forked from bartvdbraak/blender
2ddbb5d1e1
Jittering was caused by homography not being estimated accurate enough. Before this, only algebraic estimation was used, which is indeed not so much great, Now use algebraic estimation followed with refinement step using Ceres minimizer. The code was already there since keyframe selection patch, made such estimation a generic function in multiview/ and changed API for estimation in order to pass all additional options via an options structure (the same way as it's done fr Ceres). This includes changes to both homography and fundamental estimation. TODO: - Need to document Ceres functors better. - Need to support homogeneous coordinates (currently only euclidean coords are supported).
169 lines
8.0 KiB
C
169 lines
8.0 KiB
C
/*
|
|
* ***** BEGIN GPL LICENSE BLOCK *****
|
|
*
|
|
* This program is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation; either version 2
|
|
* of the License, or (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software Foundation,
|
|
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
|
*
|
|
* The Original Code is Copyright (C) 2011 Blender Foundation.
|
|
* All rights reserved.
|
|
*
|
|
* Contributor(s): Blender Foundation,
|
|
* Sergey Sharybin
|
|
*
|
|
* ***** END GPL LICENSE BLOCK *****
|
|
*/
|
|
|
|
#ifndef LIBMV_C_API_H
|
|
#define LIBMV_C_API_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
struct libmv_Tracks;
|
|
struct libmv_Reconstruction;
|
|
struct libmv_Features;
|
|
struct libmv_CameraIntrinsics;
|
|
|
|
/* Logging */
|
|
void libmv_initLogging(const char *argv0);
|
|
void libmv_startDebugLogging(void);
|
|
void libmv_setLoggingVerbosity(int verbosity);
|
|
|
|
/* Planar tracker */
|
|
typedef struct libmv_TrackRegionOptions {
|
|
int motion_model;
|
|
int num_iterations;
|
|
int use_brute;
|
|
int use_normalization;
|
|
double minimum_correlation;
|
|
double sigma;
|
|
float *image1_mask;
|
|
} libmv_TrackRegionOptions;
|
|
|
|
typedef struct libmv_TrackRegionResult {
|
|
int termination;
|
|
const char *termination_reason;
|
|
double correlation;
|
|
} libmv_TrackRegionResult;
|
|
|
|
int libmv_trackRegion(const libmv_TrackRegionOptions *options,
|
|
const float *image1, int image1_width, int image1_height,
|
|
const float *image2, int image2_width, int image2_height,
|
|
const double *x1, const double *y1,
|
|
libmv_TrackRegionResult *result,
|
|
double *x2, double *y2);
|
|
void libmv_samplePlanarPatch(const float *image, int width, int height,
|
|
int channels, const double *xs, const double *ys,
|
|
int num_samples_x, int num_samples_y,
|
|
const float *mask, float *patch,
|
|
double *warped_position_x, double *warped_position_y);
|
|
|
|
/* Tracks */
|
|
struct libmv_Tracks *libmv_tracksNew(void);
|
|
void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
|
|
void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
|
|
|
|
/* Reconstruction */
|
|
#define LIBMV_REFINE_FOCAL_LENGTH (1 << 0)
|
|
#define LIBMV_REFINE_PRINCIPAL_POINT (1 << 1)
|
|
#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1 << 2)
|
|
#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1 << 4)
|
|
|
|
typedef struct libmv_CameraIntrinsicsOptions {
|
|
double focal_length;
|
|
double principal_point_x, principal_point_y;
|
|
double k1, k2, k3;
|
|
double p1, p2;
|
|
int image_width, image_height;
|
|
} libmv_CameraIntrinsicsOptions;
|
|
|
|
typedef struct libmv_ReconstructionOptions {
|
|
int select_keyframes;
|
|
int keyframe1, keyframe2;
|
|
|
|
int refine_intrinsics;
|
|
|
|
double success_threshold;
|
|
int use_fallback_reconstruction;
|
|
} libmv_ReconstructionOptions;
|
|
|
|
typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
|
|
|
|
struct libmv_Reconstruction *libmv_solveReconstruction(const struct libmv_Tracks *libmv_tracks,
|
|
const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
libmv_ReconstructionOptions *libmv_reconstruction_options,
|
|
reconstruct_progress_update_cb progress_update_callback,
|
|
void *callback_customdata);
|
|
struct libmv_Reconstruction *libmv_solveModal(const struct libmv_Tracks *libmv_tracks,
|
|
const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
const libmv_ReconstructionOptions *libmv_reconstruction_options,
|
|
reconstruct_progress_update_cb progress_update_callback,
|
|
void *callback_customdata);
|
|
void libmv_reconstructionDestroy(struct libmv_Reconstruction *libmv_reconstruction);
|
|
int libmv_reprojectionPointForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
|
|
double libmv_reprojectionErrorForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track);
|
|
double libmv_reprojectionErrorForImage(const struct libmv_Reconstruction *libmv_reconstruction, int image);
|
|
int libmv_reprojectionCameraForImage(const struct libmv_Reconstruction *libmv_reconstruction,
|
|
int image, double mat[4][4]);
|
|
double libmv_reprojectionError(const struct libmv_Reconstruction *libmv_reconstruction);
|
|
struct libmv_CameraIntrinsics *libmv_reconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
|
|
|
|
/* Feature detector */
|
|
struct libmv_Features *libmv_detectFeaturesFAST(const unsigned char *data, int width, int height, int stride,
|
|
int margin, int min_trackness, int min_distance);
|
|
struct libmv_Features *libmv_detectFeaturesMORAVEC(const unsigned char *data, int width, int height, int stride,
|
|
int margin, int count, int min_distance);
|
|
void libmv_featuresDestroy(struct libmv_Features *libmv_features);
|
|
int libmv_countFeatures(const struct libmv_Features *libmv_features);
|
|
void libmv_getFeature(const struct libmv_Features *libmv_features, int number, double *x, double *y, double *score,
|
|
double *size);
|
|
|
|
/* Camera intrinsics */
|
|
struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsNewEmpty(void);
|
|
struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew(
|
|
const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options);
|
|
struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy(const struct libmv_CameraIntrinsics *libmv_intrinsics);
|
|
void libmv_cameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
|
|
void libmv_cameraIntrinsicsUpdate(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
struct libmv_CameraIntrinsics *libmv_intrinsics);
|
|
void libmv_cameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads);
|
|
void libmv_cameraIntrinsicsExtract(const struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
|
|
double *principal_x, double *principal_y, double *k1, double *k2, double *k3,
|
|
int *width, int *height);
|
|
void libmv_cameraIntrinsicsUndistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
|
unsigned char *src, unsigned char *dst, int width, int height,
|
|
float overscan, int channels);
|
|
void libmv_cameraIntrinsicsUndistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
|
float *src, float *dst, int width, int height,
|
|
float overscan, int channels);
|
|
void libmv_cameraIntrinsicsDistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
|
unsigned char *src, unsigned char *dst, int width, int height,
|
|
float overscan, int channels);
|
|
void libmv_cameraIntrinsicsDistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
|
|
float *src, float *dst, int width, int height,
|
|
float overscan, int channels);
|
|
void libmv_cameraIntrinsicsApply(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
double x, double y, double *x1, double *y1);
|
|
void libmv_cameraIntrinsicsInvert(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
|
|
double x, double y, double *x1, double *y1);
|
|
|
|
void libmv_homography2DFromCorrespondencesEuc(double (*x1)[2], double (*x2)[2], int num_points, double H[3][3]);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif // LIBMV_C_API_H
|