diff options
| -rw-r--r-- | extern/libmv/libmv-capi.cpp | 126 | ||||
| -rw-r--r-- | extern/libmv/libmv-capi.h | 38 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/tracking.c | 48 |
3 files changed, 139 insertions, 73 deletions
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp index 8e483abd386..ffe4b6ebf3d 100644 --- a/extern/libmv/libmv-capi.cpp +++ b/extern/libmv/libmv-capi.cpp @@ -552,40 +552,78 @@ static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntr 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, struct libmv_reconstructionOptions *options, - reconstruct_progress_update_cb progress_update_callback, void *callback_customdata) +static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsics, + libmv_cameraIntrinsicsOptions *camera_intrinsics_options) +{ + camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length, + camera_intrinsics_options->focal_length); + + camera_intrinsics->SetPrincipalPoint(camera_intrinsics_options->principal_point_x, + camera_intrinsics_options->principal_point_y); + + camera_intrinsics->SetRadialDistortion(camera_intrinsics_options->k1, + camera_intrinsics_options->k2, + camera_intrinsics_options->k3); +} + +static libmv::Tracks getNormalizedTracks(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics) +{ + libmv::vector<libmv::Marker> markers = tracks->AllMarkers(); + + for (int i = 0; i < markers.size(); ++i) { + camera_intrinsics->InvertIntrinsics(markers[i].x, markers[i].y, + &(markers[i].x), &(markers[i].y)); + } + + return libmv::Tracks(markers); +} + +static void finishReconstruction(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics, + libmv_Reconstruction *libmv_reconstruction, + reconstruct_progress_update_cb progress_update_callback, + void *callback_customdata) +{ + libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; + + /* reprojection error calculation */ + progress_update_callback(callback_customdata, 1.0, "Finishing solution"); + libmv_reconstruction->tracks = *tracks; + libmv_reconstruction->error = libmv::EuclideanReprojectionError(*tracks, *reconstruction, *camera_intrinsics); +} + +libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks, + libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options, + libmv_reconstructionOptions *libmv_reconstruction_options, + 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::Tracks *tracks = ((libmv::Tracks *) libmv_tracks); libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics; - libmv::ReconstructionOptions reconstruction_options; + libmv::CameraIntrinsics *camera_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); + cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options); - reconstruction_options.success_threshold = options->success_threshold; - reconstruction_options.use_fallback_reconstruction = options->use_fallback_reconstruction; + /* Invert the camera intrinsics */ + libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics); - for (int i = 0; i < markers.size(); ++i) { - intrinsics->InvertIntrinsics(markers[i].x, - markers[i].y, - &(markers[i].x), - &(markers[i].y)); - } + /* actual reconstruction */ + libmv::ReconstructionOptions reconstruction_options; + reconstruction_options.success_threshold = libmv_reconstruction_options->success_threshold; + reconstruction_options.use_fallback_reconstruction = libmv_reconstruction_options->use_fallback_reconstruction; - libmv::Tracks normalized_tracks(markers); + int keyframe1 = libmv_reconstruction_options->keyframe1, + keyframe2 = libmv_reconstruction_options->keyframe2; 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"); @@ -595,49 +633,45 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyfra libmv::EuclideanCompleteReconstruction(reconstruction_options, normalized_tracks, reconstruction, &update_callback); - if (refine_intrinsics) { - libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, intrinsics, reconstruction, - refine_intrinsics, progress_update_callback, callback_customdata); + /* refinement */ + if (libmv_reconstruction_options->refine_intrinsics) { + libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction, + libmv_reconstruction_options->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); + /* finish reconstruction */ + finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction, + progress_update_callback, callback_customdata); 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) +struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks, + libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options, + 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::Tracks *tracks = ((libmv::Tracks *) libmv_tracks); libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction; - libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics; + libmv::CameraIntrinsics *camera_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)); - } + cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options); - libmv::Tracks normalized_tracks(markers); + /* Invert the camera intrinsics */ + libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics); + /* actual reconstruction */ 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); + /* finish reconstruction */ + finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction, + progress_update_callback, callback_customdata); return (libmv_Reconstruction *)libmv_reconstruction; } diff --git a/extern/libmv/libmv-capi.h b/extern/libmv/libmv-capi.h index e5885e7addf..317f5520aa9 100644 --- a/extern/libmv/libmv-capi.h +++ b/extern/libmv/libmv-capi.h @@ -86,28 +86,40 @@ void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks); /* Reconstruction solver */ -#define LIBMV_REFINE_FOCAL_LENGTH (1<<0) -#define LIBMV_REFINE_PRINCIPAL_POINT (1<<1) -#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1<<2) -#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1<<4) -/* TODO: make keyframes/distortion model a part of options? */ -struct libmv_reconstructionOptions { +#define LIBMV_REFINE_FOCAL_LENGTH (1 << 0) +#define LIBMV_REFINE_PRINCIPAL_POINT (1 << 1) +#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1 << 2) +#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1 << 4) + +typedef struct libmv_cameraIntrinsicsOptions { + double focal_length; + double principal_point_x, principal_point_y; + double k1, k2, k3; + double p1, p2; +} libmv_cameraIntrinsicsOptions; + +typedef struct libmv_reconstructionOptions { + int keyframe1, keyframe2; + int refine_intrinsics; + double success_threshold; int use_fallback_reconstruction; -}; +} libmv_reconstructionOptions; typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message); int libmv_refineParametersAreValid(int parameters); -struct libmv_Reconstruction *libmv_solveReconstruction(struct 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, - struct libmv_reconstructionOptions *options, reconstruct_progress_update_cb progress_update_callback, +struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *libmv_tracks, + libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options, + libmv_reconstructionOptions *libmv_reconstruction_options, + reconstruct_progress_update_cb progress_update_callback, + void *callback_customdata); +struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks, + libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options, + reconstruct_progress_update_cb progress_update_callback, void *callback_customdata); -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); int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]); double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track); double libmv_reporojectionErrorForImage(struct libmv_Reconstruction *libmv_reconstruction, int image); diff --git a/source/blender/blenkernel/intern/tracking.c b/source/blender/blenkernel/intern/tracking.c index 1a7458f531c..de0be829e8b 100644 --- a/source/blender/blenkernel/intern/tracking.c +++ b/source/blender/blenkernel/intern/tracking.c @@ -2996,6 +2996,31 @@ static void reconstruct_update_solve_cb(void *customdata, double progress, const BLI_snprintf(progressdata->stats_message, progressdata->message_size, "Solving camera | %s", message); } + +static void camraIntrincicsOptionsFromContext(libmv_cameraIntrinsicsOptions *camera_intrinsics_options, + MovieReconstructContext *context) +{ + camera_intrinsics_options->focal_length = context->focal_length; + + camera_intrinsics_options->principal_point_x = context->principal_point[0]; + camera_intrinsics_options->principal_point_y = context->principal_point[1]; + + camera_intrinsics_options->k1 = context->k1; + camera_intrinsics_options->k2 = context->k2; + camera_intrinsics_options->k3 = context->k3; +} + +static void reconstructionOptionsFromContext(libmv_reconstructionOptions *reconstruction_options, + MovieReconstructContext *context) +{ + reconstruction_options->keyframe1 = context->keyframe1; + reconstruction_options->keyframe2 = context->keyframe2; + + reconstruction_options->refine_intrinsics = context->refine_flags; + + reconstruction_options->success_threshold = context->success_threshold; + reconstruction_options->use_fallback_reconstruction = context->use_fallback_reconstruction; +} #endif void BKE_tracking_reconstruction_solve(MovieReconstructContext *context, short *stop, short *do_update, @@ -3006,32 +3031,27 @@ void BKE_tracking_reconstruction_solve(MovieReconstructContext *context, short * ReconstructProgressData progressdata; + libmv_cameraIntrinsicsOptions camera_intrinsics_options; + libmv_reconstructionOptions reconstruction_options; + progressdata.stop = stop; progressdata.do_update = do_update; progressdata.progress = progress; progressdata.stats_message = stats_message; progressdata.message_size = message_size; + camraIntrincicsOptionsFromContext(&camera_intrinsics_options, context); + reconstructionOptionsFromContext(&reconstruction_options, context); + if (context->motion_flag & TRACKING_MOTION_MODAL) { context->reconstruction = libmv_solveModal(context->tracks, - context->focal_length, - context->principal_point[0], context->principal_point[1], - context->k1, context->k2, context->k3, + &camera_intrinsics_options, reconstruct_update_solve_cb, &progressdata); } else { - struct libmv_reconstructionOptions options; - - options.success_threshold = context->success_threshold; - options.use_fallback_reconstruction = context->use_fallback_reconstruction; - context->reconstruction = libmv_solveReconstruction(context->tracks, - context->keyframe1, context->keyframe2, - context->refine_flags, - context->focal_length, - context->principal_point[0], context->principal_point[1], - context->k1, context->k2, context->k3, - &options, + &camera_intrinsics_options, + &reconstruction_options, reconstruct_update_solve_cb, &progressdata); } |