void saveBytesImage(const char *prefix, unsigned char *data, int width, int height)
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{
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int x, y;
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png_bytep *row_pointers;
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row_pointers= (png_bytep*)malloc(sizeof(png_bytep)*height);
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for (y = 0; y < height; y++) {
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row_pointers[y]= (png_bytep)malloc(sizeof(png_byte)*4*width);
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for (x = 0; x < width; x++) {
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char pixel = data[width*y+x];
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row_pointers[y][x*4+0]= pixel;
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row_pointers[y][x*4+1]= pixel;
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row_pointers[y][x*4+2]= pixel;
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row_pointers[y][x*4+3]= 255;
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}
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}
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{
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static int a = 0;
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char buf[128];
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snprintf(buf, sizeof(buf), "%s_%02d.png", prefix, ++a);
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savePNGImage(row_pointers, width, height, 8, PNG_COLOR_TYPE_RGBA, buf);
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}
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for (y = 0; y < height; y++) {
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free(row_pointers[y]);
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}
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free(row_pointers);
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}
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#endif
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/* ************ Planar tracker ************ */
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/* TrackRegion (new planar tracker) */
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int libmv_trackRegion(const struct 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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struct libmv_trackRegionResult *result,
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double *x2, double *y2)
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{
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double xx1[5], yy1[5];
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double xx2[5], yy2[5];
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bool tracking_result = false;
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/* Convert to doubles for the libmv api. The four corners and the center. */
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for (int i = 0; i < 5; ++i) {
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xx1[i] = x1[i];
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yy1[i] = y1[i];
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xx2[i] = x2[i];
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yy2[i] = y2[i];
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}
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libmv::TrackRegionOptions track_region_options;
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libmv::FloatImage image1_mask;
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switch (options->motion_model) {
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#define LIBMV_CONVERT(the_model) \
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case libmv::TrackRegionOptions::the_model: \
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track_region_options.mode = libmv::TrackRegionOptions::the_model; \
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break;
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LIBMV_CONVERT(TRANSLATION)
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LIBMV_CONVERT(TRANSLATION_ROTATION)
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LIBMV_CONVERT(TRANSLATION_SCALE)
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LIBMV_CONVERT(TRANSLATION_ROTATION_SCALE)
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LIBMV_CONVERT(AFFINE)
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LIBMV_CONVERT(HOMOGRAPHY)
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#undef LIBMV_CONVERT
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}
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track_region_options.minimum_correlation = options->minimum_correlation;
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track_region_options.max_iterations = options->num_iterations;
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track_region_options.sigma = options->sigma;
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track_region_options.num_extra_points = 1;
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track_region_options.image1_mask = NULL;
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track_region_options.use_brute_initialization = options->use_brute;
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track_region_options.use_normalized_intensities = options->use_normalization;
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if (options->image1_mask) {
