blender/extern/libmv/third_party/ssba/Geometry/v3d_cameramatrix.h

205 lines
6.1 KiB
C
Raw Normal View History

Camera tracking integration =========================== Commiting camera tracking integration gsoc project into trunk. This commit includes: - Bundled version of libmv library (with some changes against official repo, re-sync with libmv repo a bit later) - New datatype ID called MovieClip which is optimized to work with movie clips (both of movie files and image sequences) and doing camera/motion tracking operations. - New editor called Clip Editor which is currently used for motion/tracking stuff only, but which can be easily extended to work with masks too. This editor supports: * Loading movie files/image sequences * Build proxies with different size for loaded movie clip, also supports building undistorted proxies to increase speed of playback in undistorted mode. * Manual lens distortion mode calibration using grid and grease pencil * Supervised 2D tracking using two different algorithms KLT and SAD. * Basic algorithm for feature detection * Camera motion solving. scene orientation - New constraints to "link" scene objects with solved motions from clip: * Follow Track (make object follow 2D motion of track with given name or parent object to reconstructed 3D position of track) * Camera Solver to make camera moving in the same way as reconstructed camera This commit NOT includes changes from tomato branch: - New nodes (they'll be commited as separated patch) - Automatic image offset guessing for image input node and image editor (need to do more tests and gather more feedback) - Code cleanup in libmv-capi. It's not so critical cleanup, just increasing readability and understanadability of code. Better to make this chaneg when Keir will finish his current patch. More details about this project can be found on this page: http://wiki.blender.org/index.php/User:Nazg-gul/GSoC-2011 Further development of small features would be done in trunk, bigger/experimental features would first be implemented in tomato branch.
2011-11-07 12:55:18 +00:00
// -*- C++ -*-
/*
Copyright (c) 2008 University of North Carolina at Chapel Hill
This file is part of SSBA (Simple Sparse Bundle Adjustment).
SSBA is free software: you can redistribute it and/or modify it under the
terms of the GNU Lesser General Public License as published by the Free
Software Foundation, either version 3 of the License, or (at your option) any
later version.
SSBA 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 Lesser General Public License for more
details.
You should have received a copy of the GNU Lesser General Public License along
with SSBA. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef V3D_CAMERA_MATRIX_H
#define V3D_CAMERA_MATRIX_H
#include "Math/v3d_linear.h"
#include "Geometry/v3d_distortion.h"
namespace V3D
{
struct CameraMatrix
{
CameraMatrix()
{
makeIdentityMatrix(_K);
makeIdentityMatrix(_R);
makeZeroVector(_T);
this->updateCachedValues(true, true);
}
CameraMatrix(double f, double cx, double cy)
{
makeIdentityMatrix(_K);
_K[0][0] = f;
_K[1][1] = f;
_K[0][2] = cx;
_K[1][2] = cy;
makeIdentityMatrix(_R);
makeZeroVector(_T);
this->updateCachedValues(true, true);
}
CameraMatrix(Matrix3x3d const& K,
Matrix3x3d const& R,
Vector3d const& T)
: _K(K), _R(R), _T(T)
