forked from bartvdbraak/blender
9178dc9d38
Switch the detector API to a single function which accepts a float image and detector options. This makes usage of feature detection more unified across different algorithms. Options structure is pretty much straightforward and contains detector to be used and all the detector-specific settings. Also implemented Harris feature detection algorithm which is not as fast as FAST one but is expected to detect more robust feature points. It is also likely that less features are detected, but better quality than quantity. Blender will now use Harris detector by default, later we'll remove FAST detector.
185 lines
8.3 KiB
C
185 lines
8.3 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_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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/* Planar tracker */
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typedef struct libmv_TrackRegionOptions {
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int motion_model;
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int num_iterations;
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int use_brute;
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int use_normalization;
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double minimum_correlation;
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double sigma;
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float *image1_mask;
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} libmv_TrackRegionOptions;
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typedef struct libmv_TrackRegionResult {
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int termination;
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const char *termination_reason;
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double correlation;
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} libmv_TrackRegionResult;
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int libmv_trackRegion(const libmv_TrackRegionOptions *options,
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const float *image1, int image1_width, int image1_height,
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const float *image2, int image2_width, int image2_height,
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const double *x1, const double *y1,
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libmv_TrackRegionResult *result,
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double *x2, double *y2);
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void libmv_samplePlanarPatch(const float *image, int width, int height,
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int channels, const double *xs, const double *ys,
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int num_samples_x, int num_samples_y,
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const float *mask, float *patch,
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double *warped_position_x, double *warped_position_y);
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/* Tracks */
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struct libmv_Tracks *libmv_tracksNew(void);
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void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
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void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y, double weight);
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/* Reconstruction */
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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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typedef struct libmv_CameraIntrinsicsOptions {
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double focal_length;
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double principal_point_x, principal_point_y;
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double k1, k2, k3;
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double p1, p2;
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int image_width, image_height;
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} libmv_CameraIntrinsicsOptions;
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typedef struct libmv_ReconstructionOptions {
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int select_keyframes;
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int keyframe1, keyframe2;
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int refine_intrinsics;
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} libmv_ReconstructionOptions;
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typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
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struct libmv_Reconstruction *libmv_solveReconstruction(const struct libmv_Tracks *libmv_tracks,
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const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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libmv_ReconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata);
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struct libmv_Reconstruction *libmv_solveModal(const struct libmv_Tracks *libmv_tracks,
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const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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const libmv_ReconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata);
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void libmv_reconstructionDestroy(struct libmv_Reconstruction *libmv_reconstruction);
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int libmv_reprojectionPointForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
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double libmv_reprojectionErrorForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track);
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double libmv_reprojectionErrorForImage(const struct libmv_Reconstruction *libmv_reconstruction, int image);
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int libmv_reprojectionCameraForImage(const struct libmv_Reconstruction *libmv_reconstruction,
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int image, double mat[4][4]);
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double libmv_reprojectionError(const struct libmv_Reconstruction *libmv_reconstruction);
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struct libmv_CameraIntrinsics *libmv_reconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
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/* Feature detector */
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enum {
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LIBMV_DETECTOR_FAST,
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LIBMV_DETECTOR_MORAVEC,
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LIBMV_DETECTOR_HARRIS,
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};
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typedef struct libmv_DetectOptions {
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int detector;
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int margin;
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int min_distance;
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int fast_min_trackness;
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int moravec_max_count;
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unsigned char *moravec_pattern;
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double harris_threshold;
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} libmv_DetectOptions;
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struct libmv_Features *libmv_detectFeaturesByte(const unsigned char *image_buffer,
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int width, int height, int channels,
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libmv_DetectOptions *options);
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struct libmv_Features *libmv_detectFeaturesFloat(const float *image_buffer,
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int width, int height, int channels,
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libmv_DetectOptions *options);
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void libmv_featuresDestroy(struct libmv_Features *libmv_features);
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int libmv_countFeatures(const struct libmv_Features *libmv_features);
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void libmv_getFeature(const struct libmv_Features *libmv_features, int number, double *x, double *y, double *score,
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double *size);
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/* Camera intrinsics */
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struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsNewEmpty(void);
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struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew(
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const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options);
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struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy(const struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_cameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_cameraIntrinsicsUpdate(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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struct libmv_CameraIntrinsics *libmv_intrinsics);
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void libmv_cameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads);
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void libmv_cameraIntrinsicsExtract(const struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
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double *principal_x, double *principal_y, double *k1, double *k2, double *k3,
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int *width, int *height);
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void libmv_cameraIntrinsicsUndistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsUndistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsDistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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unsigned char *src, unsigned char *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsDistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
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float *src, float *dst, int width, int height,
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float overscan, int channels);
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void libmv_cameraIntrinsicsApply(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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void libmv_cameraIntrinsicsInvert(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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double x, double y, double *x1, double *y1);
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void libmv_homography2DFromCorrespondencesEuc(double (*x1)[2], double (*x2)[2], int num_points, double H[3][3]);
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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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