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Diffstat (limited to 'source/blender/blenkernel/intern/tracking.c')
| -rw-r--r-- | source/blender/blenkernel/intern/tracking.c | 2206 |
1 files changed, 2206 insertions, 0 deletions
diff --git a/source/blender/blenkernel/intern/tracking.c b/source/blender/blenkernel/intern/tracking.c new file mode 100644 index 00000000000..a834628641a --- /dev/null +++ b/source/blender/blenkernel/intern/tracking.c @@ -0,0 +1,2206 @@ +/* + * ***** BEGIN GPL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. + * + * The Original Code is Copyright (C) 2011 Blender Foundation. + * All rights reserved. + * + * Contributor(s): Blender Foundation, + * Sergey Sharybin + * + * ***** END GPL LICENSE BLOCK ***** + */ + +/** \file blender/blenkernel/intern/tracking.c + * \ingroup bke + */ + +#include <stddef.h> +#include <limits.h> +#include <math.h> +#include <memory.h> + +#include "MEM_guardedalloc.h" + +#include "DNA_gpencil_types.h" +#include "DNA_camera_types.h" +#include "DNA_movieclip_types.h" +#include "DNA_object_types.h" /* SELECT */ +#include "DNA_scene_types.h" + +#include "BLI_utildefines.h" +#include "BLI_math.h" +#include "BLI_math_base.h" +#include "BLI_listbase.h" +#include "BLI_ghash.h" +#include "BLI_path_util.h" + +#include "BKE_global.h" +#include "BKE_tracking.h" +#include "BKE_movieclip.h" +#include "BKE_object.h" +#include "BKE_scene.h" + +#include "IMB_imbuf_types.h" +#include "IMB_imbuf.h" + +#ifdef WITH_LIBMV +# include "libmv-capi.h" +#else +struct libmv_Features; +#endif + +typedef struct MovieDistortion { + struct libmv_CameraIntrinsics *intrinsics; +} MovieDistortion; + +/*********************** common functions *************************/ + +void BKE_tracking_clamp_track(MovieTrackingTrack *track, int event) +{ + int a; + float pat_min[2]; + float pat_max[2]; + float max_pyramid_level_factor = 1.0; + if (track->tracker == TRACKER_KLT) { + max_pyramid_level_factor = 1 << (track->pyramid_levels - 1); + } + + /* sort */ + for(a= 0; a<2; a++) { + if(track->pat_min[a]>track->pat_max[a]) + SWAP(float, track->pat_min[a], track->pat_max[a]); + + if(track->search_min[a]>track->search_max[a]) + SWAP(float, track->search_min[a], track->search_max[a]); + } + + /* compute the effective pattern size, which differs from the fine resolution + * pattern size for the pyramid KLT tracker */ + for(a= 0; a<2; a++) { + pat_min[a] = max_pyramid_level_factor * track->pat_min[a]; + pat_max[a] = max_pyramid_level_factor * track->pat_max[a]; + } + + if(event==CLAMP_PAT_DIM) { + for(a= 0; a<2; a++) { + /* search shouldn't be resized smaller than pattern */ + track->search_min[a]= MIN2(pat_min[a], track->search_min[a]); + track->search_max[a]= MAX2(pat_max[a], track->search_max[a]); + } + } + else if(event==CLAMP_PAT_POS) { + float dim[2]; + sub_v2_v2v2(dim, track->pat_max, pat_min); + + for(a= 0; a<2; a++) { + /* pattern shouldn't be moved outside of search */ + if(pat_min[a] < track->search_min[a]) { + track->pat_min[a]= track->search_min[a] - (pat_min[a] - track->pat_min[a]); + track->pat_max[a]= (pat_min[a] - track->pat_min[a])+dim[a]; + } + if(track->pat_max[a] > track->search_max[a]) { + track->pat_max[a]= track->search_max[a] - (pat_max[a] - track->pat_max[a]); + track->pat_min[a]= track->pat_max[a]-dim[a] - (pat_min[a] - track->pat_min[a]); + } + } + } + else if(event==CLAMP_SEARCH_DIM) { + float max_pyramid_level_factor = 1.0; + if (track->tracker == TRACKER_KLT) { + max_pyramid_level_factor = 1 << (track->pyramid_levels - 1); + } + for(a= 0; a<2; a++) { + /* search shouldn't be resized smaller than pattern */ + track->search_min[a]= MIN2(pat_min[a], track->search_min[a]); + track->search_max[a]= MAX2(pat_max[a], track->search_max[a]); + } + } + else if(event==CLAMP_SEARCH_POS) { + float dim[2]; + sub_v2_v2v2(dim, track->search_max, track->search_min); + + for(a= 0; a<2; a++) { + /* search shouldn't be moved inside pattern */ + if(track->search_min[a] > pat_min[a]) { + track->search_min[a]= pat_min[a]; + track->search_max[a]= track->search_min[a]+dim[a]; + } + if(track->search_max[a] < pat_max[a]) { + track->search_max[a]= pat_max[a]; + track->search_min[a]= track->search_max[a]-dim[a]; + } + } + } + + else if(event==CLAMP_PYRAMID_LEVELS || (event==CLAMP_SEARCH_DIM && track->tracker == TRACKER_KLT)) { + float dim[2]; + sub_v2_v2v2(dim, track->pat_max, track->pat_min); + { + float search_ratio = 2.3f * max_pyramid_level_factor; + + /* resize the search area to something sensible based + * on the number of pyramid levels */ + for(a= 0; a<2; a++) { + track->search_min[a]= search_ratio * track->pat_min[a]; + track->search_max[a]= search_ratio * track->pat_max[a]; + } + } + } + + /* marker's center should be in center of pattern */ + if(event==CLAMP_PAT_DIM || event==CLAMP_PAT_POS) { + float dim[2]; + sub_v2_v2v2(dim, track->pat_max, track->pat_min); + + for(a= 0; a<2; a++) { + track->pat_min[a]= -dim[a]/2.0f; + track->pat_max[a]= dim[a]/2.0f; + } + } +} + +void BKE_tracking_track_flag(MovieTrackingTrack *track, int area, int flag, int clear) +{ + if(area==TRACK_AREA_NONE) + return; + + if(clear) { + if(area&TRACK_AREA_POINT) track->flag&= ~flag; + if(area&TRACK_AREA_PAT) track->pat_flag&= ~flag; + if(area&TRACK_AREA_SEARCH) track->search_flag&= ~flag; + } else { + if(area&TRACK_AREA_POINT) track->flag|= flag; + if(area&TRACK_AREA_PAT) track->pat_flag|= flag; + if(area&TRACK_AREA_SEARCH) track->search_flag|= flag; + } +} + +MovieTrackingTrack *BKE_tracking_add_track(MovieTracking *tracking, float x, float y, + int framenr, int width, int height) +{ + MovieTrackingTrack *track; + MovieTrackingMarker marker; + + /* pick reasonable defaults */ + float pat[2]= {5.5f, 5.5f}, search[2]= {25.5f, 25.5f}; /* TODO: move to default setting? */ + + pat[0] /= (float)width; + pat[1] /= (float)height; + + search[0] /= (float)width; + search[1] /= (float)height; + + track= MEM_callocN(sizeof(MovieTrackingTrack), "add_marker_exec track"); + strcpy(track->name, "Track"); + + /* default to KLT tracker */ + track->tracker = TRACKER_KLT; + track->pyramid_levels = 2; + + /* set SAD defaults even though it's not selected by default */ + track->minimum_correlation= 0.75f; + + memset(&marker, 0, sizeof(marker)); + marker.pos[0]= x; + marker.pos[1]= y; + marker.framenr= framenr; + + copy_v2_v2(track->pat_max, pat); + negate_v2_v2(track->pat_min, pat); + + copy_v2_v2(track->search_max, search); + negate_v2_v2(track->search_min, search); + + BKE_tracking_insert_marker(track, &marker); + + BLI_addtail(&tracking->tracks, track); + BKE_track_unique_name(tracking, track); + + return track; +} + +void BKE_tracking_insert_marker(MovieTrackingTrack *track, MovieTrackingMarker *marker) +{ + MovieTrackingMarker *old_marker= BKE_tracking_get_marker(track, marker->framenr); + + if(old_marker && old_marker->framenr==marker->framenr) { + *old_marker= *marker; + } else { + int a= track->markersnr; + + while(a--) { + if(track->markers[a].framenr<marker->framenr) + break; + } + + track->markersnr++; + + if(track->markers) track->markers= MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr); + else track->markers= MEM_callocN(sizeof(MovieTrackingMarker), "MovieTracking