2011-11-07 12:55:18 +00:00
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/*
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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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2013-07-31 13:48:12 +00:00
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/* Planar tracker */
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typedef struct libmv_TrackRegionOptions {
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2012-06-12 11:13:53 +00:00
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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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2013-07-31 13:48:12 +00:00
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} libmv_TrackRegionOptions;
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2012-06-12 11:13:53 +00:00
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2013-07-31 13:48:12 +00:00
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typedef struct libmv_TrackRegionResult {
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2012-06-12 11:13:53 +00:00
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int termination;
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const char *termination_reason;
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double correlation;
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2013-07-31 13:48:12 +00:00
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} libmv_TrackRegionResult;
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2012-06-12 11:13:53 +00:00
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2013-07-31 13:48:12 +00:00
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int libmv_trackRegion(const libmv_TrackRegionOptions *options,
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2012-06-11 11:40:54 +00:00
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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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Planar tracking support for motion tracking
===========================================
Major list of changes done in tomato branch:
- Add a planar tracking implementation to libmv
This adds a new planar tracking implementation to libmv. The
tracker is based on Ceres[1], the new nonlinear minimizer that
myself and Sameer released from Google as open source. Since
the motion model is more involved, the interface is
different than the RegionTracker interface used previously
in Blender.
The start of a C API in libmv-capi.{cpp,h} is also included.
- Migrate from pat_{min,max} for markers to 4 corners representation
Convert markers in the movie clip editor / 2D tracker from using
pat_min and pat_max notation to using the a more general, 4-corner
representation.
There is still considerable porting work to do; in particular
sliding from preview widget does not work correct for rotated
markers.
All other areas should be ported to new representation:
* Added support of sliding individual corners. LMB slide + Ctrl
would scale the whole pattern
* S would scale the whole marker, S-S would scale pattern only
* Added support of marker's rotation which is currently rotates
only patterns around their centers or all markers around median,
Rotation or other non-translation/scaling transformation of search
area doesn't make sense.
* Track Preview widget would display transformed pattern which
libmv actually operates with.
- "Efficient Second-order Minimization" for the planar tracker
This implements the "Efficient Second-order Minimization"
scheme, as supported by the existing translation tracker.
This increases the amount of per-iteration work, but
decreases the number of iterations required to converge and
also increases the size of the basin of attraction for the
optimization.
- Remove the use of the legacy RegionTracker API from Blender,
and replaces it with the new TrackRegion API. This also
adds several features to the planar tracker in libmv:
* Do a brute-force initialization of tracking similar to "Hybrid"
mode in the stable release, but using all floats. This is slower
but more accurate. It is still necessary to evaluate if the
performance loss is worth it. In particular, this change is
necessary to support high bit depth imagery.
* Add support for masks over the search window. This is a step
towards supporting user-defined tracker masks. The tracker masks
will make it easy for users to make a mask for e.g. a ball.
Not exposed into interface yet/
* Add Pearson product moment correlation coefficient checking (aka
"Correlation" in the UI. This causes tracking failure if the
tracked patch is not linearly related to the template.
* Add support for warping a few points in addition to the supplied
points. This is useful because the tracking code deliberately
does not expose the underlying warp representation. Instead,
warps are specified in an aparametric way via the correspondences.
- Replace the old style tracker configuration panel with the
new planar tracking panel. From a users perspective, this means:
* The old "tracking algorithm" picker is gone. There is only 1
algorithm now. We may revisit this later, but I would much
prefer to have only 1 algorithm. So far no optimization work
has been done so the speed is not there yet.
* There is now a dropdown to select the motion model. Choices:
* Translation
* Translation, rotation
* Translation, scale
* Translation, rotation, scale
* Affine
* Perspective
* The old "Hybrid" mode is gone; instead there is a toggle to
enable or disable translation-only tracker initialization. This
is the equivalent of the hyrbid mode before, but rewritten to work
with the new planar tracking modes.
* The pyramid levels setting is gone. At a future date, the planar
tracker will decide to use pyramids or not automatically. The
pyramid setting was ultimately a mistake; with the brute force
initialization it is unnecessary.
- Add light-normalized tracking
Added the ability to normalize patterns by their average value while
tracking, to make them invariant to global illumination changes.
