blender/extern/libmv/libmv-capi.cpp
Sergey Sharybin 552887251f Masking support for motion tracks
Added option to use Grease Pencil datablock as a mask for pattern
when doing motion tracking. Option could be found in Tracking Settings
panel.

All strokes would be rasterized separately from each other and every
stroke is treating as a closed spline.

Also added option to apply a mask on track preview which is situated
just after B/B/W channel button under track preview.
2012-06-12 11:13:53 +00:00

1080 lines
34 KiB
C++

/*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2011 Blender Foundation.
* All rights reserved.
*
* Contributor(s): Blender Foundation,
* Sergey Sharybin
*
* ***** END GPL LICENSE BLOCK *****
*/
/* define this to generate PNG images with content of search areas
tracking between which failed */
#undef DUMP_FAILURE
/* define this to generate PNG images with content of search areas
on every itteration of tracking */
#undef DUMP_ALWAYS
#include "libmv-capi.h"
#include "third_party/gflags/gflags/gflags.h"
#include "glog/logging.h"
#include "libmv/logging/logging.h"
#include "Math/v3d_optimization.h"
#include "libmv/numeric/numeric.h"
#include "libmv/tracking/esm_region_tracker.h"
#include "libmv/tracking/brute_region_tracker.h"
#include "libmv/tracking/hybrid_region_tracker.h"
#include "libmv/tracking/klt_region_tracker.h"
#include "libmv/tracking/trklt_region_tracker.h"
#include "libmv/tracking/lmicklt_region_tracker.h"
#include "libmv/tracking/pyramid_region_tracker.h"
#include "libmv/tracking/track_region.h"
#include "libmv/simple_pipeline/callbacks.h"
#include "libmv/simple_pipeline/tracks.h"
#include "libmv/simple_pipeline/initialize_reconstruction.h"
#include "libmv/simple_pipeline/bundle.h"
#include "libmv/simple_pipeline/detect.h"
#include "libmv/simple_pipeline/pipeline.h"
#include "libmv/simple_pipeline/camera_intrinsics.h"
#include "libmv/simple_pipeline/rigid_registration.h"
#include "libmv/simple_pipeline/modal_solver.h"
#include <stdlib.h>
#include <assert.h>
#if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS)
# include <png.h>
#endif
#ifdef _MSC_VER
# define snprintf _snprintf
#endif
typedef struct libmv_Reconstruction {
libmv::EuclideanReconstruction reconstruction;
/* used for per-track average error calculation after reconstruction */
libmv::Tracks tracks;
libmv::CameraIntrinsics intrinsics;
double error;
} libmv_Reconstruction;
typedef struct libmv_Features {
int count, margin;
libmv::Feature *features;
} libmv_Features;
/* ************ Logging ************ */
void libmv_initLogging(const char *argv0)
{
google::InitGoogleLogging(argv0);
google::SetCommandLineOption("logtostderr", "1");
google::SetCommandLineOption("v", "0");
google::SetCommandLineOption("stderrthreshold", "7");
google::SetCommandLineOption("minloglevel", "7");
V3D::optimizerVerbosenessLevel = 0;
}
void libmv_startDebugLogging(void)
{
google::SetCommandLineOption("logtostderr", "1");
google::SetCommandLineOption("v", "2");
google::SetCommandLineOption("stderrthreshold", "1");
google::SetCommandLineOption("minloglevel", "0");
V3D::optimizerVerbosenessLevel = 1;
}
void libmv_setLoggingVerbosity(int verbosity)
{
char val[10];
snprintf(val, sizeof(val), "%d", verbosity);
google::SetCommandLineOption("v", val);
V3D::optimizerVerbosenessLevel = verbosity;
}
/* ************ RegionTracker ************ */
libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size, double minimum_correlation)
{
libmv::EsmRegionTracker *esm_region_tracker = new libmv::EsmRegionTracker;
esm_region_tracker->half_window_size = half_window_size;
