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Diffstat (limited to 'intern/libmv/libmv/autotrack/autotrack.h')
| -rw-r--r-- | intern/libmv/libmv/autotrack/autotrack.h | 226 |
1 files changed, 226 insertions, 0 deletions
diff --git a/intern/libmv/libmv/autotrack/autotrack.h b/intern/libmv/libmv/autotrack/autotrack.h new file mode 100644 index 00000000000..1d7422f54e7 --- /dev/null +++ b/intern/libmv/libmv/autotrack/autotrack.h @@ -0,0 +1,226 @@ +// 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_ |