markers"); + + memmove(track->markers+a+2, track->markers+a+1, (track->markersnr-a-2)*sizeof(MovieTrackingMarker)); + track->markers[a+1]= *marker; + + track->last_marker= a+1; + } +} + +void BKE_tracking_delete_marker(MovieTrackingTrack *track, int framenr) +{ + int a= 0; + + while(a<track->markersnr) { + if(track->markers[a].framenr==framenr) { + if(track->markersnr>1) { + memmove(track->markers+a, track->markers+a+1, (track->markersnr-a-1)*sizeof(MovieTrackingMarker)); + track->markersnr--; + track->markers= MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr); + } else { + MEM_freeN(track->markers); + track->markers= NULL; + track->markersnr= 0; + } + + break; + } + + a++; + } +} + +MovieTrackingMarker *BKE_tracking_get_marker(MovieTrackingTrack *track, int framenr) +{ + int a= track->markersnr-1; + + if(!track->markersnr) + return NULL; + + /* approximate pre-first framenr marker with first marker */ + if(framenr<track->markers[0].framenr) + return &track->markers[0]; + + if(track->last_marker<track->markersnr) + a= track->last_marker; + + if(track->markers[a].framenr<=framenr) { + while(a<track->markersnr && track->markers[a].framenr<=framenr) { + if(track->markers[a].framenr==framenr) { + track->last_marker= a; + return &track->markers[a]; + } + a++; + } + + /* if there's no marker for exact position, use nearest marker from left side */ + return &track->markers[a-1]; + } else { + while(a>=0 && track->markers[a].framenr>=framenr) { + if(track->markers[a].framenr==framenr) { + track->last_marker= a; + return &track->markers[a]; + } + + a--; + } + + /* if there's no marker for exact position, use nearest marker from left side */ + return &track->markers[a]; + } + + return NULL; +} + +MovieTrackingMarker *BKE_tracking_ensure_marker(MovieTrackingTrack *track, int framenr) +{ + MovieTrackingMarker *marker= BKE_tracking_get_marker(track, framenr); + + if(marker && marker->framenr!=framenr) { + MovieTrackingMarker marker_new; + + marker_new= *marker; + marker_new.framenr= framenr; + + BKE_tracking_insert_marker(track, &marker_new); + marker= BKE_tracking_get_marker(track, framenr); + } + + return marker; +} + +MovieTrackingMarker *BKE_tracking_exact_marker(MovieTrackingTrack *track, int framenr) +{ + MovieTrackingMarker *marker= BKE_tracking_get_marker(track, framenr); + + if(marker && marker->framenr!=framenr) + return NULL; + + return marker; +} + +int BKE_tracking_has_marker(MovieTrackingTrack *track, int framenr) +{ + return BKE_tracking_exact_marker(track, framenr) != 0; +} + +void BKE_tracking_free_track(MovieTrackingTrack *track) +{ + if(track->markers) MEM_freeN(track->markers); +} + +MovieTrackingTrack *BKE_tracking_copy_track(MovieTrackingTrack *track) +{ + MovieTrackingTrack *new_track= MEM_dupallocN(track); + + new_track->next= new_track->prev= NULL; + + if(new_track->markers) + new_track->markers= MEM_dupallocN(new_track->markers); + + return new_track; +} + +static void put_disabled_marker(MovieTrackingTrack *track, MovieTrackingMarker *ref_marker, int before, int overwrite) +{ + MovieTrackingMarker marker_new; + + marker_new= *ref_marker; + marker_new.flag&= ~MARKER_TRACKED; + marker_new.flag|= MARKER_DISABLED; + + if(before) marker_new.framenr--; + else marker_new.framenr++; + + if(!BKE_tracking_has_marker(track, marker_new.framenr) || overwrite) + BKE_tracking_insert_marker(track, &marker_new); +} + +void BKE_tracking_clear_path(MovieTrackingTrack *track, int ref_frame, int action) +{ + int a; + + if(action==TRACK_CLEAR_REMAINED) { + a= 1; + while(a<track->markersnr) { + if(track->markers[a].framenr>ref_frame) { + track->markersnr= a; + track->markers= MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr); + + break; + } + + a++; + } + + if(track->markersnr) + put_disabled_marker(track, &track->markers[track->markersnr-1], 0, 1); + } else if(action==TRACK_CLEAR_UPTO) { + a= track->markersnr-1; + while(a>=0) { + if(track->markers[a].framenr<=ref_frame) { + memmove(track->markers, track->markers+a, (track->markersnr-a)*sizeof(MovieTrackingMarker)); + + track->markersnr= track->markersnr-a; + track->markers= MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr); + + break; + } + + a--; + } + + if(track->markersnr) + put_disabled_marker(track, &track->markers[0], 1, 1); + } else if(action==TRACK_CLEAR_ALL) { + MovieTrackingMarker *marker, marker_new; + + marker= BKE_tracking_get_marker(track, ref_frame); + marker_new= *marker; + + MEM_freeN(track->markers); + track->markers= NULL; + track->markersnr= 0; + + BKE_tracking_insert_marker(track, &marker_new); + + put_disabled_marker(track, &marker_new, 1, 1); + put_disabled_marker(track, &marker_new, 0, 1); + } +} + +int BKE_tracking_test_join_tracks(MovieTrackingTrack *dst_track, MovieTrackingTrack *src_track) +{ + int i, a= 0, b= 0, tot= dst_track->markersnr+src_track->markersnr; + int count= 0; + + for(i= 0; i<tot; i++) { + if(a>=src_track->markersnr) { + b++; + count++; + } + else if(b>=dst_track->markersnr) { + a++; + count++; + } + else if(src_track->markers[a].framenr<dst_track->markers[b].framenr) { + a++; + count++; + } else if(src_track->markers[a].framenr>dst_track->markers[b].framenr) { + b++; + count++; + } else { + if((src_track->markers[a].flag&MARKER_DISABLED)==0 && (dst_track->markers[b].flag&MARKER_DISABLED)==0) + return 0; + + a++; + b++; + count++; + } + } + + return count; +} + +void BKE_tracking_join_tracks(MovieTrackingTrack *dst_track, MovieTrackingTrack *src_track) +{ + int i, a= 0, b= 0, tot; + MovieTrackingMarker *markers; + + tot= BKE_tracking_test_join_tracks(dst_track, src_track); + + markers= MEM_callocN(tot*sizeof(MovieTrackingMarker), "tracking joined tracks"); + + for(i= 0; i<tot; i++) { + if(b>=dst_track->markersnr) { + markers[i]= src_track->markers[a++]; + } + else if(a>=src_track->markersnr) { + markers[i]= dst_track->markers[b++]; + } + else if(src_track->markers[a].framenr<dst_track->markers[b].framenr) { + markers[i]= src_track->markers[a++]; + } else if(src_track->markers[a].framenr>dst_track->markers[b].framenr) { + markers[i]= dst_track->markers[b++]; + } else { + if((src_track->markers[a].flag&MARKER_DISABLED)) markers[i]= dst_track->markers[b]; + else markers[i]= src_track->markers[a++]; + + a++; + b++; + } + } + + MEM_freeN(dst_track->markers); + + dst_track->markers= markers; + dst_track->markersnr= tot; +} + +void BKE_tracking_free(MovieTracking *tracking) +{ + MovieTrackingTrack *track; + + for(track= tracking->tracks.first; track; track= track->next) { + BKE_tracking_free_track(track); + } + + BLI_freelistN(&tracking->tracks); + + if(tracking->reconstruction.cameras) + MEM_freeN(tracking->reconstruction.cameras); + + if(tracking->stabilization.scaleibuf) + IMB_freeImBuf(tracking->stabilization.scaleibuf); + + if(tracking->camera.intrinsics) + BKE_tracking_distortion_destroy(tracking->camera.intrinsics); +} + +/*********************** tracking *************************/ + +typedef struct TrackContext { + MovieTrackingTrack *track; + +#ifdef WITH_LIBMV + float keyframed_pos[2]; + + /* ** KLT tracker ** */ + struct libmv_RegionTracker *region_tracker; + float *patch; /* keyframed patch */ + + /* ** SAD tracker ** */ + int patsize; /* size of pattern (currently only 16x16 due to libmv side) */ + unsigned char *pattern; /* keyframed pattern */ + unsigned char *warped; /* warped version of reference */ +#endif +} TrackContext; + +typedef struct MovieTrackingContext { + MovieClipUser user; + MovieClip *clip; + + int first_time, frames; + + TrackContext *track_context; + int num_tracks; + + GHash *hash; + MovieTrackingSettings settings; + + short backwards, disable_failed; + int sync_frame; +} MovieTrackingContext; + +MovieTrackingContext *BKE_tracking_context_new(MovieClip *clip, MovieClipUser *user, short backwards, short disable_failed) +{ + MovieTrackingContext *context= MEM_callocN(sizeof(MovieTrackingContext), "trackingContext"); + MovieTracking *tracking= &clip->tracking; + MovieTrackingSettings *settings= &tracking->settings; + MovieTrackingTrack *track; + TrackContext *track_context; + + context->settings= *settings; + context->backwards= backwards; + context->disable_failed= disable_failed; + context->hash= BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp, "tracking trackHash"); + context->sync_frame= user->framenr; + context->first_time= 1; + + /* count */ + track= tracking->tracks.first; + while(track) { + if(TRACK_SELECTED(track) && (track->flag&TRACK_LOCKED)==0) { + MovieTrackingMarker *marker= BKE_tracking_get_marker(track, user->framenr); + + if((marker->flag&MARKER_DISABLED)==0) + context->num_tracks++; + } + + track= track->next; + } + + if(context->num_tracks) { + int width, height; + + BKE_movieclip_get_size(clip, user, &width, &height); + + /* create tracking data */ + context->track_context= MEM_callocN(sizeof(TrackContext)*context->num_tracks, "tracking track_context"); + + track_context= context->track_context; + track= tracking->tracks.first; + while(track) { + if(TRACK_SELECTED(track) && (track->flag&TRACK_LOCKED)==0) { + MovieTrackingMarker *marker= BKE_tracking_get_marker(track, user->framenr); + + if((marker->flag&MARKER_DISABLED)==0) { + MovieTrackingTrack *new_track= BKE_tracking_copy_track(track); + + track_context->track= new_track; +#ifdef WITH_LIBMV + { + if(track_context->track->tracker==TRACKER_KLT) { + float search_size_x= (track->search_max[0]-track->search_min[0])*width; + float search_size_y= (track->search_max[1]-track->search_min[1])*height; + float pattern_size_x= (track->pat_max[0]-track->pat_min[0])*width; + float pattern_size_y= (track->pat_max[1]-track->pat_min[1])*height; + + /* compute the maximum pyramid size */ + double search_to_pattern_ratio= MIN2(search_size_x, search_size_y) + / MAX2(pattern_size_x, pattern_size_y); + double log2_search_to_pattern_ratio = log(floor(search_to_pattern_ratio)) / M_LN2; + int max_pyramid_levels= floor(log2_search_to_pattern_ratio + 1); + + /* try to accomodate the user's choice of pyramid level in a way + * that doesn't cause the coarsest pyramid pattern to be larger + * than the search size */ + int level= MIN2(track_context->track->pyramid_levels, max_pyramid_levels); + track_context->region_tracker= libmv_regionTrackerNew(100, level); + } + else if(track_context->track->tracker==TRACKER_SAD) { + /* nothing to initialize */ + } + } +#endif + + BLI_ghash_insert(context->hash, new_track, track); + + track_context++; + } + } + + track= track->next; + } + } + + context->clip= clip; + context->user= *user; + + return context; +} + +void BKE_tracking_context_free(MovieTrackingContext *context) +{ + int a; + TrackContext *track_context; + + for(a= 0, track_context= context->track_context; a<context->num_tracks; a++, track_context++) { + BKE_tracking_free_track(context->track_context[a].track); + +#if WITH_LIBMV + if(track_context->region_tracker) + libmv_regionTrackerDestroy(track_context->region_tracker); + + if(track_context->patch) + MEM_freeN(track_context->patch); + + if(track_context->pattern) + MEM_freeN(track_context->pattern); + + if(track_context->warped) + MEM_freeN(track_context->warped); +#endif + + MEM_freeN(track_context->track); + } + + if(context->track_context) + MEM_freeN(context->track_context); + + BLI_ghash_free(context->hash, NULL, NULL); + + MEM_freeN(context); +} + +static void disable_imbuf_channels(ImBuf *ibuf, MovieTrackingTrack *track) +{ + int x, y; + + if((track->flag&(TRACK_DISABLE_RED|TRACK_DISABLE_GREEN|TRACK_DISABLE_BLUE))==0) + return; + + for(y= 0; y<ibuf->y; y++) { + for (x= 0; x<ibuf->x; x++) { + int pixel= ibuf->x*y + x; + + if(ibuf->rect_float) { + float *rrgbf= ibuf->rect_float + pixel*4; + + if(track->flag&TRACK_DISABLE_RED) rrgbf[0]= 0; + if(track->flag&TRACK_DISABLE_GREEN) rrgbf[1]= 0; + if(track->flag&TRACK_DISABLE_BLUE) rrgbf[2]= 0; + } else { + char *rrgb= (char*)ibuf->rect + pixel*4; + + if(track->flag&TRACK_DISABLE_RED) rrgb[0]= 0; + if(track->flag&TRACK_DISABLE_GREEN) rrgb[1]= 0; + if(track->flag&TRACK_DISABLE_BLUE) rrgb[2]= 0; + } + } + } +} + +static ImBuf *get_area_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker, + float min[2], float max[2], int margin, int anchored, float pos[2], int origin[2]) +{ + ImBuf *tmpibuf; + int x, y; + int x1, y1, x2, y2, w, h; + float mpos[2]; + + copy_v2_v2(mpos, marker->pos); + if(anchored) + add_v2_v2(mpos, track->offset); + + x= mpos[0]*ibuf->x; + y= mpos[1]*ibuf->y; + x1= x-(int)(-min[0]*ibuf->x); + y1= y-(int)(-min[1]*ibuf->y); + x2= x+(int)(max[0]*ibuf->x); + y2= y+(int)(max[1]*ibuf->y); + + /* dimensions should be odd */ + w= (x2-x1)|1; + h= (y2-y1)|1; + + tmpibuf= IMB_allocImBuf(w+margin*2, h+margin*2, 32, IB_rect); + IMB_rectcpy(tmpibuf, ibuf, 0, 0, x1-margin, y1-margin, w+margin*2, h+margin*2); + + if(pos != NULL) { + pos[0]= mpos[0]*ibuf->x-x1+margin; + pos[1]= mpos[1]*ibuf->y-y1+margin; + } + + if(origin != NULL) { + origin[0]= x1-margin; + origin[1]= y1-margin; + } + + disable_imbuf_channels(tmpibuf, track); + + return tmpibuf; +} + +ImBuf *BKE_tracking_get_pattern_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker, + int margin, int anchored, float pos[2], int origin[2]) +{ + return get_area_imbuf(ibuf, track, marker, track->pat_min, track->pat_max, margin, anchored, pos, origin); +} + +ImBuf *BKE_tracking_get_search_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker, + int margin, int anchored, float pos[2], int origin[2]) +{ + return get_area_imbuf(ibuf, track, marker, track->search_min, track->search_max, margin, anchored, pos, origin); +} + +#ifdef WITH_LIBMV +static float *get_search_floatbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker, + int *width_r, int *height_r, float pos[2], int origin[2]) +{ + ImBuf *tmpibuf; + float *pixels, *fp; + int x, y, width, height; + + width= (track->search_max[0]-track->search_min[0])*ibuf->x; + height= (track->search_max[1]-track->search_min[1])*ibuf->y; + + tmpibuf= BKE_tracking_get_search_imbuf(ibuf, track, marker, 0, 0, pos, origin); + disable_imbuf_channels(tmpibuf, track); + + *width_r= width; + *height_r= height; + + fp= pixels= MEM_callocN(width*height*sizeof(float), "tracking floatBuf"); + for(y= 0; y<(int)height; y++) { + for (x= 0; x<(int)width; x++) { + int pixel= tmpibuf->x*y + x; + + if(tmpibuf->rect_float) { + float *rrgbf= tmpibuf->rect_float + pixel*4; + + *fp= 0.2126*rrgbf[0] + 0.7152*rrgbf[1] + 0.0722*rrgbf[2]; + } else { + unsigned char *rrgb= (unsigned char*)tmpibuf->rect + pixel*4; + + *fp= (0.2126*rrgb[0] + 0.7152*rrgb[1] + 0.0722*rrgb[2])/255.0f; + } + + fp++; + } + } + + IMB_freeImBuf(tmpibuf); + + return pixels; +} + +static unsigned char *get_ucharbuf(ImBuf *ibuf) +{ + int x, y; + unsigned char *pixels, *cp; + + cp= pixels= MEM_callocN(ibuf->x*ibuf->y*sizeof(unsigned char), "tracking ucharBuf"); + for(y= 0; y<ibuf->y; y++) { + for (x= 0; x<ibuf->x; x++) { + int pixel= ibuf->x*y + x; + + if(ibuf->rect_float) { + float *rrgbf= ibuf->rect_float + pixel*4; + + *cp= FTOCHAR(0.2126f*rrgbf[0] + 0.7152f*rrgbf[1] + 0.0722f*rrgbf[2]); + } else { + unsigned char *rrgb= (unsigned char*)ibuf->rect + pixel*4; + + *cp= 0.2126f*rrgb[0] + 0.7152f*rrgb[1] + 0.0722f*rrgb[2]; + } + + cp++; + } + } + + return pixels; +} + +static unsigned char *get_search_bytebuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker, + int *width_r, int *height_r, float pos[2], int origin[2]) +{ + ImBuf *tmpibuf; + unsigned char *pixels; + + tmpibuf= BKE_tracking_get_search_imbuf(ibuf, track, marker, 0, 0, pos, origin); + disable_imbuf_channels(tmpibuf, track); + + *width_r= tmpibuf->x; + *height_r= tmpibuf->y; + + pixels= get_ucharbuf(tmpibuf); + + IMB_freeImBuf(tmpibuf); + + return pixels; +} + +static ImBuf *get_frame_ibuf(MovieTrackingContext *context, int framenr) +{ + ImBuf *ibuf; + int framenr_old= context->user.framenr; + + context->user.framenr= framenr; + + ibuf= BKE_movieclip_get_ibuf_flag(context->clip, &context->user, 0); + + context->user.framenr= framenr_old; + + return ibuf; +} + +static ImBuf *get_keyframed_ibuf(MovieTrackingContext *context, MovieTrackingTrack *track, + MovieTrackingMarker *marker, MovieTrackingMarker **marker_keyed) +{ + int framenr= marker->framenr; + int a= marker-track->markers; + + *marker_keyed= marker; + + while(a>=0 && a<track->markersnr) { + int next= (context->backwards) ? a+1 : a-1; + int is_keyframed= 0; + MovieTrackingMarker *marker= &track->markers[a]; + MovieTrackingMarker *next_marker= NULL; + + if(next>=0 && next<track->markersnr) + next_marker= &track->markers[next]; + + /* if next mrker is disabled, stop searching keyframe and use current frame as keyframe */ + if(next_marker && next_marker->flag&MARKER_DISABLED) + is_keyframed= 1; + + is_keyframed|= (marker->flag&MARKER_TRACKED)==0; + + if(is_keyframed) { + framenr= marker->framenr; + *marker_keyed= marker; + break; + } + + a= next; + } + + return get_frame_ibuf(context, framenr); +} + +static ImBuf *get_adjust_ibuf(MovieTrackingContext *context, MovieTrackingTrack *track, MovieTrackingMarker *marker, + int curfra, MovieTrackingMarker **marker_keyed) +{ + ImBuf *ibuf= NULL; + + if(context->settings.adjframes == 0) { + ibuf= get_keyframed_ibuf(context, track, marker, marker_keyed); + } else { + ibuf= get_frame_ibuf(context, curfra); + + /* use current marker as keyframed position */ + *marker_keyed= marker; + } + + return ibuf; +} + +static void get_warped(TrackContext *track_context, int x, int y, int width, unsigned char *image) +{ + int i, j; + + for(i=0; i<track_context->patsize; i++) { + for(j=0; j<track_context->patsize; j++) { + track_context->warped[i*track_context->patsize+j]= + image[(y+i-track_context->patsize/2)*width+x+j-track_context->patsize/2]; + } + } +} + +#endif + +void BKE_tracking_sync(MovieTrackingContext *context) +{ + TrackContext *track_context; + MovieTracking *tracking= &context->clip->tracking; + MovieTrackingTrack *track; + ListBase tracks= {NULL, NULL}, new_tracks= {NULL, NULL}; + ListBase *old_tracks= &context->clip->tracking.tracks; + int a, newframe; + + /* duplicate currently tracking tracks to temporary list. + this is needed to keep names in unique state and it's faster to change names + of currently tracking tracks (if needed) */ + for(a= 0, track_context= context->track_context; a<context->num_tracks; a++, track_context++) { + int replace_sel= 0; + MovieTrackingTrack *new_track, *old; + + track= track_context->track; + + /* find original of tracking track in list of previously displayed tracks */ + old= BLI_ghash_lookup(context->hash, track); + if(old) { + MovieTrackingTrack *cur= old_tracks->first; + + while(cur) { + if(cur==old) + break; + + cur= cur->next; + } + + /* original track was found, re-use flags and remove this track */ + if(cur) { + if(cur==tracking->act_track) + replace_sel= 1; + + track->flag= cur->flag; + track->pat_flag= cur->pat_flag; + track->search_flag= cur->search_flag; + + BKE_tracking_free_track(cur); + BLI_freelinkN(old_tracks, cur); + } + } + + new_track= BKE_tracking_copy_track(track); + + BLI_ghash_remove(context->hash, track, NULL, NULL); /* XXX: are we actually need this */ + BLI_ghash_insert(context->hash, track, new_track); + + if(replace_sel) /* update current selection in clip */ + tracking->act_track= new_track; + + BLI_addtail(&tracks, new_track); + } + + /* move all tracks, which aren't tracking */ + track= old_tracks->first; + while(track) { + MovieTrackingTrack *next= track->next; + + track->next= track->prev= NULL; + BLI_addtail(&new_tracks, track); + + track= next; + } + + /* now move all tracks which are currently tracking and keep their names unique */ + track= tracks.first; + while(track) { + MovieTrackingTrack *next= track->next; + + BLI_remlink(&tracks, track); + + track->next= track->prev= NULL; + BLI_addtail(&new_tracks, track); + + BLI_uniquename(&new_tracks, track, "Track", '.', offsetof(MovieTrackingTrack, name), sizeof(track->name)); + + track= next; + } + + context->clip->tracking.tracks= new_tracks; + + if(context->backwards) newframe= context->user.framenr+1; + else newframe= context->user.framenr-1; + + context->sync_frame= newframe; +} + +void BKE_tracking_sync_user(MovieClipUser *user, MovieTrackingContext *context) +{ + user->framenr= context->sync_frame; +} + +int BKE_tracking_next(MovieTrackingContext *context) +{ + ImBuf *ibuf_new; + int curfra= context->user.framenr; + int a, ok= 0; + + /* nothing to track, avoid unneeded frames reading to save time and memory */ + if(!context->num_tracks) + return 0; + + if(context->backwards) context->user.framenr--; + else context->user.framenr++; + + ibuf_new= BKE_movieclip_get_ibuf_flag(context->clip, &context->user, 0); + if(!ibuf_new) + return 0; + + #pragma omp parallel for private(a) shared(ibuf_new, ok) if(context->num_tracks>1) + for(a= 0; a<context->num_tracks; a++) { + TrackContext *track_context= &context->track_context[a]; + MovieTrackingTrack *track= track_context->track; + MovieTrackingMarker *marker= BKE_tracking_get_marker(track, curfra); + + if(marker && (marker->flag&MARKER_DISABLED)==0 && marker->framenr==curfra) { +#ifdef WITH_LIBMV + int width, height, origin[2], tracked= 0, need_readjust= 0; + float pos[2], margin[2]; + double x1, y1, x2, y2; + ImBuf *ibuf= NULL; + MovieTrackingMarker marker_new, *marker_keyed; + int onbound= 0, coords_correct= 0; + int nextfra; + + if(!context->settings.adjframes) need_readjust= context->first_time; + else need_readjust= context->frames%context->settings.adjframes == 0; + + if(context->backwards) nextfra= curfra-1; + else nextfra= curfra+1; + + /* margin from frame boundaries */ + sub_v2_v2v2(margin, track->pat_max, track->pat_min); + + margin[0]= MAX2(margin[0], (float)context->settings.margin / ibuf_new->x); + margin[1]= MAX2(margin[1], (float)context->settings.margin / ibuf_new->y); + + /* do not track markers which are too close to boundary */ + if(marker->pos[0]<margin[0] || marker->pos[0]>1.0f-margin[0] || + marker->pos[1]<margin[1] || marker->pos[1]>1.0f-margin[1]) { + onbound= 