esm_region_tracker->max_iterations = max_iterations;
esm_region_tracker->min_determinant = 1e-4;
esm_region_tracker->minimum_correlation = minimum_correlation;
libmv::PyramidRegionTracker *pyramid_region_tracker =
new libmv::PyramidRegionTracker(esm_region_tracker, pyramid_level);
return (libmv_RegionTracker *)pyramid_region_tracker;
}
libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size, double minimum_correlation)
{
libmv::EsmRegionTracker *esm_region_tracker = new libmv::EsmRegionTracker;
esm_region_tracker->half_window_size = half_window_size;
esm_region_tracker->max_iterations = max_iterations;
esm_region_tracker->min_determinant = 1e-4;
esm_region_tracker->minimum_correlation = minimum_correlation;
libmv::BruteRegionTracker *brute_region_tracker = new libmv::BruteRegionTracker;
brute_region_tracker->half_window_size = half_window_size;
/* do not use correlation check for brute checker itself,
* this check will happen in esm tracker */
brute_region_tracker->minimum_correlation = 0.0;
libmv::HybridRegionTracker *hybrid_region_tracker =
new libmv::HybridRegionTracker(brute_region_tracker, esm_region_tracker);
return (libmv_RegionTracker *)hybrid_region_tracker;
}
libmv_RegionTracker *libmv_bruteRegionTrackerNew(int half_window_size, double minimum_correlation)
{
libmv::BruteRegionTracker *brute_region_tracker = new libmv::BruteRegionTracker;
brute_region_tracker->half_window_size = half_window_size;
brute_region_tracker->minimum_correlation = minimum_correlation;
return (libmv_RegionTracker *)brute_region_tracker;
}
static void floatBufToImage(const float *buf, int width, int height, int channels, libmv::FloatImage *image)
{
int x, y, k, a = 0;
image->Resize(height, width, channels);
for (y = 0; y < height; y++) {
for (x = 0; x < width; x++) {
for (k = 0; k < channels; k++) {
(*image)(y, x, k) = buf[a++];
}
}
}
}
static void imageToFloatBuf(const libmv::FloatImage *image, int channels, float *buf)
{
int x, y, k, a = 0;
for (y = 0; y < image->Height(); y++) {
for (x = 0; x < image->Width(); x++) {
for (k = 0; k < channels; k++) {
buf[a++] = (*image)(y, x, k);
}
}
}
}
#if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS)
void savePNGImage(png_bytep *row_pointers, int width, int height, int depth, int color_type, char *file_name)
{
png_infop info_ptr;
png_structp png_ptr;
FILE *fp = fopen(file_name, "wb");
if (!fp)
return;
/* Initialize stuff */
png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
info_ptr = png_create_info_struct(png_ptr);
if (setjmp(png_jmpbuf(png_ptr))) {
fclose(fp);
return;
}
png_init_io(png_ptr, fp);
/* write header */
if (setjmp(png_jmpbuf(png_ptr))) {
fclose(fp);
return;
}
png_set_IHDR(png_ptr, info_ptr, width, height,
depth, color_type, PNG_INTERLACE_NONE,
PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE);
png_write_info(png_ptr, info_ptr);
/* write bytes */
if (setjmp(png_jmpbuf(png_ptr))) {
fclose(fp);
return;
}
png_write_image(png_ptr, row_pointers);
/* end write */
if (setjmp(png_jmpbuf(png_ptr))) {
fclose(fp);
return;
}
png_write_end(png_ptr, NULL);
fclose(fp);
}
static void saveImage(const char *prefix, libmv::FloatImage image, int x0, int y0)
{
int x, y;
png_bytep *row_pointers;
row_pointers= (png_bytep*)malloc(sizeof(png_bytep)*image.Height());
for (y = 0; y < image.Height(); y++) {
row_pointers[y]= (png_bytep)malloc(sizeof(png_byte)*4*image.Width());
for (x = 0; x < image.Width(); x++) {
if (x0 == x && image.Height() - y0 - 1 == y) {
row_pointers[y][x*4+0]= 255;
row_pointers[y][x*4+1]= 0;
row_pointers[y][x*4+2]= 0;
row_pointers[y][x*4+3]= 255;
}
else {
