Camera tracking integration

===========================

- Changed libmv api to use doubles instead of floats.
  No real benefit rather than keeping API uniform.
- Optimized reconstructed camera search. It's optimized for
  playback, not random access.
- Added option to show projection of bundles into footage.
  To see bundles "Show Bundles" from Display panel should
  be enabled. Used very rough limit of 3 px to consider projection
  is fine. Colors are still hard-coded. Not sure it could be useful
  to make them configurable.
- Added option to mute footage. It could be useful to check
  if markers/bundles are moving smoothly.
- Added selector for focal length units.

extern/libmv/libmv-capi.cpp

@@ -331,7 +331,7 @@ int libmv_reporojectionPointForTrack(libmv_Reconstruction *reconstruction, int t
 	return 0;
 }
 
-int libmv_reporojectionCameraForImage(libmv_Reconstruction *reconstruction, int image, float mat[4][4])
+int libmv_reporojectionCameraForImage(libmv_Reconstruction *reconstruction, int image, double mat[4][4])
 {
 	libmv::Camera *camera = ((libmv::Reconstruction *)reconstruction)->CameraForImage(image);
 
@@ -368,3 +368,20 @@ void libmv_destroyReconstruction(libmv_Reconstruction *reconstruction)
 	delete (libmv::Reconstruction *)reconstruction;
 }
 
+/* ************ utils ************ */
+
+void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
+			double x, double y, double *x1, double *y1)
+{
+	libmv::CameraIntrinsics intrinsics;
+
+	intrinsics.SetFocalLength(focal_length);
+	intrinsics.set_principal_point(principal_x, principal_y);
+	intrinsics.set_radial_distortion(k1, k2, k3);
+
+	if(focal_length) {
+		/* do a lens undistortion if focal length is non-zero only */
+
+		intrinsics.ApplyIntrinsics(x, y, x1, y1);
+	}
+}

extern/libmv/libmv-capi.h

@@ -58,9 +58,13 @@ void libmv_tracksDestroy(struct libmv_Tracks *tracks);
 struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *tracks, int keyframe1, int keyframe2,
 			double focal_length, double principal_x, double principal_y, double k1, double k2, double k3);
 int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *reconstruction, int track, double pos[3]);
-int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *reconstruction, int image, float mat[4][4]);
+int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *reconstruction, int image, double mat[4][4]);
 void libmv_destroyReconstruction(struct libmv_Reconstruction *reconstruction);
 
+/* utils */
+void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
+			double x, double y, double *x1, double *y1);
+
 #ifdef __cplusplus
 }
 #endif

release/scripts/startup/bl_ui/space_clip.py

@@ -218,7 +218,11 @@ class CLIP_PT_tracking_camera(bpy.types.Panel):
         sc = context.space_data
         clip = sc.clip
 
-        layout.prop(clip.tracking.camera, "focal_length")
+        layout.prop(clip.tracking.camera, "sensor_width")
+
+        row = layout.row()
+        row.prop(clip.tracking.camera, "focal_length")
+        row.prop(clip.tracking.camera, "units", text="")
 
         layout.label(text="Principal Point")
         layout.prop(clip.tracking.camera, "principal", text="")
@@ -249,6 +253,8 @@ class CLIP_PT_display(bpy.types.Panel):
         row.prop(sc, "path_length")
 
         layout.prop(sc, "show_tiny_markers")
+        layout.prop(sc, "show_bundles")
+        layout.prop(sc, "use_mute_footage")
 
 
 class CLIP_PT_test(bpy.types.Panel):

source/blender/blenkernel/BKE_movieclip.h

@@ -48,6 +48,7 @@ void BKE_movieclip_reload(struct MovieClip *clip);
 
