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Diffstat (limited to 'extern/libmv/libmv/autotrack/autotrack.h')
| -rw-r--r-- | extern/libmv/libmv/autotrack/autotrack.h | 226 |
1 files changed, 0 insertions, 226 deletions
diff --git a/extern/libmv/libmv/autotrack/autotrack.h b/extern/libmv/libmv/autotrack/autotrack.h deleted file mode 100644 index 1d7422f54e7..00000000000 --- a/extern/libmv/libmv/autotrack/autotrack.h +++ /dev/null @@ -1,226 +0,0 @@ -// Copyright (c) 2014 libmv authors. -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to -// deal in the Software without restriction, including without limitation the -// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or -// sell copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in -// all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS -// IN THE SOFTWARE. -// -// Author: mierle@gmail.com (Keir Mierle) - -#ifndef LIBMV_AUTOTRACK_AUTOTRACK_H_ -#define LIBMV_AUTOTRACK_AUTOTRACK_H_ - -#include "libmv/autotrack/tracks.h" -#include "libmv/autotrack/region.h" -#include "libmv/tracking/track_region.h" - -namespace libmv { -class CameraIntrinsics; -}; - -namespace mv { - -using libmv::CameraIntrinsics; -using libmv::TrackRegionOptions; -using libmv::TrackRegionResult; - -struct FrameAccessor; -class OperationListener; - -// The coordinator of all tracking operations; keeps track of all state -// relating to tracking and reconstruction; for example, 2D tracks and motion -// models, reconstructed cameras, points, and planes; tracking settings; etc. -// -// Typical usage for full autotrack: -// -// AutoTrack auto_track(image_accessor); -// auto_track.SetNumFramesInClip(0, 10); -// auto_track.SetNumFramesInClip(1, 54); -// auto_track.AutoTrack() -// -// It is also possible to specify options to control the reconstruction. -// Furthermore, the individual methods of reconstruction are exposed to make it -// possible to interact with the pipeline as it runs. For example, to track one -// marker across frames, -// -// AutoTrack auto_track(image_accessor); -// auto_track.SetNumFramesInClip(0, 10); -// auto_track.SetNumFramesInClip(1, 54); -// auto_track.AddMarker(...); -// auto_track.TrackMarkerToFrame(int clip1, int frame1, -// int clip2, int frame2, -// options?) -// -class AutoTrack { - public: - struct Options { - // Default configuration for 2D tracking when calling TrackMarkerToFrame(). - TrackRegionOptions track_region; - - // Default search window for region tracking, in absolute frame pixels. - Region search_region; - }; - - AutoTrack(FrameAccessor* frame_accessor) - : frame_accessor_(frame_accessor) {} - - // Marker manipulation. - // Clip manipulation. - - // Set the number of clips. These clips will get accessed from the frame - // accessor, matches between frames found, and a reconstruction created. - //void SetNumFrames(int clip, int num_frames); - - // Tracking & Matching - - // Find the marker for the track in the frame indicated by the marker. - // Caller maintains ownership of *result and *tracked_marker. - bool TrackMarker(Marker* tracked_marker, - TrackRegionResult* result, - const TrackRegionOptions* track_options=NULL); - - // Wrapper around Tracks API; however these may add additional processing. - void AddMarker(const Marker& tracked_marker); - void SetMarkers(vector<Marker>* markers); - bool GetMarker(int clip, int frame, int track, Marker* marker) const; - - // TODO(keir): Implement frame matching! This could be very cool for loop - // closing and connecting across clips. - //void MatchFrames(int clip1, int frame1, int clip2, int frame2) {} - - // Wrapper around the Reconstruction API. - // Returns the new ID. - int AddCameraIntrinsics(CameraIntrinsics* intrinsics) { - (void) intrinsics; - return 0; - } // XXX - int SetClipIntrinsics(int clip, int intrinsics) { - (void) clip; - (void) intrinsics; - return 0; - } // XXX - - enum Motion { - GENERAL_CAMERA_MOTION, - TRIPOD_CAMERA_MOTION, - }; - int SetClipMotion(int clip, Motion motion) { - (void) clip; - (void) motion; - return 0; - } // XXX - - // Decide what to refine for the given intrinsics. bundle_options is from - // bundle.h (e.g. BUNDLE_FOCAL_LENGTH | BUNDLE_RADIAL_K1). - void SetIntrinsicsRefine(int intrinsics, int bundle_options) { - (void) intrinsics; - (void) bundle_options; - } // XXX - - // Keyframe read/write. - struct ClipFrame { - int clip; - int frame; - }; - const vector<ClipFrame>& keyframes() { return keyframes_; } - void ClearKeyframes() { keyframes_.clear(); } - void SetKeyframes(const vector<ClipFrame>& keyframes) { - keyframes_ = keyframes; - } - - // What about reporting what happened? -- callbacks; maybe result struct. - void Reconstruct(); - - // Detect and track in 2D. - struct DetectAndTrackOptions { - int min_num_features; - }; - void DetectAndTrack(const DetectAndTrackOptions& options); - - struct DetectFeaturesInFrameOptions { - }; - void DetectFeaturesInFrame(int clip, int frame, - const DetectFeaturesInFrameOptions* options=NULL) { - (void) clip; - (void) frame; - (void) options; - } // XXX - - // Does not take ownership of the given listener, but keeps a reference to it. - void AddListener(OperationListener* listener) {(void) listener;} // XXX - - // Create the initial reconstruction, - //void FindInitialReconstruction(); - - // State machine - // - // Question: Have explicit state? Or determine state from existing data? - // Conclusion: Determine state from existing data. - // - // Preliminary state thoughts - // - // No tracks or markers - // - Tracks empty. - // - // Initial tracks found - // - All images have at least 5 tracks - // - // Ran RANSAC on tracks to mark inliers / outliers. - // - All images have at least 8 "inlier" tracks - // - // Detector matching run to close loops and match across clips - // - At least 5 matching tracks between clips - // - // Initial reconstruction found (2 frames)? - // - There exists two cameras with intrinsics / extrinsics - // - // Preliminary reconstruction finished - // - Poses for all frames in all clips estimated. - // - // Final reconstruction finished - // - Final reconstruction bundle adjusted. - - // For now, expose options directly. In the future this may change. - Options options; - - private: - bool Log(); - bool Progress(); - bool Cancelled() { return false; } - - Tracks tracks_; // May be normalized camera coordinates or raw pixels. - //Reconstruction reconstruction_; - - // TODO(keir): Add the motion models here. - //vector<MotionModel> motion_models_; - - // TODO(keir): Should num_clips and num_frames get moved to FrameAccessor? - // TODO(keir): What about masking for clips and frames to prevent various - // things like reconstruction or tracking from happening on certain frames? - FrameAccessor* frame_accessor_; - //int num_clips_; - //vector<int> num_frames_; // Indexed by clip. - - // The intrinsics for each clip, assuming each clip has fixed intrinsics. - // TODO(keir): Decide what the semantics should be for varying focal length. - vector<int> clip_intrinsics_; - - vector<ClipFrame> keyframes_; -}; - -} // namespace mv - -#endif // LIBMV_AUTOTRACK_AUTOTRACK_H_ |