Camera tracking integration

===========================

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.

1 files changed, 770 insertions, 0 deletions

diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp
new file mode 100644
index 00000000000..2e007bb47b2
--- /dev/null
+++ b/extern/libmv/libmv-capi.cpp
@@ -0,0 +1,770 @@
+/*
+ * ***** 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
+
+#include "libmv-capi.h"
+
+#include "glog/logging.h"
+#include "Math/v3d_optimization.h"
+
+#include "libmv/tracking/klt_region_tracker.h"
+#include "libmv/tracking/trklt_region_tracker.h"
+#include "libmv/tracking/pyramid_region_tracker.h"
+
+#include "libmv/tracking/sad.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 <stdlib.h>
+
+#ifdef DUMP_FAILURE
+#  include <png.h>
+#endif
+
+#ifdef _MSC_VER
+#  define snprintf _snprintf
+#endif
+
+#define DEFAULT_WINDOW_HALFSIZE	5
+
+typedef struct libmv_RegionTracker {
+	libmv::TrkltRegionTracker *trklt_region_tracker;
+	libmv::RegionTracker *region_tracker;
+} libmv_RegionTracker;
+
+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", "0");
+	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_regionTrackerNew(int max_iterations, int pyramid_level)
+{
+	libmv::TrkltRegionTracker *trklt_region_tracker = new libmv::TrkltRegionTracker;
+
+	trklt_region_tracker->half_window_size = DEFAULT_WINDOW_HALFSIZE;
+	trklt_region_tracker->max_iterations = max_iterations;
+	trklt_region_tracker->min_determinant = 1e-4;
+
+	libmv::PyramidRegionTracker *region_tracker =
+		new libmv::PyramidRegionTracker(trklt_region_tracker, pyramid_level);
+
+	libmv_RegionTracker *configured_region_tracker = new libmv_RegionTracker;
+	configured_region_tracker->trklt_region_tracker = trklt_region_tracker;
+	configured_region_tracker->region_tracker = region_tracker;
+
+	return configured_region_tracker;
+}
+
+static void floatBufToImage(const float *buf, int width, int height, libmv::FloatImage *image)
+{
+	int x, y, a = 0;
+
+	image->resize(height, width);
+
+	for (y = 0; y < height; y++) {
+		for (x = 0; x < width; x++) {
+			(*image)(y, x, 0) = buf[a++];
+		}
+	}
+}
+
+#ifdef DUMP_FAILURE
+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(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 && y0 == 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(y, 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(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, int half_window_size,
+			 double x1, double y1, double *x2, double *y2)
+{
+	libmv::RegionTracker *region_tracker;
+	libmv::TrkltRegionTracker *trklt_region_tracker;
+	libmv::FloatImage old_patch, new_patch;
+
+	trklt_region_tracker = libmv_tracker->trklt_region_tracker;
+	region_tracker = libmv_tracker->region_tracker;
+
+	trklt_region_tracker->half_window_size = half_window_size;
+
+	floatBufToImage(ima1, width, height, &old_patch);
+	floatBufToImage(ima2, width, height, &new_patch);
+
+#ifndef DUMP_FAILURE
+	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 (!result) {
+			saveImage("old_patch", old_patch, x1, y1);
+			saveImage("new_patch", new_patch, sx2, sy2);
+		}
+
+		return result;
+	}
+#endif
+}
+
+void libmv_regionTrackerDestroy(libmv_RegionTracker *libmv_tracker)
+{
+	delete libmv_tracker->region_tracker;
+	delete libmv_tracker;
+}
+
+/* ************ Tracks ************ */
+
+void libmv_SADSamplePattern(unsigned char *image, int stride,
+			float warp[3][2], unsigned char *pattern)
+{
+	libmv::mat32 mat32;
+
+	memcpy(mat32.data, warp, sizeof(float)*3*2);
+
+	libmv::SamplePattern(image, stride, mat32, pattern, 16);
+}
+
+float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsigned char *image, int stride,
+			int width, int height, float warp[3][2])
+{
+	float result;
+	libmv::mat32 mat32;
+
+	memcpy(mat32.data, warp, sizeof(float)*3*2);
+
+	result = libmv::Track(pattern, warped, 16, image, stride, width, height, &mat32, 16, 16);
+
+	memcpy(warp, mat32.data, sizeof(float)*3*2);
+
+	return result;
+}
+
+/* ************ 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 ************ */
+
+libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyframe1, int keyframe2,
+			double focal_length, double principal_x, double principal_y, double k1, double k2, double k3)
+{
+	/* 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;
+
+	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 */
+		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::vector<libmv::Marker> keyframe_markers =
+		normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
+
+	libmv::EuclideanReconstructTwoFrames(keyframe_markers, reconstruction);
+	libmv::EuclideanBundle(normalized_tracks, reconstruction);
+	libmv::EuclideanCompleteReconstruction(normalized_tracks, reconstruction);
+
+	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_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_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);
+	}
+}