Additional details could be found at wiki page [2]
[1] http://code.google.com/p/ceres-solver
[2] http://wiki.blender.org/index.php/Dev:Ref/Release_Notes/2.64/Motion_Tracker
2012-06-10 15:28:19 +00:00
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const double *x1, const double *y1,
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2013-07-31 13:48:12 +00:00
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libmv_TrackRegionResult *result,
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Planar tracking support for motion tracking
===========================================
Major list of changes done in tomato branch:
- Add a planar tracking implementation to libmv
This adds a new planar tracking implementation to libmv. The
tracker is based on Ceres[1], the new nonlinear minimizer that
myself and Sameer released from Google as open source. Since
the motion model is more involved, the interface is
different than the RegionTracker interface used previously
in Blender.
The start of a C API in libmv-capi.{cpp,h} is also included.
- Migrate from pat_{min,max} for markers to 4 corners representation
Convert markers in the movie clip editor / 2D tracker from using
pat_min and pat_max notation to using the a more general, 4-corner
representation.
There is still considerable porting work to do; in particular
sliding from preview widget does not work correct for rotated
markers.
All other areas should be ported to new representation:
* Added support of sliding individual corners. LMB slide + Ctrl
would scale the whole pattern
* S would scale the whole marker, S-S would scale pattern only
* Added support of marker's rotation which is currently rotates
only patterns around their centers or all markers around median,
Rotation or other non-translation/scaling transformation of search
area doesn't make sense.
* Track Preview widget would display transformed pattern which
libmv actually operates with.
- "Efficient Second-order Minimization" for the planar tracker
This implements the "Efficient Second-order Minimization"
scheme, as supported by the existing translation tracker.
This increases the amount of per-iteration work, but
decreases the number of iterations required to converge and
also increases the size of the basin of attraction for the
optimization.
- Remove the use of the legacy RegionTracker API from Blender,
and replaces it with the new TrackRegion API. This also
adds several features to the planar tracker in libmv:
* Do a brute-force initialization of tracking similar to "Hybrid"
mode in the stable release, but using all floats. This is slower
but more accurate. It is still necessary to evaluate if the
performance loss is worth it. In particular, this change is
necessary to support high bit depth imagery.
* Add support for masks over the search window. This is a step
towards supporting user-defined tracker masks. The tracker masks
will make it easy for users to make a mask for e.g. a ball.
Not exposed into interface yet/
* Add Pearson product moment correlation coefficient checking (aka
"Correlation" in the UI. This causes tracking failure if the
tracked patch is not linearly related to the template.
* Add support for warping a few points in addition to the supplied
points. This is useful because the tracking code deliberately
does not expose the underlying warp representation. Instead,
warps are specified in an aparametric way via the correspondences.
- Replace the old style tracker configuration panel with the
new planar tracking panel. From a users perspective, this means:
* The old "tracking algorithm" picker is gone. There is only 1
algorithm now. We may revisit this later, but I would much
prefer to have only 1 algorithm. So far no optimization work
has been done so the speed is not there yet.
* There is now a dropdown to select the motion model. Choices:
* Translation
* Translation, rotation
* Translation, scale
* Translation, rotation, scale
* Affine
* Perspective
* The old "Hybrid" mode is gone; instead there is a toggle to
enable or disable translation-only tracker initialization. This
is the equivalent of the hyrbid mode before, but rewritten to work
with the new planar tracking modes.
* The pyramid levels setting is gone. At a future date, the planar
tracker will decide to use pyramids or not automatically. The
pyramid setting was ultimately a mistake; with the brute force
initialization it is unnecessary.
- Add light-normalized tracking
Added the ability to normalize patterns by their average value while
tracking, to make them invariant to global illumination changes.
Additional details could be found at wiki page [2]
[1] http://code.google.com/p/ceres-solver
[2] http://wiki.blender.org/index.php/Dev:Ref/Release_Notes/2.64/Motion_Tracker
2012-06-10 15:28:19 +00:00
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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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2012-06-12 11:13:53 +00:00
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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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Planar tracking support for motion tracking
===========================================
Major list of changes done in tomato branch:
- Add a planar tracking implementation to libmv
This adds a new planar tracking implementation to libmv. The
tracker is based on Ceres[1], the new nonlinear minimizer that
myself and Sameer released from Google as open source. Since
the motion model is more involved, the interface is
different than the RegionTracker interface used previously
in Blender.
