forked from bartvdbraak/blender
52f34f017d
Several major things are done in this commit: - First of all, logic of modal solver was changed. We do not rely on only minimizer to take care of guessing rotation for frame, but we're using analytical rotation computation for point clouds to obtain initial rotation. Then this rotation is being refined using Ceres minimizer and now instead of minimizing average distance between points of point of two clouds, minimization of reprojection error of point cloud onto frame happens. This gives quite a bit of precision improvement. - Second bigger improvement here is using bundle adjustment for a result of first step when we're only estimating rotation between neighbor images and reprojecting markers. This averages error across the image sequence avoiding error accumulation. Also, this will tweak bundles themselves a bit for better match. - And last bigger improvement here is support of camera intrinsics refirenment. This allowed to significantly improve solution for real-life footage and results after such refining are much more usable than it were before. Thanks to Keir for the help and code review.
174 lines
7.2 KiB
C
174 lines
7.2 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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/* TrackRegion (new planar tracker) */
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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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};
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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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};
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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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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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/* Tracks */
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struct libmv_Tracks *libmv_tracksNew(void);
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void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
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void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
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/* Reconstruction solver */
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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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typedef struct libmv_cameraIntrinsicsOptions {
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double focal_length;
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double principal_point_x, principal_point_y;
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double k1, k2, k3;
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double p1, p2;
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int image_width, image_height;
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} libmv_cameraIntrinsicsOptions;
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typedef struct libmv_reconstructionOptions {
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int keyframe1, keyframe2;
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int refine_intrinsics;
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double success_threshold;
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int use_fallback_reconstruction;
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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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int libmv_refineParametersAreValid(int parameters);
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struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *libmv_tracks,
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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(struct libmv_Tracks *libmv_tracks,
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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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int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
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double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
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double libmv_reporojectionErrorForImage(struct libmv_Reconstruction *libmv_reconstruction, int image);
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int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]);
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double libmv_reprojectionError(struct libmv_Reconstruction *libmv_reconstruction);
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void libmv_destroyReconstruction(struct libmv_Reconstruction *libmv_reconstruction);
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/* feature detector */
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struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
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int margin, int min_trackness, int min_distance);
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struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
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int margin, int count, int min_distance);
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int libmv_countFeatures(struct libmv_Features *libmv_features);
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void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size);
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void libmv_destroyFeatures(struct libmv_Features *libmv_features);
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/* camera intrinsics */
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struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
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void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
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double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);
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void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height, float overscan, int channels);
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/* utils */
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void libmv_applyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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void libmv_InvertIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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/* point clouds */
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void libmv_rigidRegistration(float (*reference_points)[3], float (*points)[3], int total_points,
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int use_scale, int use_translation, double M[4][4]);
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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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