{
this->updateCachedValues(true, true);
}
void setIntrinsic(Matrix3x3d const& K) { _K = K; this->updateCachedValues(true, false); }
void setRotation(Matrix3x3d const& R) { _R = R; this->updateCachedValues(false, true); }
void setTranslation(Vector3d const& T) { _T = T; this->updateCachedValues(false, true); }
template <typename Mat>
void setOrientation(Mat const& RT)
{
_R[0][0] = RT[0][0]; _R[0][1] = RT[0][1]; _R[0][2] = RT[0][2];
_R[1][0] = RT[1][0]; _R[1][1] = RT[1][1]; _R[1][2] = RT[1][2];
_R[2][0] = RT[2][0]; _R[2][1] = RT[2][1]; _R[2][2] = RT[2][2];
_T[0] = RT[0][3]; _T[1] = RT[1][3]; _T[2] = RT[2][3];
this->updateCachedValues(false, true);
}
Matrix3x3d const& getIntrinsic() const { return _K; }
Matrix3x3d const& getRotation() const { return _R; }
Vector3d const& getTranslation() const { return _T; }
Matrix3x4d getOrientation() const
{
Matrix3x4d RT;
RT[0][0] = _R[0][0]; RT[0][1] = _R[0][1]; RT[0][2] = _R[0][2];
RT[1][0] = _R[1][0]; RT[1][1] = _R[1][1]; RT[1][2] = _R[1][2];
RT[2][0] = _R[2][0]; RT[2][1] = _R[2][1]; RT[2][2] = _R[2][2];
RT[0][3] = _T[0]; RT[1][3] = _T[1]; RT[2][3] = _T[2];
return RT;
}
Matrix3x4d getProjection() const
{
Matrix3x4d const RT = this->getOrientation();
return _K * RT;
}
double getFocalLength() const { return _K[0][0]; }
double getAspectRatio() const { return _K[1][1] / _K[0][0]; }
Vector2d getPrincipalPoint() const
{
Vector2d pp;
pp[0] = _K[0][2];
pp[1] = _K[1][2];
return pp;
}
Vector2d projectPoint(Vector3d const& X) const
{
Vector3d q = _K*(_R*X + _T);
Vector2d res;
res[0] = q[0]/q[2]; res[1] = q[1]/q[2];
return res;
}
template <typename Distortion>
Vector2d projectPoint(Distortion const& distortion, Vector3d const& X) const
{
Vector3d XX = _R*X + _T;
Vector2d p;
p[0] = XX[0] / XX[2];
p[1] = XX[1] / XX[2];
p = distortion(p);
Vector2d res;
res[0] = _K[0][0] * p[0] + _K[0][1] * p[1] + _K[0][2];
res[1] = _K[1][1] * p[1] + _K[1][2];
return res;
}
Vector3d unprojectPixel(Vector2d const &p, double depth = 1) const
{
Vector3d pp;
pp[0] = p[0]; pp[1] = p[1]; pp[2] = 1.0;
Vector3d ray = _invK * pp;
ray[0] *= depth/ray[2];
ray[1] *= depth/ray[2];
ray[2] = depth;
ray = _Rt * ray;
return _center + ray;
}
Vector3d transformPointIntoCameraSpace(Vector3d const& p) const
{
return _R*p + _T;
}
Vector3d transformPointFromCameraSpace(Vector3d const& p) const
{
return _Rt*(p-_T);
}
Vector3d transformDirectionFromCameraSpace(Vector3d const& dir) const
{
return _Rt*dir;
}
Vector3d const& cameraCenter() const
{
return _center;
}
Vector3d opticalAxis() const
{
return this->transformDirectionFromCameraSpace(makeVector3(0.0, 0.0, 1.0));
}
Vector3d upVector() const
{
return this->transformDirectionFromCameraSpace(makeVector3(0.0, 1.0, 0.0));
}
Vector3d rightVector() const
{
return this->transformDirectionFromCameraSpace(makeVector3(1.0, 0.0, 0.0));
}
Vector3d getRay(Vector2d const& p) const
{
Vector3d pp = makeVector3(p[0], p[1], 1.0);
Vector3d ray = _invK * pp;
ray = _Rt * ray;
normalizeVector(ray);
return ray;
}
protected:
void updateCachedValues(bool intrinsic, bool orientation)
{
if (intrinsic) _invK = invertedMatrix(_K);
if (orientation)
{
makeTransposedMatrix(_R, _Rt);
_center = _Rt * (-1.0 * _T);
}
}
Matrix3x3d _K, _R;
Vector3d _T;
Matrix3x3d _invK, _Rt;
Vector3d _center;
}; // end struct CameraMatrix
} // end namespace V3D
#endif