Camera tracking: support of tripod motion solving

Expose option into interface to use modal solver which currently
supports only tripod motion.

This solver requires two tracks at least to reconstruct motion.
Using more tracks aren't improving solution in general, just adds
instability into solution and slows down things a lot.

Refirement of camera intrinsics was disabled due to it's not only
refines camera intrinsics but also adjusts camera position which
isn't necessary here

To use this solver just activate "Tripod Motion" checkbox in
solver panel.

Merged from tomato: svn merge ^/branches/soc-2011-tomato -r45622:45624 -r46036:46037

P.S. Quite experimental yet, requires more checking and probably
tweaks to prevent camera jumps when tracks apperars/disappears
from the screen.

1 files changed, 62 insertions, 17 deletions

diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp
index e4708e5907d..6c20d76eeac 100644
--- a/extern/libmv/libmv-capi.cpp
+++ b/extern/libmv/libmv-capi.cpp
@@ -54,6 +54,7 @@
 #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>
@@ -384,6 +385,31 @@ int libmv_refineParametersAreValid(int parameters) {
 	                       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,
@@ -423,26 +449,45 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyfra
 	libmv::EuclideanCompleteReconstruction(normalized_tracks, reconstruction, &update_callback);
 
 	if (refine_intrinsics) {
-		/* 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;
-		}
+		libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, intrinsics, reconstruction,
+			refine_intrinsics, progress_update_callback, callback_customdata);
+	}
 
-		progress_update_callback(callback_customdata, 1.0, "Refining solution");
-		libmv::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks, libmv_refine_flags,
-			reconstruction, intrinsics);
+	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);