forked from bartvdbraak/blender
6fbc4186fd
- Add support for refining the camera's intrinsic parameters
during a solve. Currently, refining supports only the following
combinations of intrinsic parameters:
f
f, cx, cy
f, cx, cy, k1, k2
f, k1
f, k1, k2
This is not the same as autocalibration, since the user must
still make a reasonable initial guess about the focal length and
other parameters, whereas true autocalibration would eliminate
the need for the user specify intrinsic parameters at all.
However, the solver works well with only rough guesses for the
focal length, so perhaps full autocalibation is not that
important.
Adding support for the last two combinations, (f, k1) and (f,
k1, k2) required changes to the library libmv depends on for
bundle adjustment, SSBA. These changes should get ported
upstream not just to libmv but to SSBA as well.
- Improved the region of convergence for bundle adjustment by
increasing the number of Levenberg-Marquardt iterations from 50
to 500. This way, the solver is able to crawl out of the bad
local minima it gets stuck in when changing from, for example,
bundling k1 and k2 to just k1 and resetting k2 to 0.
- Add several new region tracker implementations. A region tracker
is a libmv concept, which refers to tracking a template image
pattern through frames. The impact to end users is that tracking
should "just work better". I am reserving a more detailed
writeup, and maybe a paper, for later.
- Other libmv tweaks, such as detecting that a tracker is headed
outside of the image bounds.
This includes several changes made directly to the libmv extern
code rather expecting to get those changes through normal libmv
channels, because I, the libmv BDFL, decided it was faster to work
on libmv directly in Blender, then later reverse-port the libmv
changes from Blender back into libmv trunk. The interesting part
is that I added a full Levenberg-Marquardt loop to the region
tracking code, which should lead to a more stable solutions. I
also added a hacky implementation of "Efficient Second-Order
Minimization" for tracking, which works nicely. A more detailed
quantitative evaluation will follow.
Original patch by Keir, cleaned a bit by myself.
138 lines
6.6 KiB
C
138 lines
6.6 KiB
C
/*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2011 Blender Foundation.
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* All rights reserved.
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*
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* Contributor(s): Blender Foundation,
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* Sergey Sharybin
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef LIBMV_C_API_H
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#define LIBMV_C_API_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct libmv_RegionTracker;
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struct libmv_Tracks;
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struct libmv_Reconstruction;
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struct libmv_Features;
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struct libmv_CameraIntrinsics;
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/* Logging */
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void libmv_initLogging(const char *argv0);
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void libmv_startDebugLogging(void);
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void libmv_setLoggingVerbosity(int verbosity);
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/* RegionTracker */
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struct libmv_RegionTracker *libmv_regionTrackerNew(int max_iterations, int pyramid_level);
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int libmv_regionTrackerTrack(struct libmv_RegionTracker *libmv_tracker, const float *ima1, const float *ima2,
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int width, int height, int half_window_size,
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double x1, double y1, double *x2, double *y2);
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void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker);
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/* SAD Tracker */
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void libmv_SADSamplePattern(unsigned char *image, int stride,
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float warp[3][2], unsigned char *pattern);
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float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsigned char *image,
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int stride, int width, int height, float warp[3][2]);
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/* Tracks */
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struct libmv_Tracks *libmv_tracksNew(void);
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void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
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void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
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/* Reconstruction solver */
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#define LIBMV_REFINE_FOCAL_LENGTH (1<<0)
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#define LIBMV_REFINE_PRINCIPAL_POINT (1<<1)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1<<2)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1<<4)
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int libmv_refineParametersAreValid(int parameters);
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struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *tracks, int keyframe1, int keyframe2,
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int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3);
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int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
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double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
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double libmv_reporojectionErrorForImage(struct libmv_Reconstruction *libmv_reconstruction, int image);
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int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]);
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double libmv_reprojectionError(struct libmv_Reconstruction *libmv_reconstruction);
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void libmv_destroyReconstruction(struct libmv_Reconstruction *libmv_reconstruction);
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/* feature detector */
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struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
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int margin, int min_trackness, int min_distance);
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struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
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int margin, int count, int min_distance);
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int libmv_countFeatures(struct libmv_Features *libmv_features);
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void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size);
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void libmv_destroyFeatures(struct libmv_Features *libmv_features);
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/* camera intrinsics */
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struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(double focal_length, double principal_x, double principal_y,
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double k1, double k2, double k3, int width, int height);
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struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics);
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void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics);
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void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
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double principal_x, double principal_y, double k1, double k2, double k3, int width, int height);
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void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, double *focal_length,
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double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);
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void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
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float *src, float *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
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unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
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void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
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float *src, float *dst, int width, int height, float overscan, int channels);
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/* dsitortion */
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void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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unsigned char *src, unsigned char *dst, int width, int height, int channels);
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void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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float *src, float *dst, int width, int height, int channels);
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void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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unsigned char *src, unsigned char *dst, int width, int height, int channels);
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void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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float *src, float *dst, int width, int height, int channels);
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/* utils */
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void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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double x, double y, double *x1, double *y1);
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void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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double x, double y, double *x1, double *y1);
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#ifdef __cplusplus
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}
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#endif
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#endif // LIBMV_C_API_H
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