1; + } + else if(track_context->track->tracker==TRACKER_KLT) { + int wndx, wndy; + float *patch_new; + + if(need_readjust) { + /* calculate patch for keyframed position */ + ibuf= get_adjust_ibuf(context, track, marker, curfra, &marker_keyed); + + if(track_context->patch) + MEM_freeN(track_context->patch); + + track_context->patch= get_search_floatbuf(ibuf, track, marker_keyed, &width, &height, track_context->keyframed_pos, origin); + + IMB_freeImBuf(ibuf); + } + + patch_new= get_search_floatbuf(ibuf_new, track, marker, &width, &height, pos, origin); + + x1= track_context->keyframed_pos[0]; + y1= track_context->keyframed_pos[1]; + + x2= pos[0]; + y2= pos[1]; + + wndx= (int)((track->pat_max[0]-track->pat_min[0])*ibuf_new->x)/2; + wndy= (int)((track->pat_max[1]-track->pat_min[1])*ibuf_new->y)/2; + + tracked= libmv_regionTrackerTrack(track_context->region_tracker, track_context->patch, patch_new, + width, height, MAX2(wndx, wndy), x1, y1, &x2, &y2); + + MEM_freeN(patch_new); + } + else if(track_context->track->tracker==TRACKER_SAD) { + unsigned char *image_new; + float correlation; + float warp[3][2]={{0}}; + + if(need_readjust) { + unsigned char *image; + + /* calculate pattern for keyframed position */ + ibuf= get_adjust_ibuf(context, track, marker, curfra, &marker_keyed); + + image= get_search_bytebuf(ibuf, track, marker_keyed, &width, &height, pos, origin); + + memset(warp, 0, sizeof(warp)); + warp[0][0]= 1; + warp[1][1]= 1; + warp[2][0]= pos[0]; + warp[2][1]= pos[1]; + + /* pattern size is hardcoded to 16x16px in libmv */ + track_context->patsize= 16; + + if(!track_context->pattern) + track_context->pattern= MEM_callocN(sizeof(unsigned char)*track_context->patsize*track_context->patsize, "trackking pattern"); + + libmv_SADSamplePattern(image, width, warp, track_context->pattern); + + MEM_freeN(image); + IMB_freeImBuf(ibuf); + } + + image_new= get_search_bytebuf(ibuf_new, track, marker, &width, &height, pos, origin); + + if(track_context->warped==NULL) { + unsigned char *image_old; + + ibuf= get_frame_ibuf(context, curfra); + + if(track_context->warped==NULL) + track_context->warped= MEM_callocN(sizeof(unsigned char)*track_context->patsize*track_context->patsize, "trackking warped"); + + image_old= get_search_bytebuf(ibuf, track, marker, &width, &height, pos, origin); + get_warped(track_context, pos[0], pos[1], width, image_old); + IMB_freeImBuf(ibuf); + MEM_freeN(image_old); + } + + memset(warp, 0, sizeof(warp)); + warp[0][0]= 1; + warp[1][1]= 1; + warp[2][0]= pos[0]; + warp[2][1]= pos[1]; + + correlation= libmv_SADTrackerTrack(track_context->pattern, track_context->warped, image_new, width, width, height, warp); + + x2= warp[2][0]; + y2= warp[2][1]; + + tracked= track_context->track->minimum_correlation < correlation; + + if(tracked) + get_warped(track_context, x2, y2, width, image_new); + + MEM_freeN(image_new); + } + + coords_correct= !isnan(x2) && !isnan(y2) && finite(x2) && finite(y2); + if(coords_correct && (tracked || !context->disable_failed)) { + if(context->first_time) { + #pragma omp critical + { + /* check if there's no keyframe/tracked markers before tracking marker. + if so -- create disabled marker before currently tracking "segment" */ + put_disabled_marker(track, marker, 1, 0); + } + } + + memset(&marker_new, 0, sizeof(marker_new)); + + if(!onbound) { + marker_new.pos[0]= (origin[0]+x2)/ibuf_new->x; + marker_new.pos[1]= (origin[1]+y2)/ibuf_new->y; + } else { + copy_v2_v2(marker_new.pos, marker->pos); + } + + marker_new.flag|= MARKER_TRACKED; + marker_new.framenr= nextfra; + + #pragma omp critical + { + BKE_tracking_insert_marker(track, &marker_new); + } + + /* make currently tracked segment be finished with disabled marker */ + #pragma omp critical + { + put_disabled_marker(track, &marker_new, 0, 0); + } + } else { + marker_new= *marker; + + marker_new.framenr= nextfra; + marker_new.flag|= MARKER_DISABLED; + + #pragma omp critical + { + BKE_tracking_insert_marker(track, &marker_new); + } + } + + ok= 1; +#endif + } + } + + IMB_freeImBuf(ibuf_new); + + context->first_time= 0; + context->frames++; + + return ok; +} + +#if WITH_LIBMV +static struct libmv_Tracks *create_libmv_tracks(MovieTracking *tracking, int width, int height) +{ + int tracknr= 0; + MovieTrackingTrack *track; + struct libmv_Tracks *tracks= libmv_tracksNew(); + + track= tracking->tracks.first; + while(track) { + int a= 0; + + for(a= 0; a<track->markersnr; a++) { + MovieTrackingMarker *marker= &track->markers[a]; + + if((marker->flag&MARKER_DISABLED)==0) + libmv_tracksInsert(tracks, marker->framenr, tracknr, + marker->pos[0]*width, marker->pos[1]*height); + } + + track= track->next; + tracknr++; + } + + return tracks; +} + +static int retrieve_libmv_reconstruct(MovieTracking *tracking, struct libmv_Reconstruction *libmv_reconstruction) +{ + int tracknr= 0; + int sfra= INT_MAX, efra= INT_MIN, a, origin_set= 0; + MovieTrackingTrack *track; + MovieTrackingReconstruction *reconstruction= &tracking->reconstruction; + MovieReconstructedCamera *reconstructed; + float origin[3]= {0.0f, 0.0f, 0.0f}; + int ok= 1; + + track= tracking->tracks.first; + while(track) { + double pos[3]; + + if(libmv_reporojectionPointForTrack(libmv_reconstruction, tracknr, pos)) { + track->bundle_pos[0]= pos[0]; + track->bundle_pos[1]= pos[1]; + track->bundle_pos[2]= pos[2]; + + track->flag|= TRACK_HAS_BUNDLE; + track->error= libmv_reporojectionErrorForTrack(libmv_reconstruction, tracknr); + } else { + track->flag&= ~TRACK_HAS_BUNDLE; + ok= 0; + + printf("No bundle for track #%d '%s'\n", tracknr, track->name); + } + + if(track->markersnr) { + if(track->markers[0].framenr<sfra) sfra= track->markers[0].framenr; + if(track->markers[track->markersnr-1].framenr>efra) efra= track->markers[track->markersnr-1].framenr; + } + + track= track->next; + tracknr++; + } + + if(reconstruction->cameras) + MEM_freeN(reconstruction->cameras); + + reconstruction->camnr= 0; + reconstruction->cameras= NULL; + reconstructed= MEM_callocN((efra-sfra+1)*sizeof(MovieReconstructedCamera), "temp reconstructed camera"); + + for(a= sfra; a<=efra; a++) { + double matd[4][4]; + + if(libmv_reporojectionCameraForImage(libmv_reconstruction, a, matd)) { + int i, j; + float mat[4][4]; + float error= libmv_reporojectionErrorForImage(libmv_reconstruction, a); + + for(i=0; i<4; i++) + for(j= 0; j<4; j++) + mat[i][j]= matd[i][j]; + + if(!origin_set) { + copy_v3_v3(origin, mat[3]); + origin_set= 1; + } + + if(origin_set) + sub_v3_v3(mat[3], origin); + + copy_m4_m4(reconstructed[reconstruction->camnr].mat, mat); + reconstructed[reconstruction->camnr].framenr= a; + reconstructed[reconstruction->camnr].error= error; + reconstruction->camnr++; + } else { + ok= 0; + printf("No camera for frame %d\n", a); + } + } + + if(reconstruction->camnr) { + reconstruction->cameras= MEM_callocN(reconstruction->camnr*sizeof(MovieReconstructedCamera), "reconstructed camera"); + memcpy(reconstruction->cameras, reconstructed, reconstruction->camnr*sizeof(MovieReconstructedCamera)); + } + + if(origin_set) { + track= tracking->tracks.first; + while(track) { + if(track->flag&TRACK_HAS_BUNDLE) + sub_v3_v3(track->bundle_pos, origin); + + track= track->next; + } + } + + MEM_freeN(reconstructed); + + return