forked from bartvdbraak/blender
d568f56f18
Keir's comment: Add support for detecting tracking failure in the ESM tracker component of libmv. Since both KLT and Hybrid rely on ESM underneath, KLT and Hybrid now have a minimum correlation setting to match. With this fix, track failures should get detected quicker, with the issue that sometimes the tracker will give up too easily. That is fixable by reducing the required correlation (in the track properties). Command used for merge: svn merge -r 42396:42397 -r 42399:42400 ^/branches/soc-2011-tomato
142 lines
7.0 KiB
C
142 lines
7.0 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_RegionTracker;
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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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/* RegionTracker */
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struct libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size, double minimum_correlation);
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struct libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size, double minimum_correlation);
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int libmv_regionTrackerTrack(struct libmv_RegionTracker *libmv_tracker, const float *ima1, const float *ima2,
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int width, int height, double x1, double y1, double *x2, double *y2);
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void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker);
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/* SAD Tracker */
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void libmv_SADSamplePattern(unsigned char *image, int stride,
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float warp[3][2], unsigned char *pattern, int pattern_size);
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float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, int pattern_size, unsigned char *image,
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int stride, int width, int height, float warp[3][2]);
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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 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 *tracks, int keyframe1, int keyframe2,
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int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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reconstruct_progress_update_cb progress_update_callback, 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(double focal_length, double principal_x, double principal_y,
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double k1, double k2, double k3, int width, int height);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics);
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void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics);
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void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, 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_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, 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 *libmvIntrinsics,
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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 *libmvIntrinsics,
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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 *libmvIntrinsics,
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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 *libmvIntrinsics,
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float *src, float *dst, int width, int height, float overscan, int channels);
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/* dsitortion */
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void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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unsigned char *src, unsigned char *dst, int width, int height, int channels);
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void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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float *src, float *dst, int width, int height, int channels);
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void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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unsigned char *src, unsigned char *dst, int width, int height, int channels);
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void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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float *src, float *dst, int width, int height, int channels);
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/* utils */
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void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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double x, double y, double *x1, double *y1);
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void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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double x, double y, double *x1, double *y1);
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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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