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floatBufToImage(options->image1_mask, image1_width, image1_height, 1, &image1_mask);
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track_region_options.image1_mask = &image1_mask;
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}
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/* Convert from raw float buffers to libmv's FloatImage. */
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libmv::FloatImage old_patch, new_patch;
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floatBufToImage(image1, image1_width, image1_height, 1, &old_patch);
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floatBufToImage(image2, image2_width, image2_height, 1, &new_patch);
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libmv::TrackRegionResult track_region_result;
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libmv::TrackRegion(old_patch, new_patch, xx1, yy1, track_region_options, xx2, yy2, &track_region_result);
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/* Convert to floats for the blender api. */
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for (int i = 0; i < 5; ++i) {
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x2[i] = xx2[i];
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y2[i] = yy2[i];
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}
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/* TODO(keir): Update the termination string with failure details. */
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if (track_region_result.termination == libmv::TrackRegionResult::PARAMETER_TOLERANCE ||
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track_region_result.termination == libmv::TrackRegionResult::FUNCTION_TOLERANCE ||
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track_region_result.termination == libmv::TrackRegionResult::GRADIENT_TOLERANCE ||
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track_region_result.termination == libmv::TrackRegionResult::NO_CONVERGENCE)
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{
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tracking_result = true;
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}
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#if defined(DUMP_FAILURE) || defined(DUMP_ALWAYS)
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#if defined(DUMP_ALWAYS)
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{
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#else
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if (!tracking_result) {
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#endif
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saveImage("old_patch", old_patch, x1[4], y1[4]);
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saveImage("new_patch", new_patch, x2[4], y2[4]);
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if (options->image1_mask)
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saveImage("mask", image1_mask, x2[4], y2[4]);
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}
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#endif
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return tracking_result;
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}
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void libmv_samplePlanarPatch(const float *image, int width, int height,
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int channels, 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, float *patch,
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double *warped_position_x, double *warped_position_y)
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{
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libmv::FloatImage libmv_image, libmv_patch, libmv_mask;
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libmv::FloatImage *libmv_mask_for_sample = NULL;
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floatBufToImage(image, width, height, channels, &libmv_image);
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if (mask) {
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floatBufToImage(mask, width, height, 1, &libmv_mask);
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libmv_mask_for_sample = &libmv_mask;
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}
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libmv::SamplePlanarPatch(libmv_image, xs, ys, num_samples_x, num_samples_y,
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libmv_mask_for_sample, &libmv_patch,
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warped_position_x, warped_position_y);
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imageToFloatBuf(&libmv_patch, channels, patch);
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}
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/* ************ Tracks ************ */
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libmv_Tracks *libmv_tracksNew(void)
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{
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libmv::Tracks *libmv_tracks = new libmv::Tracks();
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return (libmv_Tracks *)libmv_tracks;
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}
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void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y)
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{
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((libmv::Tracks*)libmv_tracks)->Insert(image, track, x, y);