float pixel = image(image.Height() - y - 1, x, 0);
row_pointers[y][x*4+0]= pixel*255;
row_pointers[y][x*4+1]= pixel*255;
row_pointers[y][x*4+2]= pixel*255;
row_pointers[y][x*4+3]= 255;
}
}
}
{
static int a= 0;
char buf[128];
snprintf(buf, sizeof(buf), "%s_%02d.png", prefix, ++a);
savePNGImage(row_pointers, image.Width(), image.Height(), 8, PNG_COLOR_TYPE_RGBA, buf);
}
for (y = 0; y < image.Height(); y++) {
free(row_pointers[y]);
}
free(row_pointers);
}
static void saveBytesImage(const char *prefix, unsigned char *data, int width, int height)
{
int x, y;
png_bytep *row_pointers;
row_pointers= (png_bytep*)malloc(sizeof(png_bytep)*height);
for (y = 0; y < height; y++) {
row_pointers[y]= (png_bytep)malloc(sizeof(png_byte)*4*width);
for (x = 0; x < width; x++) {
char pixel = data[width*y+x];
row_pointers[y][x*4+0]= pixel;
row_pointers[y][x*4+1]= pixel;
row_pointers[y][x*4+2]= pixel;
row_pointers[y][x*4+3]= 255;
}
}
{
static int a= 0;
char buf[128];
snprintf(buf, sizeof(buf), "%s_%02d.png", prefix, ++a);
savePNGImage(row_pointers, width, height, 8, PNG_COLOR_TYPE_RGBA, buf);
}
for (y = 0; y < height; y++) {
free(row_pointers[y]);
}
free(row_pointers);
}
#endif
int libmv_regionTrackerTrack(libmv_RegionTracker *libmv_tracker, const float *ima1, const float *ima2,
int width, int height, double x1, double y1, double *x2, double *y2)
{
libmv::RegionTracker *region_tracker = (libmv::RegionTracker *)libmv_tracker;
libmv::FloatImage old_patch, new_patch;
floatBufToImage(ima1, width, height, 1, &old_patch);
floatBufToImage(ima2, width, height, 1, &new_patch);
#if !defined(DUMP_FAILURE) && !defined(DUMP_ALWAYS)
return region_tracker->Track(old_patch, new_patch, x1, y1, x2, y2);
#else
{
/* double sx2 = *x2, sy2 = *y2; */
int result = region_tracker->Track(old_patch, new_patch, x1, y1, x2, y2);
#if defined(DUMP_ALWAYS)
{
#else
if (!result) {
#endif
saveImage("old_patch", old_patch, x1, y1);
saveImage("new_patch", new_patch, *x2, *y2);
}
return result;
}
#endif
}
void libmv_regionTrackerDestroy(libmv_RegionTracker *libmv_tracker)
{
libmv::RegionTracker *region_tracker= (libmv::RegionTracker *)libmv_tracker;
delete region_tracker;
}
/* ************ Planar tracker ************ */
/* TrackRegion (new planar tracker) */
int libmv_trackRegion(const struct libmv_trackRegionOptions *options,
const float *image1, int image1_width, int image1_height,
const float *image2, int image2_width, int image2_height,
const double *x1, const double *y1,
struct libmv_trackRegionResult *result,
double *x2, double *y2)
{
double xx1[5], yy1[5];
double xx2[5], yy2[5];
bool tracking_result = false;
/* Convert to doubles for the libmv api. The four corners and the center. */
for (int i = 0; i < 5; ++i) {
xx1[i] = x1[i];
yy1[i] = y1[i];
xx2[i] = x2[i];
yy2[i] = y2[i];
}
libmv::TrackRegionOptions track_region_options;
libmv::FloatImage image1_mask;
switch (options->motion_model) {
#define LIBMV_CONVERT(the_model) \
case libmv::TrackRegionOptions::the_model: \
track_region_options.mode = libmv::TrackRegionOptions::the_model; \
break;
LIBMV_CONVERT(TRANSLATION)
LIBMV_CONVERT(TRANSLATION_ROTATION)
LIBMV_CONVERT(TRANSLATION_SCALE)
LIBMV_CONVERT(TRANSLATION_ROTATION_SCALE)
LIBMV_CONVERT(AFFINE)
LIBMV_CONVERT(HOMOGRAPHY)
#undef LIBMV_CONVERT
}
track_region_options.minimum_correlation = options->minimum_correlation;
track_region_options.max_iterations = options->num_iterations;
track_region_options.sigma = options->sigma;
track_region_options.num_extra_points = 1;
track_region_options.image1_mask = NULL;
track_region_options.use_brute_initialization = options->use_brute;
