forked from bartvdbraak/blender
27d42c63d9
===========================
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.
262 lines
9.0 KiB
Diff
262 lines
9.0 KiB
Diff
diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc
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index f9888ff..110a16d 100644
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--- a/src/libmv/simple_pipeline/camera_intrinsics.cc
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+++ b/src/libmv/simple_pipeline/camera_intrinsics.cc
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@@ -23,7 +23,32 @@
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namespace libmv {
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-struct Offset { signed char ix,iy; unsigned char fx,fy; };
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+struct Offset {
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+ signed char ix, iy;
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+ unsigned char fx,fy;
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+};
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+
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+struct Grid {
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+ struct Offset *offset;
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+ int width, height;
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+};
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+
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+static struct Grid *copyGrid(struct Grid *from)
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+{
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+ struct Grid *to = NULL;
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+
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+ if (from) {
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+ to = new Grid;
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+
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+ to->width = from->width;
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+ to->height = from->height;
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+
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+ to->offset = new Offset[to->width*to->height];
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+ memcpy(to->offset, from->offset, sizeof(struct Offset)*to->width*to->height);
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+ }
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+
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+ return to;
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+}
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CameraIntrinsics::CameraIntrinsics()
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: K_(Mat3::Identity()),
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@@ -37,9 +62,22 @@ CameraIntrinsics::CameraIntrinsics()
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distort_(0),
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undistort_(0) {}
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+CameraIntrinsics::CameraIntrinsics(const CameraIntrinsics &from)
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+ : K_(from.K_),
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+ image_width_(from.image_width_),
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+ image_height_(from.image_height_),
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+ k1_(from.k1_),
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+ k2_(from.k2_),
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+ k3_(from.k3_),
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+ p1_(from.p1_),
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+ p2_(from.p2_)
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+{
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+ distort_ = copyGrid(from.distort_);
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+ undistort_ = copyGrid(from.undistort_);
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+}
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+
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CameraIntrinsics::~CameraIntrinsics() {
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- if(distort_) delete[] distort_;
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- if(undistort_) delete[] undistort_;
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+ FreeLookupGrid();
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}
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/// Set the entire calibration matrix at once.
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@@ -146,11 +184,17 @@ void CameraIntrinsics::InvertIntrinsics(double image_x,
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// TODO(MatthiasF): downsample lookup
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template<typename WarpFunction>
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-void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
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+void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height) {
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+ double aspx = (double)width / image_width_;
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+ double aspy = (double)height / image_height_;
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+
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for (int y = 0; y < height; y++) {
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for (int x = 0; x < width; x++) {
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+ double src_x = x / aspx, src_y = y / aspy;
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double warp_x, warp_y;
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- WarpFunction(this,x,y,&warp_x,&warp_y);
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+ WarpFunction(this,src_x,src_y,&warp_x,&warp_y);
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+ warp_x = warp_x*aspx;
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+ warp_y = warp_y*aspy;
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int ix = int(warp_x), iy = int(warp_y);
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int fx = round((warp_x-ix)*256), fy = round((warp_y-iy)*256);
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if(fx == 256) { fx=0; ix++; }
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@@ -162,10 +206,10 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
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if( iy >= height-2 ) iy = height-2;
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if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) {
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Offset offset = { ix-x, iy-y, fx, fy };
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- grid[y*width+x] = offset;
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+ grid->offset[y*width+x] = offset;
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} else {
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Offset offset = { 0, 0, 0, 0 };
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- grid[y*width+x] = offset;
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+ grid->offset[y*width+x] = offset;
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}
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}
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}
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@@ -173,11 +217,11 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
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// TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup
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template<typename T,int N>
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-static void Warp(const Offset* grid, const T* src, T* dst,
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+static void Warp(const Grid* grid, const T* src, T* dst,
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int width, int height) {
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for (int y = 0; y < height; y++) {
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for (int x = 0; x < width; x++) {
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- Offset offset = grid[y*width+x];
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+ Offset offset = grid->offset[y*width+x];
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const T* s = &src[((y+offset.iy)*width+(x+offset.ix))*N];
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for (int i = 0; i < N; i++) {
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dst[(y*width+x)*N+i] = ((s[ i] * (256-offset.fx) + s[ N+i] * offset.fx) * (256-offset.fy)
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@@ -188,8 +232,17 @@ static void Warp(const Offset* grid, const T* src, T* dst,
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}
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void CameraIntrinsics::FreeLookupGrid() {
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- if(distort_) delete distort_, distort_=0;
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- if(undistort_) delete undistort_, undistort_=0;
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+ if(distort_) {
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+ delete distort_->offset;
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+ delete distort_;
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+ distort_ = NULL;
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+ }
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+
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+ if(undistort_) {
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+ delete undistort_->offset;
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+ delete undistort_;
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+ undistort_ = NULL;
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+ }
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}
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// FIXME: C++ templates limitations makes thing complicated, but maybe there is a simpler method.