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}
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void libmv_tracksDestroy(libmv_Tracks *libmv_tracks)
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{
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delete (libmv::Tracks*)libmv_tracks;
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}
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/* ************ Reconstruction solver ************ */
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class ReconstructUpdateCallback : public libmv::ProgressUpdateCallback {
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public:
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ReconstructUpdateCallback(reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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progress_update_callback_ = progress_update_callback;
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callback_customdata_ = callback_customdata;
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}
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void invoke(double progress, const char *message)
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{
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if(progress_update_callback_) {
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progress_update_callback_(callback_customdata_, progress, message);
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}
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}
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protected:
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reconstruct_progress_update_cb progress_update_callback_;
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void *callback_customdata_;
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};
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static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntrinsics *intrinsics,
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libmv::EuclideanReconstruction *reconstruction, int refine_intrinsics,
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reconstruct_progress_update_cb progress_update_callback, void *callback_customdata,
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int bundle_constraints = libmv::BUNDLE_NO_CONSTRAINTS)
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{
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/* only a few combinations are supported but trust the caller */
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int bundle_intrinsics = 0;
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if (refine_intrinsics & LIBMV_REFINE_FOCAL_LENGTH) {
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bundle_intrinsics |= libmv::BUNDLE_FOCAL_LENGTH;
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}
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if (refine_intrinsics & LIBMV_REFINE_PRINCIPAL_POINT) {
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bundle_intrinsics |= libmv::BUNDLE_PRINCIPAL_POINT;
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}
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if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K1) {
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bundle_intrinsics |= libmv::BUNDLE_RADIAL_K1;
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}
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if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K2) {
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bundle_intrinsics |= libmv::BUNDLE_RADIAL_K2;
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}
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progress_update_callback(callback_customdata, 1.0, "Refining solution");
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libmv::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks,
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bundle_intrinsics,
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bundle_constraints,
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reconstruction,
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intrinsics);
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}
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static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsics,
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libmv_cameraIntrinsicsOptions *camera_intrinsics_options)
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{
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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(camera_intrinsics_options->principal_point_x,
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camera_intrinsics_options->principal_point_y);
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camera_intrinsics->SetRadialDistortion(camera_intrinsics_options->k1,
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camera_intrinsics_options->k2,
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camera_intrinsics_options->k3);
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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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}
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static libmv::Tracks getNormalizedTracks(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics)
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{
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libmv::vector<libmv::Marker> markers = tracks->AllMarkers();