ok; +} + +#endif + +float BKE_tracking_solve_reconstruction(MovieTracking *tracking, int width, int height) +{ +#if WITH_LIBMV + { + MovieTrackingCamera *camera= &tracking->camera; + float aspy= 1.0f/tracking->camera.pixel_aspect; + struct libmv_Tracks *tracks= create_libmv_tracks(tracking, width, height*aspy); + struct libmv_Reconstruction *reconstruction = libmv_solveReconstruction(tracks, + tracking->settings.keyframe1, tracking->settings.keyframe2, + camera->focal, + camera->principal[0], camera->principal[1]*aspy, + camera->k1, camera->k2, camera->k3); + float error= libmv_reprojectionError(reconstruction); + + tracking->reconstruction.error= error; + + if(!retrieve_libmv_reconstruct(tracking, reconstruction)) + error= -1.0f; + + libmv_destroyReconstruction(reconstruction); + libmv_tracksDestroy(tracks); + + tracking->reconstruction.flag|= TRACKING_RECONSTRUCTED; + + return error; + } +#else + (void)tracking; + (void)width; + (void)height; + + return -1.0f; +#endif +} + +void BKE_track_unique_name(MovieTracking *tracking, MovieTrackingTrack *track) +{ + BLI_uniquename(&tracking->tracks, track, "Track", '.', offsetof(MovieTrackingTrack, name), sizeof(track->name)); +} + +MovieTrackingTrack *BKE_tracking_named_track(MovieTracking *tracking, const char *name) +{ + MovieTrackingTrack *track= tracking->tracks.first; + + while(track) { + if(!strcmp(track->name, name)) + return track; + + track= track->next; + } + + return NULL; +} + +static int reconstruction_camera_index(MovieTracking *tracking, int framenr, int nearest) +{ + MovieTrackingReconstruction *reconstruction= &tracking->reconstruction; + MovieReconstructedCamera *cameras= reconstruction->cameras; + int a= 0, d= 1; + + if(!reconstruction->camnr) + return -1; + + if(framenr<cameras[0].framenr) { + if(nearest) return 0; + else return -1; + } + + if(framenr>cameras[reconstruction->camnr-1].framenr) { + if(nearest) return reconstruction->camnr-1; + else return -1; + } + + if(reconstruction->last_camera<reconstruction->camnr) + a= reconstruction->last_camera; + + if(cameras[a].framenr>=framenr) + d= -1; + + while(a>=0 && a<reconstruction->camnr) { + int cfra= cameras[a].framenr; + + /* check if needed framenr was "skipped" -- no data for requested frame */ + + if(d>0 && cfra>framenr) { + /* interpolate with previous position */ + if(nearest) return a-1; + else break; + } + + if(d<0 && cfra<framenr) { + /* interpolate with next position */ + if(nearest) return a; + else break; + } + + if(cfra==framenr) { + reconstruction->last_camera= a; + + return a; + } + + a+= d; + } + + return -1; +} + +MovieReconstructedCamera *BKE_tracking_get_reconstructed_camera(MovieTracking *tracking, int framenr) +{ + int a= reconstruction_camera_index(tracking, framenr, 0); + + if(a==-1) + return NULL; + + return &tracking->reconstruction.cameras[a]; +} + +void BKE_tracking_get_interpolated_camera(MovieTracking *tracking, int framenr, float mat[4][4]) +{ + MovieTrackingReconstruction *reconstruction= &tracking->reconstruction; + MovieReconstructedCamera *cameras= reconstruction->cameras; + int a= reconstruction_camera_index(tracking, framenr, 1); + + if(a==-1) { + unit_m4(mat); + return; + } + + if(cameras[a].framenr!=framenr && a>0 && a<reconstruction->camnr-1) { + float t= ((float)framenr-cameras[a].framenr) / (cameras[a+1].framenr-cameras[a].framenr); + + blend_m4_m4m4(mat, cameras[a].mat, cameras[a+1].mat, t); + } else { + copy_m4_m4(mat, cameras[a].mat); + } +} + +void BKE_get_tracking_mat(Scene *scene, Object *ob, float mat[4][4]) +{ + if(!ob) { + if(scene->camera) ob= scene->camera; + else ob= scene_find_camera(scene); + } + + if(ob) + where_is_object_mat(scene, ob, mat); + else + unit_m4(mat); +} + +void BKE_tracking_camera_shift(MovieTracking *tracking, int winx, int winy, float *shiftx, float *shifty) +{ + *shiftx= (0.5f*winx-tracking->camera.principal[0]) / winx; + *shifty= (0.5f*winy-tracking->camera.principal[1]) / winx; +} + +void BKE_tracking_camera_to_blender(MovieTracking *tracking, Scene *scene, Camera *camera, int width, int height) +{ + float focal= tracking->camera.focal; + + camera->sensor_x= tracking->camera.sensor_width; + camera->sensor_fit= CAMERA_SENSOR_FIT_AUTO; + camera->lens= focal*camera->sensor_x/width; + + scene->r.xsch= width*tracking->camera.pixel_aspect; + scene->r.ysch= height; + + scene->r.xasp= 1.0f; + scene->r.yasp= 1.0f; + + BKE_tracking_camera_shift(tracking, width, height, &camera->shiftx, &camera->shifty); +} + +void BKE_tracking_projection_matrix(MovieTracking *tracking, int framenr, int winx, int winy, float mat[4][4]) +{ + MovieReconstructedCamera *camera; + float lens= tracking->camera.focal*tracking->camera.sensor_width/(float)winx; + float viewfac, pixsize, left, right, bottom, top, clipsta, clipend; + float winmat[4][4]; + float ycor= 1.0f/tracking->camera.pixel_aspect; + float shiftx, shifty, winside= MAX2(winx, winy); + + BKE_tracking_camera_shift(tracking, winx, winy, &shiftx, &shifty); + + clipsta= 0.1f; + clipend= 1000.0f; + + if(winx >= winy) + viewfac= (lens*winx)/tracking->camera.sensor_width; + else + viewfac= (ycor*lens*winy)/tracking->camera.sensor_width; + + pixsize= clipsta/viewfac; + + left= -0.5f*(float)winx + shiftx*winside; + bottom= -0.5f*(ycor)*(float)winy + shifty*winside; + right= 0.5f*(float)winx + shiftx*winside; + top= 0.5f*(ycor)*(float)winy + shifty*winside; + + left *= pixsize; + right *= pixsize; + bottom *= pixsize; + top *= pixsize; + + perspective_m4(winmat, left, right, bottom, top, clipsta, clipend); + + camera= BKE_tracking_get_reconstructed_camera(tracking, framenr); + if(camera) { + float imat[4][4]; + + invert_m4_m4(imat, camera->mat); + mul_m4_m4m4(mat, imat, winmat); + } else copy_m4_m4(mat, winmat); +} + +void BKE_tracking_apply_intrinsics(MovieTracking *tracking, float co[2], float nco[2]) +{ + MovieTrackingCamera *camera= &tracking->camera; + +#ifdef WITH_LIBMV + double x, y; + float aspy= 1.0f/tracking->camera.pixel_aspect; + + /* normalize coords */ + x= (co[0]-camera->principal[0]) / camera->focal; + y= (co[1]-camera->principal[1] * aspy) / camera->focal; + + libmv_applyCameraIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy, + camera->k1, camera->k2, camera->k3, x, y, &x, &y); + + /* result is in image coords already */ + nco[0]= x; + nco[1]= y; +#else + (void)camera; + (void)co; + (void)nco; +#endif +} + +void BKE_tracking_invert_intrinsics(MovieTracking *tracking, float co[2], float nco[2]) +{ + MovieTrackingCamera *camera= &tracking->camera; + +#ifdef WITH_LIBMV + double x= co[0], y= co[1]; + float aspy= 1.0f/tracking->camera.pixel_aspect; + + libmv_InvertIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy, + camera->k1, camera->k2, camera->k3, x, y, &x, &y); + + nco[0]= x * camera->focal + camera->principal[0]; + nco[1]= y * camera->focal + camera->principal[1] * aspy; +#else + (void)camera; + (void)co; + (void)nco; +#endif +} + +#ifdef WITH_LIBMV +static int point_in_stroke(bGPDstroke *stroke, float x, float y) +{ + int i, prev; + int count= 0; + bGPDspoint *points= stroke->points; + + prev= stroke->totpoints-1; + + for(i= 0; i<stroke->totpoints; i++) { + if((points[i].y<y && points[prev].y>=y) || (points[prev].y<y && points[i].y>=y)) { + float fac= (y-points[i].y)/(points[prev].y-points[i].y); + + if (points[i].x+fac*(points[prev].x-points[i].x)<x) + count++; + } + + prev= i; + } + + return count%2; +} + +static int point_in_layer(bGPDlayer *layer, float x, float y) +{ + bGPDframe *frame= layer->frames.first; + + while(frame) { + bGPDstroke *stroke= frame->strokes.first; + while(stroke) { + if(point_in_stroke(stroke, x, y)) + return 1; + + stroke= stroke->next; + } + frame= frame->next; + } + + return 0; +} + +static void retrieve_libmv_features(MovieTracking *tracking, struct libmv_Features *features, + int framenr, int width, int height, bGPDlayer *layer, int place_outside_layer) +{ + int a; + + a= libmv_countFeatures(features); + while(a--) { + MovieTrackingTrack *track; + double x, y, size, score; + int ok= 1; + float xu, yu; + + libmv_getFeature(features, a, &x, &y, &score, &size); + + xu= x/width; + yu= y/height; + + if(layer) + ok= point_in_layer(layer, xu, yu)!