From 2785e8e73d3473cf481ba65a6b50a50c194e63d8 Mon Sep 17 00:00:00 2001 From: Sergey Sharybin Date: Mon, 30 Dec 2013 17:03:59 +0600 Subject: Split tracking.c into several files File tracking.c became rather huge and annoying to maintain and it really contains several independent areas of motrack pipeline. Now we've got: * tracking.c: general-purpose functions which are used by blender, clip editor, RNA and so. * tracking_detect.c: feature detection functions (blender-side, logic is still in libmv). * tracking_plane_tracker.c: blender-side 2D tracking logic. * tracking_plane_tracker.c: plane track tracker. * tracking_solver.c: functions for camera solving. * tracking_stabilize.c: 2D stabilization functions. * tracking_util.c: utility functions for all those files and which shouldn't be public. --- .../blenkernel/intern/tracking_plane_tracker.c | 244 +++++++++++++++++++++ 1 file changed, 244 insertions(+) create mode 100644 source/blender/blenkernel/intern/tracking_plane_tracker.c (limited to 'source/blender/blenkernel/intern/tracking_plane_tracker.c') diff --git a/source/blender/blenkernel/intern/tracking_plane_tracker.c b/source/blender/blenkernel/intern/tracking_plane_tracker.c new file mode 100644 index 00000000000..b3725b2917b --- /dev/null +++ b/source/blender/blenkernel/intern/tracking_plane_tracker.c @@ -0,0 +1,244 @@ +/* + * ***** 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 + * Keir Mierle + * + * ***** END GPL LICENSE BLOCK ***** + */ + +/** \file blender/blenkernel/intern/tracking_plane_tracker.c + * \ingroup bke + * + * This file contains implementation of plane tracker. + */ + +#include "MEM_guardedalloc.h" + +#include "DNA_movieclip_types.h" + +#include "BLI_utildefines.h" +#include "BLI_math.h" + +#include "BKE_tracking.h" + +#include "libmv-capi.h" + +typedef double Vec2[2]; + +static int point_markers_correspondences_on_both_image(MovieTrackingPlaneTrack *plane_track, int frame1, int frame2, + Vec2 **x1_r, Vec2 **x2_r) +{ + int i, correspondence_index; + Vec2 *x1, *x2; + + *x1_r = x1 = MEM_mallocN(sizeof(*x1) * plane_track->point_tracksnr, "point correspondences x1"); + *x2_r = x2 = MEM_mallocN(sizeof(*x1) * plane_track->point_tracksnr, "point correspondences x2"); + + for (i = 0, correspondence_index = 0; i < plane_track->point_tracksnr; i++) { + MovieTrackingTrack *point_track = plane_track->point_tracks[i]; + MovieTrackingMarker *point_marker1, *point_marker2; + + point_marker1 = BKE_tracking_marker_get_exact(point_track, frame1); + point_marker2 = BKE_tracking_marker_get_exact(point_track, frame2); + + if (point_marker1 != NULL && point_marker2 != NULL) { + /* Here conversion from float to double happens. */ + x1[correspondence_index][0] = point_marker1->pos[0]; + x1[correspondence_index][1] = point_marker1->pos[1]; + + x2[correspondence_index][0] = point_marker2->pos[0]; + x2[correspondence_index][1] = point_marker2->pos[1]; + + correspondence_index++; + } + } + + return correspondence_index; +} + +/* NOTE: frame number should be in clip space, not scene space */ +static void track_plane_from_existing_motion(MovieTrackingPlaneTrack *plane_track, int start_frame, + int direction, bool retrack) +{ + MovieTrackingPlaneMarker *start_plane_marker = BKE_tracking_plane_marker_get(plane_track, start_frame); + MovieTrackingPlaneMarker *keyframe_plane_marker = NULL; + MovieTrackingPlaneMarker new_plane_marker; + int current_frame, frame_delta = direction > 0 ? 1 : -1; + + if (plane_track->flag & PLANE_TRACK_AUTOKEY) { + /* Find a keyframe in given direction. */ + for (current_frame = start_frame; ; current_frame += frame_delta) { + MovieTrackingPlaneMarker *next_plane_marker = + BKE_tracking_plane_marker_get_exact(plane_track, current_frame + frame_delta); + + if (next_plane_marker == NULL) { + break; + } + + if ((next_plane_marker->flag & PLANE_MARKER_TRACKED) == 0) { + keyframe_plane_marker = next_plane_marker; + break; + } + } + } + else { + start_plane_marker->flag |= PLANE_MARKER_TRACKED; + } + + new_plane_marker = *start_plane_marker; + new_plane_marker.flag |= PLANE_MARKER_TRACKED; + + for (current_frame = start_frame; ; current_frame += frame_delta) { + MovieTrackingPlaneMarker *next_plane_marker = + BKE_tracking_plane_marker_get_exact(plane_track, current_frame + frame_delta); + Vec2 *x1, *x2; + int i, num_correspondences; + double H_double[3][3]; + float H[3][3]; + + /* As soon as we meet keyframed plane, we stop updating the sequence. */ + if (next_plane_marker && (next_plane_marker->flag & PLANE_MARKER_TRACKED) == 0) { + /* Don't override keyframes if track is in auto-keyframe mode */ + if (plane_track->flag & PLANE_TRACK_AUTOKEY) { + break; + } + } + + num_correspondences = + point_markers_correspondences_on_both_image(plane_track, current_frame, current_frame + frame_delta, + &x1, &x2); + + if (num_correspondences < 4) { + MEM_freeN(x1); + MEM_freeN(x2); + + break; + } + + libmv_homography2DFromCorrespondencesEuc(x1, x2, num_correspondences, H_double); + + copy_m3_m3d(H, H_double); + + for (i = 0; i < 4; i++) { + float vec[3] = {0.0f, 0.0f, 1.0f}, vec2[3]; + copy_v2_v2(vec, new_plane_marker.corners[i]); + + /* Apply homography */ + mul_v3_m3v3(vec2, H, vec); + + /* Normalize. */ + vec2[0] /= vec2[2]; + vec2[1] /= vec2[2]; + + copy_v2_v2(new_plane_marker.corners[i], vec2); + } + + new_plane_marker.framenr = current_frame + frame_delta; + + if (!retrack && keyframe_plane_marker && + next_plane_marker && + (plane_track->flag & PLANE_TRACK_AUTOKEY)) + { + float fac = ((float) next_plane_marker->framenr - start_plane_marker->framenr) / + ((float) keyframe_plane_marker->framenr - start_plane_marker->framenr); + + fac = 3 * fac * fac - 2 * fac * fac * fac; + + for (i = 0; i < 4; i++) { + interp_v2_v2v2(new_plane_marker.corners[i], new_plane_marker.corners[i], + next_plane_marker->corners[i], fac); + } + } + + BKE_tracking_plane_marker_insert(plane_track, &new_plane_marker); + + MEM_freeN(x1); + MEM_freeN(x2); + } +} + +/* NOTE: frame number should be in clip space, not scene space */ +void BKE_tracking_track_plane_from_existing_motion(MovieTrackingPlaneTrack *plane_track, int start_frame) +{ + track_plane_from_existing_motion(plane_track, start_frame, 1, false); + track_plane_from_existing_motion(plane_track, start_frame, -1, false); +} + +static MovieTrackingPlaneMarker *find_plane_keyframe(MovieTrackingPlaneTrack *plane_track, + int start_frame, int direction) +{ + MovieTrackingPlaneMarker *plane_marker = BKE_tracking_plane_marker_get(plane_track, start_frame); + int index = plane_marker - plane_track->markers; + int frame_delta = direction > 0 ? 1 : -1; + + while (index >= 0 && index < plane_track->markersnr) { + if ((plane_marker->flag & PLANE_MARKER_TRACKED) == 0) { + return plane_marker; + } + plane_marker += frame_delta; + } + + return NULL; +} + +void BKE_tracking_retrack_plane_from_existing_motion_at_segment(MovieTrackingPlaneTrack *plane_track, int start_frame) +{ + MovieTrackingPlaneMarker *prev_plane_keyframe, *next_plane_keyframe; + + prev_plane_keyframe = find_plane_keyframe(plane_track, start_frame, -1); + next_plane_keyframe = find_plane_keyframe(plane_track, start_frame, 1); + + if (prev_plane_keyframe != NULL && next_plane_keyframe != NULL) { + /* First we track from left keyframe to the right one without any blending. */ + track_plane_from_existing_motion(plane_track, prev_plane_keyframe->framenr, 1, true); + + /* And then we track from the right keyframe to the left one, so shape blends in nicely */ + track_plane_from_existing_motion(plane_track, next_plane_keyframe->framenr, -1, false); + } + else if (prev_plane_keyframe != NULL) { + track_plane_from_existing_motion(plane_track, prev_plane_keyframe->framenr, 1, true); + } + else if (next_plane_keyframe != NULL) { + track_plane_from_existing_motion(plane_track, next_plane_keyframe->framenr, -1, true); + } +} + +BLI_INLINE void float_corners_to_double(/*const*/ float corners[4][2], double double_corners[4][2]) +{ + copy_v2db_v2fl(double_corners[0], corners[0]); + copy_v2db_v2fl(double_corners[1], corners[1]); + copy_v2db_v2fl(double_corners[2], corners[2]); + copy_v2db_v2fl(double_corners[3], corners[3]); +} + +void BKE_tracking_homography_between_two_quads(/*const*/ float reference_corners[4][2], /*const*/ float corners[4][2], float H[3][3]) +{ + Vec2 x1[4], x2[4]; + double H_double[3][3]; + + float_corners_to_double(reference_corners, x1); + float_corners_to_double(corners, x2); + + libmv_homography2DFromCorrespondencesEuc(x1, x2, 4, H_double); + + copy_m3_m3d(H, H_double); +} -- cgit v1.2.3