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for (int i = 0; i < markers.size(); ++i) {
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camera_intrinsics->InvertIntrinsics(markers[i].x, markers[i].y,
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&(markers[i].x), &(markers[i].y));
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}
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return libmv::Tracks(markers);
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}
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static void finishReconstruction(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics,
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libmv_Reconstruction *libmv_reconstruction,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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/* reprojection error calculation */
|
|
progress_update_callback(callback_customdata, 1.0, "Finishing solution");
|
|
libmv_reconstruction->tracks = *tracks;
|
|
libmv_reconstruction->error = libmv::EuclideanReprojectionError(*tracks, *reconstruction, *camera_intrinsics);
|
|
}
|
|
|
|
libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks,
|
|
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
libmv_reconstructionOptions *libmv_reconstruction_options,
|
|
reconstruct_progress_update_cb progress_update_callback,
|
|
void *callback_customdata)
|
|
{
|
|
libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
|
|
|
|
libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
|
|
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
|
|
libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
|
|
|
|
ReconstructUpdateCallback update_callback =
|
|
ReconstructUpdateCallback(progress_update_callback, callback_customdata);
|
|
|
|
cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
|
|
|
|
/* Invert the camera intrinsics */
|
|
libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
|
|
|
|
/* actual reconstruction */
|
|
libmv::ReconstructionOptions reconstruction_options;
|
|
reconstruction_options.success_threshold = libmv_reconstruction_options->success_threshold;
|
|
reconstruction_options.use_fallback_reconstruction = libmv_reconstruction_options->use_fallback_reconstruction;
|
|
|
|
int keyframe1 = libmv_reconstruction_options->keyframe1,
|
|
keyframe2 = libmv_reconstruction_options->keyframe2;
|
|
|
|
LG << "frames to init from: " << keyframe1 << " " << keyframe2;
|
|
|
|
libmv::vector<libmv::Marker> keyframe_markers =
|
|
normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
|
|
|
|
LG << "number of markers for init: " << keyframe_markers.size();
|
|
|
|
update_callback.invoke(0, "Initial reconstruction");
|
|
|
|
libmv::EuclideanReconstructTwoFrames(keyframe_markers, reconstruction);
|
|
libmv::EuclideanBundle(normalized_tracks, reconstruction);
|
|
libmv::EuclideanCompleteReconstruction(reconstruction_options, normalized_tracks,
|
|
reconstruction, &update_callback);
|
|
|
|
/* refinement */
|
|
if (libmv_reconstruction_options->refine_intrinsics) {
|
|
libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction,
|
|
libmv_reconstruction_options->refine_intrinsics,
|
|
progress_update_callback, callback_customdata);
|
|
}
|
|
|
|
/* set reconstruction scale to unity */
|
|
libmv::EuclideanScaleToUnity(reconstruction);
|
|
|
|
/* finish reconstruction */
|
|
finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
|
|
progress_update_callback, callback_customdata);
|
|
|
|
return (libmv_Reconstruction *)libmv_reconstruction;
|
|
}
|
|
|
|
struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks,
|
|
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
libmv_reconstructionOptions *libmv_reconstruction_options,
|
|
reconstruct_progress_update_cb progress_update_callback,
|
|
void *callback_customdata)
|
|
{
|
|
libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
|
|
|
|
libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
|
|
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
|
|
libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
|
|
|
|
ReconstructUpdateCallback update_callback =
|
|
ReconstructUpdateCallback(progress_update_callback, callback_customdata);
|
|
|
|
cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
|
|
|
|
/* Invert the camera intrinsics. */
|
|
libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
|
|
|
|
/* Actual reconstruction. */
|
|
libmv::ModalSolver(normalized_tracks, reconstruction, &update_callback);
|
|
|
|
libmv::CameraIntrinsics empty_intrinsics;
|
|
libmv::EuclideanBundleCommonIntrinsics(normalized_tracks,
|
|
libmv::BUNDLE_NO_INTRINSICS,
|
|
libmv::BUNDLE_NO_TRANSLATION,
|
|
reconstruction,
|
|
&empty_intrinsics);
|
|
|
|
/* Refinement. */
|
|
if (libmv_reconstruction_options->refine_intrinsics) {
|
|
libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction,
|
|
libmv_reconstruction_options->refine_intrinsics,
|
|
progress_update_callback, callback_customdata,
|
|
libmv::BUNDLE_NO_TRANSLATION);
|
|
}
|
|
|
|
/* Finish reconstruction. */
|
|
finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
|
|
progress_update_callback, callback_customdata);
|
|
|
|
return (libmv_Reconstruction *)libmv_reconstruction;
|
|
}
|
|
|
|
int libmv_reporojectionPointForTrack(libmv_Reconstruction *libmv_reconstruction, int track, double pos[3])
|
|
{
|
|
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
|
|
libmv::EuclideanPoint *point = reconstruction->PointForTrack(track);
|
|
|
|
if(point) {
|
|