 struct ImBuf *BKE_movieclip_acquire_ibuf(struct MovieClip *clip, struct MovieClipUser *user);
 void BKE_movieclip_acquire_size(struct MovieClip *clip, struct MovieClipUser *user, int *width, int *height);
+void BKE_movieclip_approx_size(struct MovieClip *clip, int *width, int *height);
 int BKE_movieclip_has_frame(struct MovieClip *clip, struct MovieClipUser *user);
 void BKE_movieclip_user_set_frame(struct MovieClipUser *user, int framenr);
 

source/blender/blenkernel/BKE_tracking.h

@@ -75,6 +75,8 @@ struct MovieTrackingTrack *BKE_find_track_by_name(struct MovieTracking *tracking
 struct MovieReconstructedCamera *BKE_tracking_get_reconstructed_camera(struct MovieTracking *tracking, int framenr);
 
 void BKE_get_tracking_mat(struct Scene *scene, float mat[4][4]);
+void BKE_tracking_projection_matrix(struct MovieTracking *tracking, int framenr, int winx, int winy, float mat[4][4]);
+void BKE_tracking_apply_intrinsics(struct MovieTracking *tracking, float co[2], float width, float height, float nco[2]);
 
 #define TRACK_SELECTED(track) ((track)->flag&SELECT || (track)->pat_flag&SELECT || (track)->search_flag&SELECT)
 #define TRACK_AREA_SELECTED(track, area) ((area)==TRACK_AREA_POINT?(track)->flag&SELECT : ((area)==TRACK_AREA_PAT?(track)->pat_flag&SELECT:(track)->search_flag&SELECT))

source/blender/blenkernel/intern/movieclip.c

@@ -214,6 +214,9 @@ static MovieClip *movieclip_alloc(const char *name)
 
 	clip= alloc_libblock(&G.main->movieclip, ID_MC, name);
 
+	clip->tracking.camera.sensor_width= 35.0f;
+	clip->tracking.camera.units= CAMERA_UNITS_MM;
+
 	clip->tracking.settings.frames_limit= 20;
 	clip->tracking.settings.keyframe1= 1;
 	clip->tracking.settings.keyframe2= 30;
@@ -281,7 +284,6 @@ ImBuf *BKE_movieclip_acquire_ibuf(MovieClip *clip, MovieClipUser *user)
 	ImBuf *ibuf= NULL;
 	int framenr= user?user->framenr:clip->lastframe;
 
-	clip->lastframe= framenr;
 	ibuf= get_imbuf_cache(clip, user);
 
 	if(!ibuf) {
@@ -294,6 +296,9 @@ ImBuf *BKE_movieclip_acquire_ibuf(MovieClip *clip, MovieClipUser *user)
 			put_imbuf_cache(clip, user, ibuf);
 	}
 
+	if(ibuf)
+		clip->lastframe= framenr;
+
 	return ibuf;
 }
 
@@ -325,6 +330,29 @@ void BKE_movieclip_acquire_size(MovieClip *clip, MovieClipUser *user, int *width
 		IMB_freeImBuf(ibuf);
 }
 
+void BKE_movieclip_approx_size(MovieClip *clip, int *width, int *height)
+{
+	ImBuf *ibuf= BKE_movieclip_acquire_ibuf(clip, NULL);
+
+	if(!ibuf) {
+		MovieClipUser user;
+		user.framenr= 0;
+
+		ibuf= BKE_movieclip_acquire_ibuf(clip, &user);
+	}
+
+	if(ibuf && ibuf->x && ibuf->y) {
+		*width= ibuf->x;
+		*height= ibuf->y;
+	} else {
+		*width= 0;
+		*height= 0;
+	}
+
+	if(ibuf)
+		IMB_freeImBuf(ibuf);
+}
+
 /* get segments of cached frames. useful for debugging cache policies */
 void BKE_movieclip_get_cache_segments(MovieClip *clip, int *totseg_r, int **points_r)
 {