track_region_options.use_normalized_intensities = options->use_normalization;
if (options->image1_mask) {
floatBufToImage(options->image1_mask, image1_width, image1_height, 1, &image1_mask);
track_region_options.image1_mask = &image1_mask;
}
/* Convert from raw float buffers to libmv's FloatImage. */
libmv::FloatImage old_patch, new_patch;
floatBufToImage(image1, image1_width, image1_height, 1, &old_patch);
floatBufToImage(image2, image2_width, image2_height, 1, &new_patch);
libmv::TrackRegionResult track_region_result;
libmv::TrackRegion(old_patch, new_patch, xx1, yy1, track_region_options, xx2, yy2, &track_region_result);
/* Convert to floats for the blender api. */
for (int i = 0; i < 5; ++i) {
x2[i] = xx2[i];
y2[i] = yy2[i];
}
/* TODO(keir): Update the termination string with failure details. */
if (track_region_result.termination == libmv::TrackRegionResult::PARAMETER_TOLERANCE ||
track_region_result.termination == libmv::TrackRegionResult::FUNCTION_TOLERANCE ||
track_region_result.termination == libmv::TrackRegionResult::GRADIENT_TOLERANCE ||
track_region_result.termination == libmv::TrackRegionResult::NO_CONVERGENCE)
{
tracking_result = true;
}
#if defined(DUMP_FAILURE) || defined(DUMP_ALWAYS)
#if defined(DUMP_ALWAYS)
{
#else
if (!tracking_result) {
#endif
saveImage("old_patch", old_patch, x1[4], y1[4]);
saveImage("new_patch", new_patch, x2[4], y2[4]);
}
#endif
return tracking_result;
}
void libmv_samplePlanarPatch(const float *image, int width, int height,
int channels, const double *xs, const double *ys,
int num_samples_x, int num_samples_y,
const float *mask, float *patch,
double *warped_position_x, double *warped_position_y)
{
libmv::FloatImage libmv_image, libmv_patch, libmv_mask;
libmv::FloatImage *libmv_mask_for_sample = NULL;
floatBufToImage(image, width, height, channels, &libmv_image);
if (mask) {
floatBufToImage(mask, width, height, 1, &libmv_mask);
libmv_mask_for_sample = &libmv_mask;
}
libmv::SamplePlanarPatch(libmv_image, xs, ys, num_samples_x, num_samples_y,
libmv_mask_for_sample, &libmv_patch,
warped_position_x, warped_position_y);
imageToFloatBuf(&libmv_patch, channels, patch);
}
/* ************ Tracks ************ */
libmv_Tracks *libmv_tracksNew(void)
{
libmv::Tracks *libmv_tracks = new libmv::Tracks();
return (libmv_Tracks *)libmv_tracks;
}
void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y)
{
((libmv::Tracks*)libmv_tracks)->Insert(image, track, x, y);
}
void libmv_tracksDestroy(libmv_Tracks *libmv_tracks)
{
delete (libmv::Tracks*)libmv_tracks;
}
/* ************ Reconstruction solver ************ */
class ReconstructUpdateCallback : public libmv::ProgressUpdateCallback {
public:
ReconstructUpdateCallback(reconstruct_progress_update_cb progress_update_callback,
void *callback_customdata)
{
progress_update_callback_ = progress_update_callback;
callback_customdata_ = callback_customdata;
}
void invoke(double progress, const char *message)
{
if(progress_update_callback_) {
progress_update_callback_(callback_customdata_, progress, message);
}
}
protected:
reconstruct_progress_update_cb progress_update_callback_;
void *callback_customdata_;
};
int libmv_refineParametersAreValid(int parameters) {
return (parameters == (LIBMV_REFINE_FOCAL_LENGTH)) ||
(parameters == (LIBMV_REFINE_FOCAL_LENGTH |
LIBMV_REFINE_PRINCIPAL_POINT)) ||
(parameters == (LIBMV_REFINE_FOCAL_LENGTH |
LIBMV_REFINE_PRINCIPAL_POINT |
LIBMV_REFINE_RADIAL_DISTORTION_K1 |
LIBMV_REFINE_RADIAL_DISTORTION_K2)) ||
(parameters == (LIBMV_REFINE_FOCAL_LENGTH |
LIBMV_REFINE_RADIAL_DISTORTION_K1 |
LIBMV_REFINE_RADIAL_DISTORTION_K2)) ||