The start of a C API in libmv-capi.{cpp,h} is also included.
- Migrate from pat_{min,max} for markers to 4 corners representation
Convert markers in the movie clip editor / 2D tracker from using
pat_min and pat_max notation to using the a more general, 4-corner
representation.
There is still considerable porting work to do; in particular
sliding from preview widget does not work correct for rotated
markers.
All other areas should be ported to new representation:
* Added support of sliding individual corners. LMB slide + Ctrl
would scale the whole pattern
* S would scale the whole marker, S-S would scale pattern only
* Added support of marker's rotation which is currently rotates
only patterns around their centers or all markers around median,
Rotation or other non-translation/scaling transformation of search
area doesn't make sense.
* Track Preview widget would display transformed pattern which
libmv actually operates with.
- "Efficient Second-order Minimization" for the planar tracker
This implements the "Efficient Second-order Minimization"
scheme, as supported by the existing translation tracker.
This increases the amount of per-iteration work, but
decreases the number of iterations required to converge and
also increases the size of the basin of attraction for the
optimization.
- Remove the use of the legacy RegionTracker API from Blender,
and replaces it with the new TrackRegion API. This also
adds several features to the planar tracker in libmv:
* Do a brute-force initialization of tracking similar to "Hybrid"
mode in the stable release, but using all floats. This is slower
but more accurate. It is still necessary to evaluate if the
performance loss is worth it. In particular, this change is
necessary to support high bit depth imagery.
* Add support for masks over the search window. This is a step
towards supporting user-defined tracker masks. The tracker masks
will make it easy for users to make a mask for e.g. a ball.
Not exposed into interface yet/
* Add Pearson product moment correlation coefficient checking (aka
"Correlation" in the UI. This causes tracking failure if the
tracked patch is not linearly related to the template.
* Add support for warping a few points in addition to the supplied
points. This is useful because the tracking code deliberately
does not expose the underlying warp representation. Instead,
warps are specified in an aparametric way via the correspondences.
- Replace the old style tracker configuration panel with the
new planar tracking panel. From a users perspective, this means:
* The old "tracking algorithm" picker is gone. There is only 1
algorithm now. We may revisit this later, but I would much
prefer to have only 1 algorithm. So far no optimization work
has been done so the speed is not there yet.
* There is now a dropdown to select the motion model. Choices:
* Translation
* Translation, rotation
* Translation, scale
* Translation, rotation, scale
* Affine
* Perspective
* The old "Hybrid" mode is gone; instead there is a toggle to
enable or disable translation-only tracker initialization. This
is the equivalent of the hyrbid mode before, but rewritten to work
with the new planar tracking modes.
* The pyramid levels setting is gone. At a future date, the planar
tracker will decide to use pyramids or not automatically. The
pyramid setting was ultimately a mistake; with the brute force
initialization it is unnecessary.
- Add light-normalized tracking
Added the ability to normalize patterns by their average value while
tracking, to make them invariant to global illumination changes.