source/blender/blenkernel/intern/tracking.c

@@ -758,9 +758,16 @@ static void retrive_libmv_reconstruct(MovieClip *clip, struct libmv_Reconstructi
 	reconstructed= MEM_callocN((efra-sfra+1)*sizeof(MovieReconstructedCamera), "temp reconstructed camera");
 
 	for(a= sfra; a<=efra; a++) {
-		float mat[4][4];
+		double matd[4][4];
+
+		if(libmv_reporojectionCameraForImage(reconstruction, a, matd)) {
+			int i, j;
+			float mat[4][4];
+
+			for(i=0; i<4; i++)
+				for(j= 0; j<4; j++)
+					mat[i][j]= matd[i][j];
 
-		if(libmv_reporojectionCameraForImage(reconstruction, a, mat)) {
 			if(!origin_set) {
 				copy_v3_v3(origin, mat[3]);
 				origin_set= 1;
@@ -838,11 +845,27 @@ MovieTrackingTrack *BKE_find_track_by_name(MovieTracking *tracking, const char *
 
 MovieReconstructedCamera *BKE_tracking_get_reconstructed_camera(MovieTracking *tracking, int framenr)
 {
-	int a;
+	MovieTrackingCamera *camera= &tracking->camera;
+	int a= 0, d= 1;
 
-	for (a= 0; a<tracking->camera.reconnr; a++ ) {
-		if(tracking->camera.reconstructed[a].framenr==framenr)
-			return &tracking->camera.reconstructed[a];
+	if(!camera->reconnr)
+		return NULL;
+
+	if(camera->last_camera<camera->reconnr)
+		a= camera->last_camera;
+
+	if(camera->reconstructed[a].framenr>=framenr)
+		d= -1;
+
+	while(a>=0 && a<camera->reconnr) {
+		if(camera->reconstructed[a].framenr==framenr) {
+			camera->last_camera= a;
+			return &camera->reconstructed[a];
+
+			break;
+		}
+
+		a+= d;
 	}
 
 	return NULL;
@@ -862,3 +885,56 @@ void BKE_get_tracking_mat(Scene *scene, float mat[4][4])
 
 	copy_m4_m4(mat, obmat);
 }
+
+void BKE_tracking_projection_matrix(MovieTracking *tracking, int framenr, int winx, int winy, float mat[4][4])
+{
+	MovieReconstructedCamera *camera;
+	float lens= tracking->camera.focal*32.0f/(float)winx;
+	float viewfac, pixsize, left, right, bottom, top, clipsta, clipend;
+	float winmat[4][4];
+
+	clipsta= 0.1f;
+	clipend= 1000.0f;
+
+	if(winx >= winy)
+		viewfac= (lens*winx)/32.0f;
+	else
+		viewfac= (lens*winy)/32.0f;
+
+	pixsize= clipsta/viewfac;
+
+	left= -0.5f*(float)winx*pixsize;
+	bottom= -0.5f*(float)winy*pixsize;
+	right=  0.5f*(float)winx*pixsize;
+	top=  0.5f*(float)winy*pixsize;
+
+	perspective_m4(winmat, left, right, bottom, top, clipsta, clipend);
+
+	camera= BKE_tracking_get_reconstructed_camera(tracking, framenr);
+	if(camera) {
+		float imat[4][4];
+
+		invert_m4_m4(imat, camera->mat);
+		mul_m4_m4m4(mat, imat, winmat);
+	} else copy_m4_m4(mat, winmat);
+}
+
+void BKE_tracking_apply_intrinsics(MovieTracking *tracking, float co[2], float width, float height, float nco[2])
+{
+	MovieTrackingCamera *camera= &tracking->camera;
+
+#ifdef WITH_LIBMV
+	double x= nco[0], y= nco[1];
+
+	/* normalize coords */
+	x= (co[0]-camera->principal[0]) / camera->focal;
+	y= (co[1]-camera->principal[1]) / camera->focal;
+
+	libmv_applyCameraIntrinsics(camera->focal, camera->principal[0], camera->principal[1],
+				camera->k1, camera->k2, camera->k3, x, y, &x, &y);
+
+	/* result is in image coords already */
+	nco[0]= x;
+	nco[1]= y;
+#endif
+}

source/blender/editors/space_clip/clip_draw.c

@@ -141,7 +141,7 @@ static void draw_movieclip_cache(SpaceClip *sc, ARegion *ar, MovieClip *clip, Sc
 	glRecti(x, 0, x+framelen, 8);
 }
 