(parameters == (LIBMV_REFINE_FOCAL_LENGTH |
LIBMV_REFINE_RADIAL_DISTORTION_K1));
}
void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntrinsics *intrinsics,
libmv::EuclideanReconstruction *reconstruction, int refine_intrinsics,
reconstruct_progress_update_cb progress_update_callback, void *callback_customdata)
{
/* only a few combinations are supported but trust the caller */
int libmv_refine_flags = 0;
if (refine_intrinsics & LIBMV_REFINE_FOCAL_LENGTH) {
libmv_refine_flags |= libmv::BUNDLE_FOCAL_LENGTH;
}
if (refine_intrinsics & LIBMV_REFINE_PRINCIPAL_POINT) {
libmv_refine_flags |= libmv::BUNDLE_PRINCIPAL_POINT;
}
if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K1) {
libmv_refine_flags |= libmv::BUNDLE_RADIAL_K1;
}
if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K2) {
libmv_refine_flags |= libmv::BUNDLE_RADIAL_K2;
}
progress_update_callback(callback_customdata, 1.0, "Refining solution");
libmv::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks, libmv_refine_flags,
reconstruction, intrinsics);
}
libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyframe1, int keyframe2,
int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
reconstruct_progress_update_cb progress_update_callback, void *callback_customdata)
{
/* Invert the camera intrinsics. */
libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers();
libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
ReconstructUpdateCallback update_callback =
ReconstructUpdateCallback(progress_update_callback, callback_customdata);
intrinsics->SetFocalLength(focal_length, focal_length);
intrinsics->SetPrincipalPoint(principal_x, principal_y);
intrinsics->SetRadialDistortion(k1, k2, k3);
for (int i = 0; i < markers.size(); ++i) {
intrinsics->InvertIntrinsics(markers[i].x,
markers[i].y,
&(markers[i].x),
&(markers[i].y));
}
libmv::Tracks normalized_tracks(markers);
LG << "frames to init from: " << keyframe1 << " " << keyframe2;
libmv::vector<libmv::Marker> keyframe_markers =
normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
LG << "number of markers for init: " << keyframe_markers.size();
update_callback.invoke(0, "Initial reconstruction");
libmv::EuclideanReconstructTwoFrames(keyframe_markers, reconstruction);
libmv::EuclideanBundle(normalized_tracks, reconstruction);
libmv::EuclideanCompleteReconstruction(normalized_tracks, reconstruction, &update_callback);
if (refine_intrinsics) {
libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, intrinsics, reconstruction,
refine_intrinsics, progress_update_callback, callback_customdata);
}
progress_update_callback(callback_customdata, 1.0, "Finishing solution");
libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
return (libmv_Reconstruction *)libmv_reconstruction;
}
struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *tracks, double focal_length,
double principal_x, double principal_y, double k1, double k2, double k3,
reconstruct_progress_update_cb progress_update_callback, void *callback_customdata)
{
/* Invert the camera intrinsics. */
libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers();
libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
ReconstructUpdateCallback update_callback =
ReconstructUpdateCallback(progress_update_callback, callback_customdata);
intrinsics->SetFocalLength(focal_length, focal_length);
intrinsics->SetPrincipalPoint(principal_x, principal_y);
intrinsics->SetRadialDistortion(k1, k2, k3);
for (int i = 0; i < markers.size(); ++i) {
intrinsics->InvertIntrinsics(markers[i].x,
markers[i].y,
&(markers[i].x),
&(markers[i].y));
}