Additional details could be found at wiki page [2]
[1] http://code.google.com/p/ceres-solver
[2] http://wiki.blender.org/index.php/Dev:Ref/Release_Notes/2.64/Motion_Tracker
2012-06-10 15:28:19 +00:00
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double *warped_position_x, double *warped_position_y);
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2011-11-07 12:55:18 +00:00
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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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2013-07-31 13:48:12 +00:00
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void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
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2011-11-07 12:55:18 +00:00
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2013-07-31 13:48:12 +00:00
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/* Reconstruction */
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2012-12-10 16:38:13 +00:00
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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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2013-07-31 13:48:12 +00:00
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typedef struct libmv_CameraIntrinsicsOptions {
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2012-12-10 16:38:13 +00:00
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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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2012-12-10 16:38:28 +00:00
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int image_width, image_height;
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2013-07-31 13:48:12 +00:00
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} libmv_CameraIntrinsicsOptions;
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2012-12-10 16:38:13 +00:00
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2013-07-31 13:48:12 +00:00
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typedef struct libmv_ReconstructionOptions {
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2013-05-30 09:03:49 +00:00
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int select_keyframes;
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2012-12-10 16:38:13 +00:00
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int keyframe1, keyframe2;
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2013-05-30 09:03:49 +00:00
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2012-12-10 16:38:13 +00:00
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int refine_intrinsics;
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2012-11-05 19:42:27 +00:00
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double success_threshold;
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int use_fallback_reconstruction;
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2013-07-31 13:48:12 +00:00
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} libmv_ReconstructionOptions;
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2012-11-05 19:42:27 +00:00
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2011-11-28 13:49:42 +00:00
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typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
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2013-05-13 14:39:06 +00:00
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struct libmv_Reconstruction *libmv_solveReconstruction(const struct libmv_Tracks *libmv_tracks,
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2013-07-31 13:48:12 +00:00
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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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2013-05-13 14:39:06 +00:00
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struct libmv_Reconstruction *libmv_solveModal(const struct libmv_Tracks *libmv_tracks,
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2013-07-31 13:48:12 +00:00
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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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2013-05-13 14:39:06 +00:00
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double libmv_reprojectionError(const struct libmv_Reconstruction *libmv_reconstruction);
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2013-07-31 13:48:12 +00:00
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struct libmv_CameraIntrinsics *libmv_reconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
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2011-11-07 12:55:18 +00:00
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2013-07-31 13:48:12 +00:00
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/* Feature detector */
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2013-05-13 14:39:06 +00:00
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struct libmv_Features *libmv_detectFeaturesFAST(const unsigned char *data, int width, int height, int stride,
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2013-07-31 13:48:12 +00:00
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int margin, int min_trackness, int min_distance);
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2013-05-13 14:39:06 +00:00
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struct libmv_Features *libmv_detectFeaturesMORAVEC(const unsigned char *data, int width, int height, int stride,
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2013-07-31 13:48:12 +00:00
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int margin, int count, int min_distance);
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void libmv_featuresDestroy(struct libmv_Features *libmv_features);
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2013-05-13 14:39:06 +00:00
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int libmv_countFeatures(const struct libmv_Features *libmv_features);
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2013-07-31 13:48:12 +00:00
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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_cameraIntrinsicsNewEmpty(void);
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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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2013-05-13 14:39:06 +00:00
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struct libmv_CameraIntrinsics *libmv_intrinsics);
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2013-07-31 13:48:12 +00:00
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void libmv_cameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads);
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void libmv_cameraIntrinsicsExtract(const struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
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double *principal_x, double *principal_y, double *k1, double *k2, double *k3,
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int *width, int *height);
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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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2011-11-07 12:55:18 +00:00
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Merge plane track feature from tomato branch
This commit includes all the changes made for plane tracker
in tomato branch.
Movie clip editor changes:
- Artist might create a plane track out of multiple point
tracks which belongs to the same track (minimum amount of
point tracks is 4, maximum is not actually limited).
When new plane track is added, it's getting "tracked"
across all point tracks, which makes it stick to the same
plane point tracks belong to.
- After plane track was added, it need to be manually adjusted
in a way it covers feature one might to mask/replace.
General transform tools (G, R, S) or sliding corners with
a mouse could be sued for this. Plane corner which
corresponds to left bottom image corner has got X/Y axis
on it (red is for X axis, green for Y).
- Re-adjusting plane corners makes plane to be "re-tracked"
for the frames sequence between current frame and next
and previous keyframes.
- Kayframes might be removed from the plane, using Shit-X
(Marker Delete) operator. However, currently manual
re-adjustment or "re-track" trigger is needed.
Compositor changes:
- Added new node called Plane Track Deform.
- User selects which plane track to use (for this he need
to select movie clip datablock, object and track names).
- Node gets an image input, which need to be warped into
the plane.
- Node outputs:
* Input image warped into the plane.
* Plane, rasterized to a mask.
Masking changes:
- Mask points might be parented to a plane track, which
makes this point deforming in a way as if it belongs
to the tracked plane.
Some video tutorials are available:
- Coder video: http://www.youtube.com/watch?v=vISEwqNHqe4
- Artist video: https://vimeo.com/71727578
This is mine and Keir's holiday code project :)
2013-08-16 09:46:30 +00:00
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void libmv_homography2DFromCorrespondencesLinear(double (*x1)[2], double (*x2)[2], int num_points,
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double H[3][3], double expected_precision);
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2011-11-07 12:55:18 +00:00
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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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