-static void draw_movieclip_buffer(ARegion *ar, ImBuf *ibuf, float zoomx, float zoomy)
+static void draw_movieclip_buffer(SpaceClip *sc, ARegion *ar, ImBuf *ibuf, float zoomx, float zoomy)
 {
 	int x, y;
 
@@ -151,11 +151,16 @@ static void draw_movieclip_buffer(ARegion *ar, ImBuf *ibuf, float zoomx, float z
 	/* find window pixel coordinates of origin */
 	UI_view2d_to_region_no_clip(&ar->v2d, 0.f, 0.f, &x, &y);
 
-	if(ibuf->rect_float)
-		IMB_rect_from_float(ibuf);
+	if(sc->flag&SC_MUTE_FOOTAGE) {
+		glColor3f(0.0f, 0.0f, 0.0f);
+		glRectf(x, y, x+ibuf->x*sc->zoom, y+ibuf->y*sc->zoom);
+	} else {
+		if(ibuf->rect_float)
+			IMB_rect_from_float(ibuf);
 
-	if(ibuf->rect)
-		glaDrawPixelsSafe(x, y, ibuf->x, ibuf->y, ibuf->x, GL_RGBA, GL_UNSIGNED_BYTE, ibuf->rect);
+		if(ibuf->rect)
+			glaDrawPixelsSafe(x, y, ibuf->x, ibuf->y, ibuf->x, GL_RGBA, GL_UNSIGNED_BYTE, ibuf->rect);
+	}
 
 	/* reset zoom */
 	glPixelZoom(1.f, 1.f);
@@ -482,9 +487,10 @@ static void view2d_to_region_float(View2D *v2d, float x, float y, float *regionx
 static void draw_tracking_tracks(SpaceClip *sc, ARegion *ar, MovieClip *clip, float zoomx, float zoomy)
 {
 	float x, y;
+	MovieTracking* tracking= &clip->tracking;
 	MovieTrackingMarker *marker;
 	MovieTrackingTrack *track;
-	int width, height, sel_type;
+	int width, height, sel_type, framenr= sc->user.framenr;
 	void *sel;
 
 	ED_space_clip_size(sc, &width, &height);
@@ -509,7 +515,7 @@ static void draw_tracking_tracks(SpaceClip *sc, ARegion *ar, MovieClip *clip, fl
 	BKE_movieclip_last_selection(clip, &sel_type, &sel);
 
 	if(sc->flag&SC_SHOW_MARKER_PATH) {
-		track= clip->tracking.tracks.first;
+		track= tracking->tracks.first;
 		while(track) {
 			if((track->flag&TRACK_HIDDEN)==0)
 				draw_track_path(sc, clip, track);
@@ -519,10 +525,10 @@ static void draw_tracking_tracks(SpaceClip *sc, ARegion *ar, MovieClip *clip, fl
 	}
 
 	/* markers outline and non-selected areas */
-	track= clip->tracking.tracks.first;
+	track= tracking->tracks.first;
 	while(track) {
 		if((track->flag&TRACK_HIDDEN)==0) {
-			marker= BKE_tracking_get_marker(track, sc->user.framenr);
+			marker= BKE_tracking_get_marker(track, framenr);
 
 			draw_marker_outline(sc, track, marker);
 			draw_marker_slide_zones(sc, track, marker, 1, 0, width, height);
@@ -534,13 +540,13 @@ static void draw_tracking_tracks(SpaceClip *sc, ARegion *ar, MovieClip *clip, fl
 
