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Diffstat (limited to 'extern/libmv/libmv-capi.cpp')
-rw-r--r--extern/libmv/libmv-capi.cpp110
1 files changed, 72 insertions, 38 deletions
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp
index 2e007bb47b2..8c453944e9d 100644
--- a/extern/libmv/libmv-capi.cpp
+++ b/extern/libmv/libmv-capi.cpp
@@ -33,8 +33,10 @@
#include "glog/logging.h"
#include "Math/v3d_optimization.h"
+#include "libmv/tracking/esm_region_tracker.h"
#include "libmv/tracking/klt_region_tracker.h"
#include "libmv/tracking/trklt_region_tracker.h"
+#include "libmv/tracking/lmicklt_region_tracker.h"
#include "libmv/tracking/pyramid_region_tracker.h"
#include "libmv/tracking/sad.h"
@@ -47,6 +49,7 @@
#include "libmv/simple_pipeline/camera_intrinsics.h"
#include <stdlib.h>
+#include <assert.h>
#ifdef DUMP_FAILURE
# include <png.h>
@@ -56,13 +59,6 @@
# 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;
@@ -110,22 +106,18 @@ void libmv_setLoggingVerbosity(int verbosity)
/* ************ RegionTracker ************ */
-libmv_RegionTracker *libmv_regionTrackerNew(int max_iterations, int pyramid_level)
+libmv_RegionTracker *libmv_regionTrackerNew(int max_iterations, int pyramid_level, int half_window_size)
{
- libmv::TrkltRegionTracker *trklt_region_tracker = new libmv::TrkltRegionTracker;
+ libmv::EsmRegionTracker *klt_region_tracker = new libmv::EsmRegionTracker;
- trklt_region_tracker->half_window_size = DEFAULT_WINDOW_HALFSIZE;
- trklt_region_tracker->max_iterations = max_iterations;
- trklt_region_tracker->min_determinant = 1e-4;
+ klt_region_tracker->half_window_size = half_window_size;
+ klt_region_tracker->max_iterations = max_iterations;
+ klt_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;
+ new libmv::PyramidRegionTracker(klt_region_tracker, pyramid_level);
- return configured_region_tracker;
+ return (libmv_RegionTracker *)region_tracker;
}
static void floatBufToImage(const float *buf, int width, int height, libmv::FloatImage *image)
@@ -267,18 +259,11 @@ static void saveBytesImage(char *prefix, unsigned char *data, int width, int hei
#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)
+ int width, int height, double x1, double y1, double *x2, double *y2)
{
- libmv::RegionTracker *region_tracker;
- libmv::TrkltRegionTracker *trklt_region_tracker;
+ libmv::RegionTracker *region_tracker = (libmv::RegionTracker *)libmv_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);
@@ -301,8 +286,9 @@ int libmv_regionTrackerTrack(libmv_RegionTracker *libmv_tracker, const float *im
void libmv_regionTrackerDestroy(libmv_RegionTracker *libmv_tracker)
{
- delete libmv_tracker->region_tracker;
- delete libmv_tracker;
+ libmv::RegionTracker *region_tracker= (libmv::RegionTracker *)libmv_tracker;
+
+ delete region_tracker;
}
/* ************ Tracks ************ */
@@ -353,8 +339,24 @@ void libmv_tracksDestroy(libmv_Tracks *libmv_tracks)
/* ************ Reconstruction solver ************ */
+int libmv_refineParametersAreValid(int parameters) {
+ return (parameters == (LIBMV_REFINE_FOCAL_LENGTH)) ||
+ (parameters == (LIBMV_REFINE_FOCAL_LENGTH |
+ LIBMV_REFINE_PRINCIPAL_POINT)) ||
+ (parameters == (LIBMV_REFINE_FOCAL_LENGTH |
+ LIBMV_REFINE_PRINCIPAL_POINT |
+ LIBMV_REFINE_RADIAL_DISTORTION_K1 |
+ LIBMV_REFINE_RADIAL_DISTORTION_K2)) ||
+ (parameters == (LIBMV_REFINE_FOCAL_LENGTH |
+ LIBMV_REFINE_RADIAL_DISTORTION_K1 |
+ LIBMV_REFINE_RADIAL_DISTORTION_K2)) ||
+ (parameters == (LIBMV_REFINE_FOCAL_LENGTH |
+ LIBMV_REFINE_RADIAL_DISTORTION_K1));
+}
+
+
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)
+ int refine_intrinsics, 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();
@@ -366,25 +368,43 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyfra
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));
- }
+ 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);
+ // printf("frames to init from: %d, %d\n", keyframe1, keyframe2);
libmv::vector<libmv::Marker> keyframe_markers =
normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
+ // printf("number of markers for init: %d\n", keyframe_markers.size());
libmv::EuclideanReconstructTwoFrames(keyframe_markers, reconstruction);
libmv::EuclideanBundle(normalized_tracks, reconstruction);
+
libmv::EuclideanCompleteReconstruction(normalized_tracks, reconstruction);
+ 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::EuclideanBundleCommonIntrinsics(*(libmv::Tracks *)tracks, libmv_refine_flags, reconstruction, intrinsics);
+ }
+
libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
@@ -608,6 +628,10 @@ void libmv_destroyFeatures(struct libmv_Features *libmv_features)
/* ************ camera intrinsics ************ */
+struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction) {
+ return (struct libmv_CameraIntrinsics *)&libmv_Reconstruction->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)
{
@@ -654,6 +678,16 @@ void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics
intrinsics->SetImageSize(width, height);
}
+void libmv_CameraIntrinsicsExtract(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;
+ *focal_length = intrinsics->focal_length();
+ *principal_x = intrinsics->principal_point_x();
+ *principal_y = intrinsics->principal_point_y();
+ *k1 = intrinsics->k1();
+ *k2 = intrinsics->k2();
+}
+
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels)
{
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-01 19:11:06 +0300