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/*
* ***** 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 *****
*/
#ifndef LIBMV_C_API_H
#define LIBMV_C_API_H
#ifdef __cplusplus
extern "C" {
#endif
struct libmv_RegionTracker;
struct libmv_Tracks;
struct libmv_Reconstruction;
struct libmv_Features;
struct libmv_CameraIntrinsics;
/* Logging */
void libmv_initLogging(const char *argv0);
void libmv_startDebugLogging(void);
void libmv_setLoggingVerbosity(int verbosity);
/* RegionTracker */
struct libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size, double minimum_correlation);
struct libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size, double minimum_correlation);
struct libmv_RegionTracker *libmv_bruteRegionTrackerNew(int half_window_size, double minimum_correlation);
int libmv_regionTrackerTrack(struct libmv_RegionTracker *libmv_tracker, const float *ima1, const float *ima2,
int width, int height, double x1, double y1, double *x2, double *y2);
void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker);
/* TrackRegion (new planar tracker) */
struct libmv_trackRegionOptions {
int motion_model;
int num_iterations;
int use_brute;
int use_normalization;
double minimum_correlation;
double sigma;
float *image1_mask;
};
struct libmv_trackRegionResult {
int termination;
const char *termination_reason;
double correlation;
};
int libmv_trackRegion(const struct libmv_trackRegionOptions *options,
const float *image1, int image1_width, int image1_height,
const float *image2, int image2_width, int image2_height,
const double *x1, const double *y1,
struct libmv_trackRegionResult *result,
double *x2, double *y2);
void libmv_samplePlanarPatch(const float *image, int width, int height,
int channels, const double *xs, const double *ys,
int num_samples_x, int num_samples_y,
const float *mask, float *patch,
double *warped_position_x, double *warped_position_y);
/* Tracks */
struct libmv_Tracks *libmv_tracksNew(void);
void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
/* Reconstruction solver */
#define LIBMV_REFINE_FOCAL_LENGTH (1 << 0)
#define LIBMV_REFINE_PRINCIPAL_POINT (1 << 1)
#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1 << 2)
#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1 << 4)
typedef struct libmv_cameraIntrinsicsOptions {
double focal_length;
double principal_point_x, principal_point_y;
double k1, k2, k3;
double p1, p2;
int image_width, image_height;
} libmv_cameraIntrinsicsOptions;
typedef struct libmv_reconstructionOptions {
int keyframe1, keyframe2;
int refine_intrinsics;
double success_threshold;
int use_fallback_reconstruction;
} libmv_reconstructionOptions;
typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
int libmv_refineParametersAreValid(int parameters);
struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *libmv_tracks,
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
libmv_reconstructionOptions *libmv_reconstruction_options,
reconstruct_progress_update_cb progress_update_callback,
void *callback_customdata);
struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks,
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
reconstruct_progress_update_cb progress_update_callback,
void *callback_customdata);
int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
double libmv_reporojectionErrorForImage(struct libmv_Reconstruction *libmv_reconstruction, int image);
int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]);
double libmv_reprojectionError(struct libmv_Reconstruction *libmv_reconstruction);
void libmv_destroyReconstruction(struct libmv_Reconstruction *libmv_reconstruction);
/* feature detector */
struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride,
int margin, int min_trackness, int min_distance);
struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride,
int margin, int count, int min_distance);
int libmv_countFeatures(struct libmv_Features *libmv_features);
void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size);
void libmv_destroyFeatures(struct libmv_Features *libmv_features);
/* camera intrinsics */
struct libmv_CameraIntrinsics *libmv_ReconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsNew(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmv_intrinsics);
void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmv_intrinsics,
libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options);
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmv_intrinsics, double *focal_length,
double *principal_x, double *principal_y, double *k1, double *k2, double *k3, int *width, int *height);
void libmv_CameraIntrinsicsUndistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
float *src, float *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmv_intrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmv_intrinsics,
float *src, float *dst, int width, int height, float overscan, int channels);
/* dsitortion */
void libmv_undistortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_undistortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
float *src, float *dst, int width, int height, float overscan, int channels);
void libmv_distortByte(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_distortFloat(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
float *src, float *dst, int width, int height, float overscan, int channels);
/* utils */
void libmv_applyCameraIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1);
void libmv_InvertIntrinsics(libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1);
/* point clouds */
void libmv_rigidRegistration(float (*reference_points)[3], float (*points)[3], int total_points,
int use_scale, int use_translation, double M[4][4]);
#ifdef __cplusplus
}
#endif
#endif // LIBMV_C_API_H
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