libmv::Tracks normalized_tracks(markers);
libmv::ModalSolver(normalized_tracks, reconstruction, &update_callback);
progress_update_callback(callback_customdata, 1.0, "Finishing solution");
libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
return (libmv_Reconstruction *)libmv_reconstruction;
}
int libmv_reporojectionPointForTrack(libmv_Reconstruction *libmv_reconstruction, int track, double pos[3])
{
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::EuclideanPoint *point = reconstruction->PointForTrack(track);
if(point) {
pos[0] = point->X[0];
pos[1] = point->X[2];
pos[2] = point->X[1];
return 1;
}
return 0;
}
static libmv::Marker ProjectMarker(const libmv::EuclideanPoint &point, const libmv::EuclideanCamera &camera,
const libmv::CameraIntrinsics &intrinsics) {
libmv::Vec3 projected = camera.R * point.X + camera.t;
projected /= projected(2);
libmv::Marker reprojected_marker;
intrinsics.ApplyIntrinsics(projected(0), projected(1), &reprojected_marker.x, &reprojected_marker.y);
reprojected_marker.image = camera.image;
reprojected_marker.track = point.track;
return reprojected_marker;
}
double libmv_reporojectionErrorForTrack(libmv_Reconstruction *libmv_reconstruction, int track)
{
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersForTrack(track);
int num_reprojected = 0;
double total_error = 0.0;
for (int i = 0; i < markers.size(); ++i) {
const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(markers[i].image);
const libmv::EuclideanPoint *point = reconstruction->PointForTrack(markers[i].track);
if (!camera || !point) {
continue;
}
num_reprojected++;
libmv::Marker reprojected_marker = ProjectMarker(*point, *camera, *intrinsics);
double ex = reprojected_marker.x - markers[i].x;
double ey = reprojected_marker.y - markers[i].y;
total_error += sqrt(ex*ex + ey*ey);
}
return total_error / num_reprojected;
}
double libmv_reporojectionErrorForImage(libmv_Reconstruction *libmv_reconstruction, int image)
{
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
libmv::vector<libmv::Marker> markers = libmv_reconstruction->tracks.MarkersInImage(image);
const libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image);
int num_reprojected = 0;
double total_error = 0.0;
if (!camera)
return 0;
for (int i = 0; i < markers.size(); ++i) {
const libmv::EuclideanPoint *point = reconstruction->PointForTrack(markers[i].track);
if (!point) {
continue;
}
num_reprojected++;
libmv::Marker reprojected_marker = ProjectMarker(*point, *camera, *intrinsics);
double ex = reprojected_marker.x - markers[i].x;
double ey = reprojected_marker.y - markers[i].y;
total_error += sqrt(ex*ex + ey*ey);
}
return total_error / num_reprojected;
}
int libmv_reporojectionCameraForImage(libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4])
{
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::EuclideanCamera *camera = reconstruction->CameraForImage(image);
if(camera) {
for (int j = 0; j < 3; ++j) {
for (int k = 0; k < 3; ++k) {
int l = k;
if (k == 1) l = 2;
else if (k == 2) l = 1;
if (j == 2) mat[j][l] = -camera->R(j,k);
else mat[j][l] = camera->R(j,k);
}
mat[j][3]= 0.0;
}
libmv::Vec3 optical_center = -camera->R.transpose() * camera->t;
mat[3][0] = optical_center(0);
mat[3][1] = optical_center(2);
mat[3][2] = optical_center(1);
mat[3][3]= 1.0;
return 1;
}
return 0;
}
double libmv_reprojectionError(libmv_Reconstruction *libmv_reconstruction)
{
return libmv_reconstruction->error;
}
void libmv_destroyReconstruction(libmv_Reconstruction *libmv_reconstruction)
{
delete libmv_reconstruction;
}
/* ************ feature detector ************ */
struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
int margin, int min_trackness, int min_distance)
{
libmv::Feature *features = NULL;
std::vector<libmv::Feature> v;
libmv_Features *libmv_features = new libmv_Features();
int i= 0, count;
if(margin) {
data += margin*stride+margin;
width -= 2*margin;
height -= 2*margin;
}
v = libmv::DetectFAST(data, width, height, stride, min_trackness, min_distance);
count = v.size();
if(count) {
features= new libmv::Feature[count];
for(std::vector<libmv::Feature>::iterator it = v.begin(); it != v.end(); it++) {
features[i++]= *it;
}
}
libmv_features->features = features;
libmv_features->count = count;
libmv_features->margin = margin;
return (libmv_Features *)libmv_features;
}
struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
int margin, int count, int min_distance)
{
libmv::Feature *features = NULL;
libmv_Features *libmv_features = new libmv_Features;
if(count) {
if(margin) {
data += margin*stride+margin;
width -= 2*margin;
height -= 2*margin;
}
features = new libmv::Feature[count];
libmv::DetectMORAVEC(data, stride, width, height, features, &count, min_distance, NULL);
}
libmv_features->count = count;
libmv_features->margin = margin;
libmv_features->features = features;
return libmv_features;
}
int libmv_countFeatures(struct libmv_Features *libmv_features)
{
return libmv_features->count;
}
void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size)
{
libmv::Feature feature= libmv_features->features[number];
*x = feature.x + libmv_features->margin;
*y = feature.y + libmv_features->margin;
*score = feature.score;
*size = feature.size;
}
void libmv_destroyFeatures(struct libmv_Features *libmv_features)
{
if(libmv_features->features)
delete [] libmv_features->features;
delete libmv_features;
}
/* ************ camera intrinsics ************ */
struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction) {
return (struct libmv_CameraIntrinsics *)&libmv_Reconstruction->intrinsics;
}
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(double focal_length, double principal_x, double principal_y,
double k1, double k2, double k3, int width, int height)
{
libmv::CameraIntrinsics *intrinsics= new libmv::CameraIntrinsics();
intrinsics->SetFocalLength(focal_length, focal_length);
intrinsics->SetPrincipalPoint(principal_x, principal_y);
intrinsics->SetRadialDistortion(k1, k2, k3);
intrinsics->SetImageSize(width, height);
return (struct libmv_CameraIntrinsics *) intrinsics;
}
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics)
{
libmv::CameraIntrinsics *orig_intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
libmv::CameraIntrinsics *new_intrinsics= new libmv::CameraIntrinsics(*orig_intrinsics);
return (struct libmv_CameraIntrinsics *) new_intrinsics;
}
void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
delete intrinsics;
}
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
double principal_x, double principal_y, double k1, double k2, double k3, int width, int height)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
if (intrinsics->focal_length() != focal_length)
intrinsics->SetFocalLength(focal_length, focal_length);
if (intrinsics->principal_point_x() != principal_x || intrinsics->principal_point_y() != principal_y)
intrinsics->SetFocalLength(focal_length, focal_length);
if (intrinsics->k1() != k1 || intrinsics->k2() != k2 || intrinsics->k3() != k3)
intrinsics->SetRadialDistortion(k1, k2, k3);
if (intrinsics->image_width() != width || intrinsics->image_height() != height)
intrinsics->SetImageSize(width, height);
}
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, double *focal_length,