=place_outside_layer; + + if(ok) { + track= BKE_tracking_add_track(tracking, xu, yu, framenr, width, height); + track->flag|= SELECT; + track->pat_flag|= SELECT; + track->search_flag|= SELECT; + } + } +} +#endif + +void BKE_tracking_detect_fast(MovieTracking *tracking, ImBuf *ibuf, + int framenr, int margin, int min_trackness, int min_distance, bGPDlayer *layer, + int place_outside_layer) +{ +#ifdef WITH_LIBMV + struct libmv_Features *features; + unsigned char *pixels= get_ucharbuf(ibuf); + + features= libmv_detectFeaturesFAST(pixels, ibuf->x, ibuf->y, ibuf->x, margin, min_trackness, min_distance); + + MEM_freeN(pixels); + + retrieve_libmv_features(tracking, features, framenr, ibuf->x, ibuf->y, layer, place_outside_layer); + + libmv_destroyFeatures(features); +#else + (void)tracking; + (void)ibuf; + (void)framenr; + (void)margin; + (void)min_trackness; + (void)min_distance; + (void)layer; + (void)place_outside_layer; +#endif +} + +MovieTrackingTrack *BKE_tracking_indexed_track(MovieTracking *tracking, int tracknr) +{ + MovieTrackingTrack *track= tracking->tracks.first; + int cur= 1; + + while(track) { + if(track->flag&TRACK_HAS_BUNDLE) { + if(cur==tracknr) + return track; + + cur++; + } + + track= track->next; + } + + return NULL; +} + +static int stabilization_median_point(MovieTracking *tracking, int framenr, float median[2]) +{ + int ok= 0; + float min[2], max[2]; + MovieTrackingTrack *track; + + INIT_MINMAX2(min, max); + + track= tracking->tracks.first; + while(track) { + if(track->flag&TRACK_USE_2D_STAB) { + MovieTrackingMarker *marker= BKE_tracking_get_marker(track, framenr); + + DO_MINMAX2(marker->pos, min, max); + + ok= 1; + } + + track= track->next; + } + + median[0]= (max[0]+min[0])/2.0f; + median[1]= (max[1]+min[1])/2.0f; + + return ok; +} + +static void calculate_stabdata(MovieTracking *tracking, int framenr, float width, float height, + float firstmedian[2], float median[2], float loc[2], float *scale, float *angle) +{ + MovieTrackingStabilization *stab= &tracking->stabilization; + + *scale= (stab->scale-1.0f)*stab->scaleinf+1.0f; + *angle= 0.0f; + + loc[0]= (firstmedian[0]-median[0])*width*(*scale); + loc[1]= (firstmedian[1]-median[1])*height*(*scale); + + mul_v2_fl(loc, stab->locinf); + + if(stab->rot_track && stab->rotinf) { + MovieTrackingMarker *marker; + float a[2], b[2]; + float x0= (float)width/2.0f, y0= (float)height/2.0f; + float x= median[0]*width, y= median[1]*height; + + marker= BKE_tracking_get_marker(stab->rot_track, 1); + sub_v2_v2v2(a, marker->pos, firstmedian); + a[0]*= width; + a[1]*= height; + + marker= BKE_tracking_get_marker(stab->rot_track, framenr); + sub_v2_v2v2(b, marker->pos, median); + b[0]*= width; + b[1]*= height; + + *angle= -atan2(a[0]*b[1]-a[1]*b[0], a[0]*b[0]+a[1]*b[1]); + *angle*= stab->rotinf; + + /* convert to rotation around image center */ + loc[0]-= (x0 + (x-x0)*cos(*angle)-(y-y0)*sin(*angle) - x)*(*scale); + loc[1]-= (y0 + (x-x0)*sin(*angle)+(y-y0)*cos(*angle) - y)*(*scale); + } +} + +static float stabilization_auto_scale_factor(MovieTracking *tracking, int width, int height) +{ + float firstmedian[2]; + MovieTrackingStabilization *stab= &tracking->stabilization; + + if(stab->ok) + return stab->scale; + + if(stabilization_median_point(tracking, 1, firstmedian)) { + int sfra= INT_MAX, efra= INT_MIN, cfra; + float delta[2]= {0.0f, 0.0f}, scalex= 1.0f, scaley= 1.0f; + MovieTrackingTrack *track; + + stab->scale= 1.0f; + + track= tracking->tracks.first; + while(track) { + if(track->flag&TRACK_USE_2D_STAB || track==stab->rot_track) { + if(track->markersnr) { + sfra= MIN2(sfra, track->markers[0].framenr); + efra= MAX2(efra, track->markers[track->markersnr-1].framenr); + } + } + + track= track->next; + } + + for(cfra=sfra; cfra<=efra; cfra++) { + float median[2], near[2]; + float loc[2], scale, angle; + + stabilization_median_point(tracking, cfra, median); + + calculate_stabdata(tracking, cfra, width, height, firstmedian, median, + loc, &scale, &angle); + + if(angle==0.0f) { + loc[0]= fabsf(loc[0]); + loc[1]= fabsf(loc[1]); + + delta[0]= MAX2(delta[0], loc[0]); + delta[1]= MAX2(delta[1], loc[1]); + + near[0]= MIN2(median[0], 1.0f-median[0]); + near[1]= MIN2(median[1], 1.0f-median[1]); + near[0]= MAX2(near[0], 0.05f); + near[1]= MAX2(near[1], 0.05f); + + scalex= 1.0f+delta[0]/(near[0]*width); + scaley= 1.0f+delta[1]/(near[1]*height); + } else { + int i; + float mat[4][4]; + float points[4][2]={{0.0f, 0.0f}, {0.0f, height}, {width, height}, {width, 0.0f}}; + + BKE_tracking_stabdata_to_mat4(width, height, loc, scale, angle, mat); + + for(i= 0; i<4; i++) { + int j; + float a[3]= {0.0f, 0.0f, 0.0f}, b[3]= {0.0f, 0.0f, 0.0f}; + + copy_v3_v3(a, points[i]); + copy_v3_v3(b, points[(i+1)%4]); + + mul_m4_v3(mat, a); + mul_m4_v3(mat, b); + + for(j= 0; j<4; j++) { + float point[3]= {points[j][0], points[j][1], 0.0f}; + float v1[3], v2[3]; + + sub_v3_v3v3(v1, b, a); + sub_v3_v3v3(v2, point, a); + + if(cross_v2v2(v1, v2) >= 0.0f) { + float dist= dist_to_line_v2(point, a, b); + if(i%2==0) { + scalex= MAX2(scalex, (width+2*dist)/width); + } else { + scaley= MAX2(scaley, (height+2*dist)/height); + } + } + } + } + } + } + + stab->scale= MAX2(scalex, scaley); + + if(stab->maxscale>0.0f) + stab->scale= MIN2(stab->scale, stab->maxscale); + } else { + stab->scale= 1.0f; + } + + stab->ok= 1; + + return stab->scale; +} + +static ImBuf* stabilize_alloc_ibuf(ImBuf *cacheibuf, ImBuf *srcibuf, int fill) +{ + int flags; + + if(cacheibuf && (cacheibuf->x != srcibuf->x || cacheibuf->y != srcibuf->y)) { + IMB_freeImBuf(cacheibuf); + cacheibuf= NULL; + } + + flags= IB_rect; + + if(srcibuf->rect_float) + flags|= IB_rectfloat; + + if(cacheibuf) { + if(fill) { + float col[4]= {0.0f, 0.0f, 0.0f, 0.0f}; + IMB_rectfill(cacheibuf, col); + } + } + else { + cacheibuf= IMB_allocImBuf(srcibuf->x, srcibuf->y, srcibuf->depth, flags); + cacheibuf->profile= srcibuf->profile; + } + + return cacheibuf; +} + +void BKE_tracking_stabilization_data(MovieTracking *tracking, int framenr, int width, int height, float loc[2], float *scale, float *angle) +{ + float firstmedian[2], median[2]; + MovieTrackingStabilization *stab= &tracking->stabilization; + + if((stab->flag&TRACKING_2D_STABILIZATION)==0) { + zero_v2(loc); + *scale= 1.0f; + *angle= 0.0f; + + return; + } + + if(stabilization_median_point(tracking, 1, firstmedian)) { + stabilization_median_point(tracking, framenr, median); + + if((stab->flag&TRACKING_AUTOSCALE)==0) + stab->scale= 