1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
|
/*
* ***** 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 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 *tracks, int keyframe1, int keyframe2,
int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
reconstruct_progress_update_cb progress_update_callback, void *callback_customdata);
struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *tracks, double focal_length,
double principal_x, double principal_y, double k1, double k2, double k3,
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(double focal_length, double principal_x, double principal_y,
double k1, double k2, double k3, int width, int height);
struct libmv_CameraIntrinsics *libmv_CameraIntrinsicsCopy(struct libmv_CameraIntrinsics *libmvIntrinsics);
void libmv_CameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmvIntrinsics);
void libmv_CameraIntrinsicsUpdate(struct libmv_CameraIntrinsics *libmvIntrinsics, double focal_length,
double principal_x, double principal_y, double k1, double k2, double k3, int width, int height);
void libmv_CameraIntrinsicsExtract(struct libmv_CameraIntrinsics *libmvIntrinsics, 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 *libmvIntrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsUndistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
float *src, float *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsDistortByte(struct libmv_CameraIntrinsics *libmvIntrinsics,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_CameraIntrinsicsDistortFloat(struct libmv_CameraIntrinsics *libmvIntrinsics,
float *src, float *dst, int width, int height, float overscan, int channels);
/* dsitortion */
void libmv_undistortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_undistortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, float overscan, int channels);
void libmv_distortByte(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
unsigned char *src, unsigned char *dst, int width, int height, float overscan, int channels);
void libmv_distortFloat(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
float *src, float *dst, int width, int height, float overscan, int channels);
/* utils */
void libmv_applyCameraIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
double x, double y, double *x1, double *y1);
void libmv_InvertIntrinsics(double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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
|