 	/* selected areas only, so selection wouldn't be overlapped by
 	   non-selected areas */
-	track= clip->tracking.tracks.first;
+	track= tracking->tracks.first;
 	while(track) {
 		if((track->flag&TRACK_HIDDEN)==0) {
 			int act= sel_type==MCLIP_SEL_TRACK && sel==track;
 
 			if(!act) {
-				marker= BKE_tracking_get_marker(track, sc->user.framenr);
+				marker= BKE_tracking_get_marker(track, framenr);
 				draw_marker_areas(sc, track, marker, 0, 1);
 				draw_marker_slide_zones(sc, track, marker, 0, 0, width, height);
 			}
@@ -552,12 +558,54 @@ static void draw_tracking_tracks(SpaceClip *sc, ARegion *ar, MovieClip *clip, fl
 	/* active marker would be displayed on top of everything else */
 	if(sel_type==MCLIP_SEL_TRACK) {
 		if((((MovieTrackingTrack *)sel)->flag&TRACK_HIDDEN)==0) {
-			marker= BKE_tracking_get_marker(sel, sc->user.framenr);
+			marker= BKE_tracking_get_marker(sel, framenr);
 			draw_marker_areas(sc, sel, marker, 1, 1);
 			draw_marker_slide_zones(sc, sel, marker, 0, 1, width, height);
 		}
 	}
 
+	if(sc->flag&SC_SHOW_BUNDLES) {
+		float pos[4], vec[4], mat[4][4];
+
+		glEnable(GL_POINT_SMOOTH);
+		glPointSize(3.0f);
+
+		BKE_tracking_projection_matrix(tracking, framenr, width, height, mat);
+
+		track= tracking->tracks.first;
+		while(track) {
+			if(track->flag&TRACK_HAS_BUNDLE) {
+				marker= BKE_tracking_get_marker(track, framenr);
+
+				copy_v4_v4(vec, track->bundle_pos);
+				vec[3]=1;
+
+				mul_v4_m4v4(pos, mat, vec);
+
+				pos[0]= (pos[0]/(pos[3]*2.0f)+0.5f)*width;
+				pos[1]= (pos[1]/(pos[3]*2.0f)+0.5f)*height;
+
+				BKE_tracking_apply_intrinsics(tracking, pos, width, height, pos);
+
+				vec[0]= marker->pos[0]*width;
+				vec[1]= marker->pos[1]*height;
+				sub_v2_v2(vec, pos);
+
+				if(len_v2(vec)<3) glColor3f(0.0f, 1.0f, 0.0f);
+				else glColor3f(1.0f, 0.0f, 0.0f);
+
+				glBegin(GL_POINTS);
+					glVertex3f(pos[0]/width, pos[1]/height, 0);
+				glEnd();
+			}
+
+			track= track->next;
+		}
+
+		glPointSize(1.0f);
+		glDisable(GL_POINT_SMOOTH);
+	}
+
 	glPopMatrix();
 }
 
@@ -581,7 +629,7 @@ void draw_clip_main(SpaceClip *sc, ARegion *ar, Scene *scene)
 	ibuf= ED_space_clip_acquire_buffer(sc);
 
 	if(ibuf) {
-		draw_movieclip_buffer(ar, ibuf, zoomx, zoomy);
+		draw_movieclip_buffer(sc, ar, ibuf, zoomx, zoomy);
 		IMB_freeImBuf(ibuf);
 
 		draw_tracking(sc, ar, clip, zoomx, zoomy);

source/blender/makesdna/DNA_space_types.h

@@ -965,6 +965,8 @@ enum {
 #define SC_LOCK_SELECTION		(1<<2)
 #define SC_SHOW_TINY_MARKER		(1<<3)
 #define SC_SHOW_MARKER_PATH		(1<<4)
+#define SC_SHOW_BUNDLES			(1<<5)
+#define SC_MUTE_FOOTAGE			(1<<6)
 