1.0f; + + if(!stab->ok) { + if(stab->flag&TRACKING_AUTOSCALE) + stabilization_auto_scale_factor(tracking, width, height); + + calculate_stabdata(tracking, framenr, width, height, firstmedian, median, loc, scale, angle); + + stab->ok= 1; + } else { + calculate_stabdata(tracking, framenr, width, height, firstmedian, median, loc, scale, angle); + } + } else { + zero_v2(loc); + *scale= 1.0f; + *angle= 0.0f; + } +} + +ImBuf *BKE_tracking_stabilize(MovieTracking *tracking, int framenr, ImBuf *ibuf, float loc[2], float *scale, float *angle) +{ + float tloc[2], tscale, tangle; + MovieTrackingStabilization *stab= &tracking->stabilization; + ImBuf *tmpibuf; + float width= ibuf->x, height= ibuf->y; + + if(loc) copy_v2_v2(tloc, loc); + if(scale) tscale= *scale; + + if((stab->flag&TRACKING_2D_STABILIZATION)==0) { + if(loc) zero_v2(loc); + if(scale) *scale= 1.0f; + + return ibuf; + } + + BKE_tracking_stabilization_data(tracking, framenr, width, height, tloc, &tscale, &tangle); + + tmpibuf= stabilize_alloc_ibuf(NULL, ibuf, 1); + + /* scale would be handled by matrix transformation when angle is non-zero */ + if(tscale!=1.0f && tangle==0.0f) { + ImBuf *scaleibuf; + + stabilization_auto_scale_factor(tracking, width, height); + + scaleibuf= stabilize_alloc_ibuf(stab->scaleibuf, ibuf, 0); + stab->scaleibuf= scaleibuf; + + IMB_rectcpy(scaleibuf, ibuf, 0, 0, 0, 0, ibuf->x, ibuf->y); + IMB_scalefastImBuf(scaleibuf, ibuf->x*tscale, ibuf->y*tscale); + + ibuf= scaleibuf; + } + + if(tangle==0.0f) { + /* if angle is zero, then it's much faster to use rect copy + but could be issues with subpixel precisions */ + IMB_rectcpy(tmpibuf, ibuf, tloc[0]-(tscale-1.0f)*width/2.0f, tloc[1]-(tscale-1.0f)*height/2.0f, 0, 0, ibuf->x, ibuf->y); + } else { + float mat[4][4]; + int i, j; + + BKE_tracking_stabdata_to_mat4(ibuf->x, ibuf->y, tloc, tscale, tangle, mat); + invert_m4(mat); + + for(j=0; j<tmpibuf->y; j++) { + for(i=0; i<tmpibuf->x;i++) { + float vec[3]= {i, j, 0}; + + mul_v3_m4v3(vec, mat, vec); + + /* TODO: add selector for interpolation method */ + neareast_interpolation(ibuf, tmpibuf, vec[0], vec[1], i, j); + } + } + } + + tmpibuf->userflags|= IB_MIPMAP_INVALID; + + if(tmpibuf->rect_float) + tmpibuf->userflags|= IB_RECT_INVALID; + + if(loc) copy_v2_v2(loc, tloc); + if(scale) *scale= tscale; + if(angle) *angle= tangle; + + return tmpibuf; +} + +void BKE_tracking_stabdata_to_mat4(int width, int height, float loc[2], float scale, float angle, float mat[4][4]) +{ + float lmat[4][4], rmat[4][4], smat[4][4], cmat[4][4], icmat[4][4]; + float svec[3]= {scale, scale, scale}; + + unit_m4(rmat); + unit_m4(lmat); + unit_m4(smat); + unit_m4(cmat); + + /* image center as rotation center */ + cmat[3][0]= (float)width/2.0f; + cmat[3][1]= (float)height/2.0f; + invert_m4_m4(icmat, cmat); + + size_to_mat4(smat, svec); /* scale matrix */ + add_v2_v2(lmat[3], loc); /* tranlation matrix */ + rotate_m4(rmat, 'Z', angle); /* rotation matrix */ + + /* compose transformation matrix */ + mul_serie_m4(mat, lmat, cmat, rmat, smat, icmat, NULL, NULL, NULL); +} + +MovieDistortion *BKE_tracking_distortion_create(void) +{ + MovieDistortion *distortion; + + distortion= MEM_callocN(sizeof(MovieDistortion), "BKE_tracking_distortion_create"); + + return distortion; +} + +MovieDistortion *BKE_tracking_distortion_copy(MovieDistortion *distortion) +{ + MovieDistortion *new_distortion; + + new_distortion= MEM_callocN(sizeof(MovieDistortion), "BKE_tracking_distortion_create"); + +#ifdef WITH_LIBMV + new_distortion->intrinsics= libmv_CameraIntrinsicsCopy(distortion->intrinsics); +#else + (void)distortion; +#endif + + return new_distortion; +} + +void BKE_tracking_distortion_update(MovieDistortion *distortion, MovieTracking *tracking, int width, int height) +{ + MovieTrackingCamera *camera= &tracking->camera; + float aspy= 1.0f/tracking->camera.pixel_aspect; + +#ifdef WITH_LIBMV + if(!distortion->intrinsics) { + distortion->intrinsics= libmv_CameraIntrinsicsNew(camera->focal, + camera->principal[0], camera->principal[1] * aspy, + camera->k1, camera->k2, camera->k3, width, height * aspy); + } else { + libmv_CameraIntrinsicsUpdate(distortion->intrinsics, camera->focal, + camera->principal[0], camera->principal[1] * aspy, + camera->k1, camera->k2, camera->k3, width, height * aspy); + } +#else + (void)distortion; + (void)width; + (void)height; + (void)camera; + (void)aspy; +#endif +} + +ImBuf *BKE_tracking_distortion_exec(MovieDistortion *distortion, MovieTracking *tracking, + ImBuf *ibuf, int width, int height, float overscan, int undistort) +{ + ImBuf *resibuf; + + BKE_tracking_distortion_update(distortion, tracking, width, height); + + resibuf= IMB_dupImBuf(ibuf); + + if(ibuf->rect_float) { +#ifdef WITH_LIBMV + if(undistort) { + libmv_CameraIntrinsicsUndistortFloat(distortion->intrinsics, + ibuf->rect_float, resibuf->rect_float, + ibuf->x, ibuf->y, overscan, ibuf->channels); + } else { + libmv_CameraIntrinsicsDistortFloat(distortion->intrinsics, + ibuf->rect_float, resibuf->rect_float, + ibuf->x, ibuf->y, overscan, ibuf->channels); + } +#endif + + ibuf->userflags|= IB_RECT_INVALID; + } else { +#ifdef WITH_LIBMV + if(undistort) { + libmv_CameraIntrinsicsUndistortByte(distortion->intrinsics, + (unsigned char*)ibuf->rect, (unsigned char*)resibuf->rect, + ibuf->x, ibuf->y, overscan, ibuf->channels); + } else { + libmv_CameraIntrinsicsDistortByte(distortion->intrinsics, + (unsigned char*)ibuf->rect, (unsigned char*)resibuf->rect, + ibuf->x, ibuf->y, overscan, ibuf->channels); + } +#endif + } + +#ifndef WITH_LIBMV + (void)overscan; + (void)undistort; +#endif + + return resibuf; +} + +void BKE_tracking_distortion_destroy(MovieDistortion *distortion) +{ +#ifdef WITH_LIBMV + libmv_CameraIntrinsicsDestroy(distortion->intrinsics); +#endif + + MEM_freeN(distortion); +} + +ImBuf *BKE_tracking_undistort(MovieTracking *tracking, ImBuf *ibuf, int width, int height, float overscan) +{ + MovieTrackingCamera *camera= &tracking->camera; + + if(camera->intrinsics == NULL) + camera->intrinsics= BKE_tracking_distortion_create(); + + return BKE_tracking_distortion_exec(camera->intrinsics, tracking, ibuf, width, height, overscan, 1); +} + +ImBuf *BKE_tracking_distort(MovieTracking *tracking, ImBuf *ibuf, int width, int height, float overscan) +{ + MovieTrackingCamera *camera= &tracking->camera; + + if(camera->intrinsics == NULL) + camera->intrinsics= BKE_tracking_distortion_create(); + + return BKE_tracking_distortion_exec(camera->intrinsics, tracking, ibuf, width, height, overscan, 0); +} + +/* area - which part of marker should be selected. see TRACK_AREA_* constants */ +void BKE_tracking_select_track(MovieTracking *tracking, MovieTrackingTrack *track, int area, int extend) +{ + if(extend) { + BKE_tracking_track_flag(track, area, SELECT, 0); + } else { + MovieTrackingTrack *cur= tracking->tracks.first; + + while(cur) { + if(cur==track) { + BKE_tracking_track_flag(cur, TRACK_AREA_ALL, SELECT, 1); + BKE_tracking_track_flag(cur, area, SELECT, 0); + } + else { + BKE_tracking_track_flag(cur, TRACK_AREA_ALL, SELECT, 1); + } + + cur= cur->next; + } + } +} + +void BKE_tracking_deselect_track(MovieTrackingTrack *track, int area) +{ + BKE_tracking_track_flag(track, area, SELECT, 1); +} |