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.
183 lines
8.5 KiB
Diff
183 lines
8.5 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 110a16d..366129d 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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@@ -31,6 +31,7 @@ struct Offset {
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struct Grid {
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struct Offset *offset;
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int width, height;
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+ double overscan;
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};
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static struct Grid *copyGrid(struct Grid *from)
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@@ -42,6 +43,7 @@ static struct Grid *copyGrid(struct Grid *from)
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to->width = from->width;
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to->height = from->height;
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+ to->overscan = from->overscan;
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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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@@ -184,17 +186,19 @@ 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(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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+void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height, double overscan) {
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+ double w = (double)width / (1 + overscan);
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+ double h = (double)height / (1 + overscan);
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+ double aspx = (double)w / image_width_;
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+ double aspy = (double)h / image_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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- double src_x = x / aspx, src_y = y / aspy;
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+ double src_x = (x - 0.5 * overscan * w) / aspx, src_y = (y - 0.5 * overscan * h) / aspy;
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double 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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+ warp_x = warp_x*aspx + 0.5 * overscan * w;
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+ warp_y = warp_y*aspy + 0.5 * overscan * h;
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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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@@ -264,10 +268,10 @@ struct InvertIntrinsicsFunction {
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}
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};
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-void CameraIntrinsics::CheckDistortLookupGrid(int width, int height)
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+void CameraIntrinsics::CheckDistortLookupGrid(int width, int height, double overscan)
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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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+ if(distort_->width != width || distort_->height != height || distort_->overscan != overscan) {
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delete [] distort_->offset;
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distort_->offset = NULL;
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}
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@@ -278,17 +282,18 @@ void CameraIntrinsics::CheckDistortLookupGrid(int width, int height)
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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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+ ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height,overscan);
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}
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distort_->width = width;
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distort_->height = height;
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+ distort_->overscan = overscan;
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}
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-void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height)
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+void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height, double overscan)
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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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+ if(undistort_->width != width || undistort_->height != height || undistort_->overscan != overscan) {
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delete [] undistort_->offset;
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undistort_->offset = NULL;
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}
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@@ -299,15 +304,16 @@ void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height)
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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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+ ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height,overscan);
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}
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undistort_->width = width;
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undistort_->height = height;
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+ undistort_->overscan = overscan;
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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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+void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, double overscan, int channels) {
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+ CheckDistortLookupGrid(width, height, overscan);
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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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@@ -315,8 +321,8 @@ void CameraIntrinsics::Distort(const float* src, float* dst, int width, int heig
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//else assert("channels must be between 1 and 4");
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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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- CheckDistortLookupGrid(width, height);
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+void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) {
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+ CheckDistortLookupGrid(width, height, overscan);
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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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@@ -324,8 +330,8 @@ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int
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//else assert("channels must be between 1 and 4");
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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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- CheckUndistortLookupGrid(width, height);
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+void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, double overscan, int channels) {
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+ CheckUndistortLookupGrid(width, height, overscan);
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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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@@ -333,8 +339,8 @@ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int he
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//else assert("channels must be between 1 and 4");
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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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- CheckUndistortLookupGrid(width, height);
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+void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) {
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+ CheckUndistortLookupGrid(width, height, overscan);
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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 f525571..f4bf903 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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@@ -91,7 +91,7 @@ class CameraIntrinsics {
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\note This is the reference implementation using floating point images.
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*/
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void Distort(const float* src, float* dst,
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- int width, int height, int channels);
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+ int width, int height, double overscan, int channels);
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/*!
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Distort an image using the current camera instrinsics
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@@ -101,7 +101,7 @@ class CameraIntrinsics {
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\note This version is much faster.
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*/
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void Distort(const unsigned char* src, unsigned char* dst,
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- int width, int height, int channels);
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+ int width, int height, double overscan, int channels);
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/*!
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Undistort an image using the current camera instrinsics
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@@ -111,7 +111,7 @@ class CameraIntrinsics {
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\note This is the reference implementation using floating point images.
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*/
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void Undistort(const float* src, float* dst,
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- int width, int height, int channels);
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+ int width, int height, double overscan, int channels);
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/*!
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Undistort an image using the current camera instrinsics
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@@ -121,12 +121,12 @@ class CameraIntrinsics {
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\note This version is much faster.
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*/
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void Undistort(const unsigned char* src, unsigned char* dst,
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- int width, int height, int channels);
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+ int width, int height, double overscan, int channels);
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private:
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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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+ template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height, double overscan);
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+ void CheckUndistortLookupGrid(int width, int height, double overscan);
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+ void CheckDistortLookupGrid(int width, int height, double overscan);
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void FreeLookupGrid();
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// The traditional intrinsics matrix from x = K[R|t]X.
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