 
 /* space types, moved from DNA_screen_types.h */

source/blender/makesdna/DNA_tracking_types.h

@@ -54,10 +54,13 @@ typedef struct MovieReconstructedCamera {
 } MovieReconstructedCamera;
 
 typedef struct MovieTrackingCamera {
+	float sensor_width;	/* width of CCD sensor */
 	float focal;		/* focal length */
+	short units;		/* units of focal length user is working with */
+	short pad;
 	float principal[2];	/* principal point */
 	float k1, k2, k3;	/* radial distortion */
-	float pad;
+	int last_camera;	/* most recently used camera */
 	int reconnr;		/* number of reconstructed cameras */
 	struct MovieReconstructedCamera *reconstructed;	/* reconstructed cameras */
 } MovieTrackingCamera;
@@ -105,6 +108,12 @@ typedef struct MovieTracking {
 	ListBase tracks;
 } MovieTracking;
 
+/* MovieTrackingCamera->units */
+enum {
+	CAMERA_UNITS_PX = 0,
+	CAMERA_UNITS_MM
+};
+
 /* MovieTrackingMarker->flag */
 #define MARKER_DISABLED	1
 

source/blender/makesrna/intern/rna_movieclip.c

@@ -62,19 +62,12 @@ static void rna_MovieClip_reload_update(Main *bmain, Scene *scene, PointerRNA *p
 static void rna_MovieClip_size_get(PointerRNA *ptr, int *values)
 {
 	MovieClip *clip= (MovieClip*)ptr->data;
-	ImBuf *ibuf;
+	int width, height;
 
-	ibuf= BKE_movieclip_acquire_ibuf(clip, NULL);
-	if (ibuf) {
-		values[0]= ibuf->x;
-		values[1]= ibuf->y;
+	BKE_movieclip_approx_size(clip, &width, &height);
 
-		IMB_freeImBuf(ibuf);
-	}
-	else {
-		values[0]= 0;
-		values[1]= 0;
-	}
+	values[0]= height;
+	values[1]= width;
 }
 
 static void rna_MovieClip_resolution_get(PointerRNA *ptr, float *values)

source/blender/makesrna/intern/rna_space.c

@@ -2676,6 +2676,18 @@ static void rna_def_space_clip(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Show Tiny Markers", "Show markers tiny");
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", SC_SHOW_TINY_MARKER);
 	RNA_def_property_update(prop, NC_SPACE|ND_SPACE_CLIP, NULL);
+
+	/* show bundles */
+	prop= RNA_def_property(srna, "show_bundles", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_ui_text(prop, "Show Bundles", "Show projection of bundles into footage");
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", SC_SHOW_BUNDLES);
+	RNA_def_property_update(prop, NC_SPACE|ND_SPACE_CLIP, NULL);
+
+	/* mute footage */
+	prop= RNA_def_property(srna, "use_mute_footage", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_ui_text(prop, "Mute Footage", "Mute footage and show black background instead");
+	RNA_def_property_boolean_sdna(prop, NULL, "flag", SC_MUTE_FOOTAGE);
+	RNA_def_property_update(prop, NC_SPACE|ND_SPACE_CLIP, NULL);
 }
 
 void RNA_def_space(BlenderRNA *brna)

source/blender/makesrna/intern/rna_tracking.c

@@ -116,6 +116,29 @@ static PointerRNA rna_tracking_active_track_get(PointerRNA *ptr)
 	return rna_pointer_inherit_refine(ptr, &RNA_SceneRenderLayer, NULL);
 }
 