pos[0] = point->X[0];
|
|
pos[1] = point->X[2];
|
|
pos[2] = point->X[1];
|
|
|
|
return 1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point, const libmv::EuclideanCamera &camera,
|
|
const libmv::CameraIntrinsics &intrinsics) {
|
|
libmv::Vec3 projected = camera.R * point.X + camera.t;
|
|
projected /= projected(2);
|
|
|
|
libmv::Marker reprojected_marker;
|
|
intrinsics.ApplyIntrinsics(projected(0), projected(1), &reprojected_marker.x, &reprojected_marker.y);
|
|
|
|
reprojected_marker.image = camera.image;
|
|
reprojected_marker.track = point.track;
|
|
|
|
return reprojected_marker;
|
|
}
|
|
|
|
double libmv_reporojectionErrorForTrack(libmv_Reconstruction *libmv_reconstruction, int track)
|
|
{
|
|
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
|
|
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
|
|
libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersForTrack(track);
|
|
|
|
int num_reprojected = 0;
|
|
double total_error = 0.0;
|
|
|
|
for (int i = 0; i < markers.size(); ++i) {
|
|
const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(markers[i].image);
|
|
const libmv::EuclideanPoint *point = reconstruction->PointForTrack(markers[i].track);
|
|
|
|
if (!camera || !point) {
|
|
continue;
|
|
}
|
|
|
|
num_reprojected++;
|
|
|
|
libmv::Marker reprojected_marker = ProjectMarker(*point, *camera, *intrinsics);
|
|
double ex = reprojected_marker.x - markers[i].x;
|
|
double ey = reprojected_marker.y - markers[i].y;
|
|
|
|
total_error += sqrt(ex*ex + ey*ey);
|
|
}
|
|
|
|
return total_error / num_reprojected;
|
|
}
|
|
|
|
double libmv_reporojectionErrorForImage(libmv_Reconstruction *libmv_reconstruction, int image)
|
|
{
|
|
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
|
|
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
|
|
libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersInImage(image);
|
|
const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image);
|
|
int num_reprojected = 0;
|
|
double total_error = 0.0;
|
|
|
|
if (!camera)
|
|
return 0;
|
|
|
|
for (int i = 0; i < markers.size(); ++i) {
|
|
const libmv::EuclideanPoint *point = reconstruction->PointForTrack(markers[i].track);
|
|
|
|
if (!point) {
|
|
continue;
|
|
}
|
|
|
|
num_reprojected++;
|
|
|
|
libmv::Marker reprojected_marker = ProjectMarker(*point, *camera, *intrinsics);
|
|
double ex = reprojected_marker.x - markers[i].x;
|
|
double ey = reprojected_marker.y - markers[i].y;
|
|
|
|
total_error += sqrt(ex*ex + ey*ey);
|
|
}
|
|
|
|
return total_error / num_reprojected;
|
|
}
|
|
|
|
int libmv_reporojectionCameraForImage(libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4])
|
|
{
|
|
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
|
|
libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image);
|
|
|
|
if(camera) {
|
|
for (int j = 0; j < 3; ++j) {
|
|
for (int k = 0; k < 3; ++k) {
|
|
int l = k;
|
|
|
|
if (k == 1) l = 2;
|
|
else if (k == 2) l = 1;
|
|
|
|
if (j == 2) mat[j][l] = -camera->R(j,k);
|
|
else mat[j][l] = camera->R(j,k);
|
|
}
|
|
mat[j][3]= 0.0;
|
|
}
|
|
|
|
libmv::Vec3 optical_center = -camera->R.transpose() * camera->t;
|
|
|
|
mat[3][0] = optical_center(0);
|
|
mat[3][1] = optical_center(2);
|
|
mat[3][2] = optical_center(1);
|
|
|
|
mat[3][3]= 1.0;
|
|
|
|
return 1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
double libmv_reprojectionError(libmv_Reconstruction *libmv_reconstruction)
|
|
{
|
|
return libmv_reconstruction->error;
|
|
}
|
|
|
|
void libmv_destroyReconstruction(libmv_Reconstruction *libmv_reconstruction)
|
|
{
|
|
delete libmv_reconstruction;
|
|
}
|
|
|
|
/* ************ feature detector ************ */
|
|
|
|
struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
|
|
int margin, int min_trackness, int min_distance)
|
|
{
|
|
libmv::Feature *features = NULL;
|
|
std::vector<libmv::Feature> v;
|
|
libmv_Features *libmv_features = new libmv_Features();
|
|
int i= 0, count;
|
|
|
|
if(margin) {
|
|
data += margin*stride+margin;
|
|
width -= 2*margin;
|
|
height -= 2*margin;
|
|
}
|
|
|
|
v = libmv::DetectFAST(data, width, height, stride, min_trackness, min_distance);
|
|
|
|
count = v.size();
|
|
|
|
if(count) {
|
|
features= new libmv::Feature[count];
|
|
|
|
for(std::vector<libmv::Feature>::iterator it = v.begin(); it != v.end(); it++) {
|
|
features[i++]= *it;
|
|
}
|
|
}
|
|
|
|
libmv_features->features = features;
|
|
libmv_features->count = count;
|
|
libmv_features->margin = margin;
|
|
|
|
return (libmv_Features *)libmv_features;
|
|
}
|
|
|
|
struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
|
|
int margin, int count, int min_distance)
|
|
{
|
|
libmv::Feature *features = NULL;
|
|
libmv_Features *libmv_features = new libmv_Features;
|
|
|
|
if(count) {
|
|
if(margin) {
|
|
data += margin*stride+margin;
|
|
width -= 2*margin;
|
|
height -= 2*margin;
|
|
}
|
|
|
|
features = new libmv::Feature[count];
|
|
libmv::DetectMORAVEC(data, stride, width, height, features, &count, min_distance, NULL);
|
|
}
|
|
|
|
libmv_features->count = count;
|
|
libmv_features->margin = margin;
|
|
libmv_features->features = features;
|
|
|
|
return libmv_features;
|
|
}
|
|
|
|
int libmv_countFeatures(struct libmv_Features *libmv_features)
|
|
{
|
|
return libmv_features->count;
|
|
}
|
|
|
|
void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size)
|
|
{
|
|
libmv::Feature feature= libmv_features->features[number];
|
|
|
|
*x = feature.x + libmv_features->margin;
|
|
*y = feature.y + libmv_features->margin;
|
|
*score = feature.score;
|
|
*size = feature.size;
|
|
}
|