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height) {
libmv::CameraIntrinsics *intrinsics= (libmv::CameraIntrinsics *) libmvIntrinsics;
*focal_length = intrinsics->focal_length();
*principal_x = intrinsics->principal_point_x();
*principal_y = intrinsics->principal_point_y();
*k1 = intrinsics->k1();
*k2 = intrinsics->k2();
}
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
intrinsics->Undistort(src, dst, width, height, overscan, channels);
}
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
float *src, float *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
intrinsics->Undistort(src, dst, width, height, overscan, channels);
}
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
intrinsics->Distort(src, dst, width, height, overscan, channels);
}
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
float *src, float *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics *intrinsics = (libmv::CameraIntrinsics *) libmvIntrinsics;
intrinsics->Distort(src, dst, width, height, overscan, channels);
}
/* ************ distortion ************ */
void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Undistort(src, dst, width, height, overscan, channels);
}
void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Undistort(src, dst, width, height, overscan, channels);
}
void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Distort(src, dst, width, height, overscan, channels);
}
void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, float overscan, int channels)
{
libmv::CameraIntrinsics intrinsics;
intrinsics.SetFocalLength(focal_length, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
intrinsics.Distort(src, dst, width, height, overscan, channels);
}
/* ************ 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, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
if(focal_length) {
/* do a lens undistortion if focal length is non-zero only */
intrinsics.ApplyIntrinsics(x, y, x1, y1);
}
}
void libmv_InvertIntrinsics(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, focal_length);
intrinsics.SetPrincipalPoint(principal_x, principal_y);
intrinsics.SetRadialDistortion(k1, k2, k3);
if(focal_length) {
/* do a lens distortion if focal length is non-zero only */
intrinsics.InvertIntrinsics(x, y, x1, y1);
}
}
/* ************ point clouds ************ */
void libmvTransformToMat4(libmv::Mat3 &R, libmv::Vec3 &S, libmv::Vec3 &t, double M[4][4])
{
for (int j = 0; j < 3; ++j)
for (int k = 0; k < 3; ++k)
M[j][k] = R(k, j) * S(j);
for (int i = 0; i < 3; ++i) {
M[3][0] = t(0);
M[3][1] = t(1);
M[3][2] = t(2);
M[0][3] = M[1][3] = M[2][3] = 0;
}
M[3][3] = 1.0;
}
void libmv_rigidRegistration(float (*reference_points)[3], float (*points)[3], int total_points,
int use_scale, int use_translation, double M[4][4])
{
libmv::Mat3 R;
libmv::Vec3 S;
libmv::Vec3 t;
libmv::vector<libmv::Vec3> reference_points_vector, points_vector;
for (int i = 0; i < total_points; i++) {
reference_points_vector.push_back(libmv::Vec3(reference_points[i][0],
reference_points[i][1],
reference_points[i][2]));
points_vector.push_back(libmv::Vec3(points[i][0],
points[i][1],
points[i][2]));
}
if (use_scale && use_translation) {
libmv::RigidRegistration(reference_points_vector, points_vector, R, S, t);
}
else if (use_translation) {
S = libmv::Vec3(1.0, 1.0, 1.0);
libmv::RigidRegistration(reference_points_vector, points_vector, R, t);
}
else {
S = libmv::Vec3(1.0, 1.0, 1.0);
t = libmv::Vec3::Zero();
libmv::RigidRegistration(reference_points_vector, points_vector, R);
}
libmvTransformToMat4(R, S, t, M);
}