+static float rna_trackingCamera_focal_get(PointerRNA *ptr)
+{
+	MovieClip *clip= (MovieClip*)ptr->id.data;
+	MovieTrackingCamera *camera= &clip->tracking.camera;
+	float val= camera->focal;
+
+	if(camera->units==CAMERA_UNITS_MM) {
+		int width, height;
+
+		BKE_movieclip_approx_size(clip, &width, &height);
+
+		if(width)
+			val= val*camera->sensor_width/(float)width;
+	}
+
+	return val;
+}
+
+static void rna_trackingCamera_focal_set(PointerRNA *ptr, float value)
+{
+	MovieClip *clip= (MovieClip*)ptr->id.data;
+}
+
 #else
 
 static void rna_def_trackingSettings(BlenderRNA *brna)
@@ -124,7 +147,7 @@ static void rna_def_trackingSettings(BlenderRNA *brna)
 	PropertyRNA *prop;
 
 	static EnumPropertyItem speed_items[] = {
-		{0, "FASTEST", 0, "Fastest", "track as fast as it's possible"},
+		{0, "FASTEST", 0, "Fastest", "Track as fast as it's possible"},
 		{TRACKING_SPEED_REALTIME, "REALTIME", 0, "Realtime", "Track with realtime speed"},
 		{TRACKING_SPEED_HALF, "HALF", 0, "Half", "Track with half of realtime speed"},
 		{TRACKING_SPEED_HALF, "QUARTER", 0, "Quarter", "Track with quarter of realtime speed"},
@@ -170,33 +193,58 @@ static void rna_def_trackingCamera(BlenderRNA *brna)
 	StructRNA *srna;
 	PropertyRNA *prop;
 
+	static EnumPropertyItem camera_units_items[] = {
+		{CAMERA_UNITS_PX, "PIXELS", 0, "Pixels", "Use pixels for units of focal length"},
+		{CAMERA_UNITS_MM, "MILLIMETERS", 0, "Millimeters", "Use millimeters for units of focal length"},
+		{0, NULL, 0, NULL, NULL}};
+
 	srna= RNA_def_struct(brna, "MovieTrackingCamera", NULL);
 	RNA_def_struct_ui_text(srna, "Movie tracking camera data", "Match-moving camera data for tracking");
 
+	/* Sensor Wdth */
+	prop= RNA_def_property(srna, "sensor_width", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "sensor_width");
+	RNA_def_property_range(prop, 0.0f, 500.0f);
+	RNA_def_property_ui_text(prop, "Sensor Width", "Width of CCD sensor in millimeters");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
+
 	/* Focal Length */
 	prop= RNA_def_property(srna, "focal_length", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "focal");
 	RNA_def_property_range(prop, 0.0f, 5000.0f);
 	RNA_def_property_ui_text(prop, "Focal Length", "Camera's focal length in pixels");
+	RNA_def_property_float_funcs(prop, "rna_trackingCamera_focal_get", "rna_trackingCamera_focal_set", NULL);
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
+
+	/* Units */
+	prop= RNA_def_property(srna, "units", PROP_ENUM, PROP_NONE);
+	RNA_def_property_enum_sdna(prop, NULL, "units");
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_enum_items(prop, camera_units_items);
+	RNA_def_property_ui_text(prop, "Units", "Units used for camera focal length");
 
 	/* Principal Point */
 	prop= RNA_def_property(srna, "principal", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_array(prop, 2);
 	RNA_def_property_float_sdna(prop, NULL, "principal");
 	RNA_def_property_ui_text(prop, "Principal Point", "Optical center of lens");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
 
 	/* Radial distortion parameters */
 	prop= RNA_def_property(srna, "k1", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "k1");
 	RNA_def_property_ui_text(prop, "K1", "");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
 
 	prop= RNA_def_property(srna, "k2", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "k2");
 	RNA_def_property_ui_text(prop, "K2", "");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
 
 	prop= RNA_def_property(srna, "k3", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "k3");
 	RNA_def_property_ui_text(prop, "K3", "");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
 }
 
 static void rna_def_trackingMarker(BlenderRNA *brna)