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@@ -211,11 +264,50 @@ struct InvertIntrinsicsFunction {
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}
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};
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-void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) {
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- if(!distort_) {
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- distort_ = new Offset[width*height];
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- ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
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+void CameraIntrinsics::CheckDistortLookupGrid(int width, int height)
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+{
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+ if(distort_) {
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+ if(distort_->width != width || distort_->height != height) {
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+ delete [] distort_->offset;
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+ distort_->offset = NULL;
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+ }
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+ } else {
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+ distort_ = new Grid;
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+ distort_->offset = NULL;
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+ }
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+
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+ if(!distort_->offset) {
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+ distort_->offset = new Offset[width*height];
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+ ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
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}
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+
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+ distort_->width = width;
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+ distort_->height = height;
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+}
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+
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+void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height)
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+{
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+ if(undistort_) {
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+ if(undistort_->width != width || undistort_->height != height) {
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+ delete [] undistort_->offset;
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+ undistort_->offset = NULL;
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+ }
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+ } else {
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+ undistort_ = new Grid;
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+ undistort_->offset = NULL;
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+ }
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+
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+ if(!undistort_->offset) {
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+ undistort_->offset = new Offset[width*height];
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+ ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
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+ }
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+
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+ undistort_->width = width;
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+ undistort_->height = height;
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+}
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+
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+void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) {
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+ CheckDistortLookupGrid(width, height);
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if(channels==1) Warp<float,1>(distort_,src,dst,width,height);
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else if(channels==2) Warp<float,2>(distort_,src,dst,width,height);
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else if(channels==3) Warp<float,3>(distort_,src,dst,width,height);
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@@ -224,10 +316,7 @@ void CameraIntrinsics::Distort(const float* src, float* dst, int width, int heig
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}
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void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
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- if(!distort_) {
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- distort_ = new Offset[width*height];
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- ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height);
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- }
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+ CheckDistortLookupGrid(width, height);
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if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height);
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else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height);
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else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height);
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@@ -236,10 +325,7 @@ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int
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}
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void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, int channels) {
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- if(!undistort_) {
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- undistort_ = new Offset[width*height];
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- ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
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- }
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+ CheckUndistortLookupGrid(width, height);
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if(channels==1) Warp<float,1>(undistort_,src,dst,width,height);
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else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height);
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else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height);
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@@ -248,10 +334,7 @@ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int he
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}
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void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) {
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- if(!undistort_) {
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- undistort_ = new Offset[width*height];
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- ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height);
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- }
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+ CheckUndistortLookupGrid(width, height);
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if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height);
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else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height);
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else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height);
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diff --git a/src/libmv/simple_pipeline/camera_intrinsics.h b/src/libmv/simple_pipeline/camera_intrinsics.h
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index 29bc8a1..f525571 100644
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--- a/src/libmv/simple_pipeline/camera_intrinsics.h
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+++ b/src/libmv/simple_pipeline/camera_intrinsics.h
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@@ -26,11 +26,12 @@ typedef Eigen::Matrix<double, 3, 3> Mat3;
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namespace libmv {
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-struct Offset;
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+struct Grid;
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class CameraIntrinsics {
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public:
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CameraIntrinsics();
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+ CameraIntrinsics(const CameraIntrinsics &from);
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~CameraIntrinsics();
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const Mat3 &K() const { return K_; }
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@@ -123,7 +124,9 @@ class CameraIntrinsics {
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int width, int height, int channels);
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private:
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- template<typename WarpFunction> void ComputeLookupGrid(Offset* grid, int width, int height);
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+ template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height);
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+ void CheckUndistortLookupGrid(int width, int height);
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+ void CheckDistortLookupGrid(int width, int height);
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void FreeLookupGrid();
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// The traditional intrinsics matrix from x = K[R|t]X.
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@@ -140,8 +143,8 @@ class CameraIntrinsics {
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// independent of image size.
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double k1_, k2_, k3_, p1_, p2_;
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- Offset* distort_;
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- Offset* undistort_;
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+ struct Grid *distort_;
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+ struct Grid *undistort_;
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};
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} // namespace libmv
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