|
|
|
void libmv_destroyFeatures(struct libmv_Features *libmv_features)
|
|
{
|
|
if(libmv_features->features)
|
|
delete [] libmv_features->features;
|
|
|
|
delete libmv_features;
|
|
}
|
|
|
|
/* ************ camera intrinsics ************ */
|
|
|
|
struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction) {
|
|
return (struct libmv_CameraIntrinsics *)&libmv_Reconstruction->intrinsics;
|
|
}
|
|
|
|
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNewEmpty(void)
|
|
{
|
|
libmv::CameraIntrinsics *camera_intrinsics = new libmv::CameraIntrinsics();
|
|
|
|
return (struct libmv_CameraIntrinsics *) camera_intrinsics;
|
|
}
|
|
|
|
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
|
|
{
|
|
libmv::CameraIntrinsics *camera_intrinsics = new libmv::CameraIntrinsics();
|
|
|
|
cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
|
|
|
|
return (struct libmv_CameraIntrinsics *) camera_intrinsics;
|
|
}
|
|
|
|
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics)
|
|
{
|
|
libmv::CameraIntrinsics *orig_intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
|
libmv::CameraIntrinsics *new_intrinsics= new libmv::CameraIntrinsics(*orig_intrinsics);
|
|
|
|
return (struct libmv_CameraIntrinsics *) new_intrinsics;
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics)
|
|
{
|
|
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
|
|
|
delete intrinsics;
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
|
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options)
|
|
{
|
|
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
|
|
|
double focal_length = libmv_camera_intrinsics_options->focal_length;
|
|
double principal_x = libmv_camera_intrinsics_options->principal_point_x;
|
|
double principal_y = libmv_camera_intrinsics_options->principal_point_y;
|
|
double k1 = libmv_camera_intrinsics_options->k1;
|
|
double k2 = libmv_camera_intrinsics_options->k2;
|
|
double k3 = libmv_camera_intrinsics_options->k3;
|
|
int image_width = libmv_camera_intrinsics_options->image_width;
|
|
int image_height = libmv_camera_intrinsics_options->image_height;
|
|
|
|
/* try avoid unnecessary updates so pre-computed distortion grids are not freed */
|
|
|
|
if (camera_intrinsics->focal_length() != focal_length)
|
|
camera_intrinsics->SetFocalLength(focal_length, focal_length);
|
|
|
|
if (camera_intrinsics->principal_point_x() != principal_x ||
|
|
camera_intrinsics->principal_point_y() != principal_y)
|
|
{
|
|
camera_intrinsics->SetPrincipalPoint(principal_x, principal_y);
|
|
}
|
|
|
|
if (camera_intrinsics->k1() != k1 ||
|
|
camera_intrinsics->k2() != k2 ||
|
|
camera_intrinsics->k3() != k3)
|
|
{
|
|
camera_intrinsics->SetRadialDistortion(k1, k2, k3);
|
|
}
|
|
|
|
if (camera_intrinsics->image_width() != image_width ||
|
|
camera_intrinsics->image_height() != image_height)
|
|
{
|
|
camera_intrinsics->SetImageSize(image_width, image_height);
|
|
}
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads)
|
|
{
|
|
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
|
|
|
camera_intrinsics->SetThreads(threads);
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
|
|
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height)
|
|
{
|
|
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
|
|
|
*focal_length = camera_intrinsics->focal_length();
|
|
*principal_x = camera_intrinsics->principal_point_x();
|
|
*principal_y = camera_intrinsics->principal_point_y();
|
|
*k1 = camera_intrinsics->k1();
|
|
*k2 = camera_intrinsics->k2();
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
|
|
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
|
|
{
|
|
libmv::CameraIntrinsics *camera_intrinsics = (libmv::CameraIntrinsics *) libmv_intrinsics;
|
|
|
|
camera_intrinsics->Undistort(src, dst, width, height, overscan, channels);
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
|
|
float *src, float *dst, int width, int height, float overscan, int channels)
|
|
{
|
|
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
|
|
|
intrinsics->Undistort(src, dst, width, height, overscan, channels);
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
|
|
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
|
|
{
|
|
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
|
intrinsics->Distort(src, dst, width, height, overscan, channels);
|
|
}
|
|
|
|
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
|
|
float *src, float *dst, int width, int height, float overscan, int channels)
|
|
{
|
|
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
|
|
|
|
intrinsics->Distort(src, dst, width, height, overscan, channels);
|
|
}
|
|
|
|
/* ************ utils ************ */
|
|
|
|
void libmv_ApplyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
double x, double y, double *x1, double *y1)
|
|
{
|
|
libmv::CameraIntrinsics camera_intrinsics;
|
|
|
|
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
|
|
|
|
if (libmv_camera_intrinsics_options->focal_length) {
|
|
/* do a lens undistortion if focal length is non-zero only */
|
|
|
|
camera_intrinsics.ApplyIntrinsics(x, y, x1, y1);
|
|
}
|
|
}
|
|
|
|
void libmv_InvertCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
double x, double y, double *x1, double *y1)
|
|
{
|
|
libmv::CameraIntrinsics camera_intrinsics;
|
|
|
|
cameraIntrinsicsFromOptions(&camera_intrinsics, libmv_camera_intrinsics_options);
|
|
|
|
if (libmv_camera_intrinsics_options->focal_length) {
|
|
/* do a lens distortion if focal length is non-zero only */
|
|
|
|
camera_intrinsics.InvertIntrinsics(x, y, x1, y1);
|
|
}
|
|
}
|