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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_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);
/* Planar tracker */
typedef struct libmv_TrackRegionOptions {
int motion_model;
int num_iterations;
int use_brute;
int use_normalization;
double minimum_correlation;
double sigma;
float *image1_mask;
} libmv_TrackRegionOptions;
typedef struct libmv_TrackRegionResult {
int termination;
const char *termination_reason;
double correlation;
} libmv_TrackRegionResult;
int libmv_trackRegion(const 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,
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);
void libmv_samplePlanarPatchByte(const unsigned char *image,
int width, int height,
int channels,
const double *xs, const double *ys,
int num_samples_x, int num_samples_y,
const float *mask,
unsigned char *patch,
double *warped_position_x, double *warped_position_y);
/* Tracks */
struct libmv_Tracks *libmv_tracksNew(void);
void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y, double weight);
/* Reconstruction */
#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)
enum {
LIBMV_DISTORTION_MODEL_POLYNOMIAL = 0,
LIBMV_DISTORTION_MODEL_DIVISION = 1,
};
typedef struct libmv_CameraIntrinsicsOptions {
/* Common settings of all distortion models. */
int distortion_model;
int image_width, image_height;
double focal_length;
double principal_point_x, principal_point_y;
/* Radial distortion model. */
double polynomial_k1, polynomial_k2, polynomial_k3;
double polynomial_p1, polynomial_p2;
/* Division distortion model. */
double division_k1, division_k2;
} libmv_CameraIntrinsicsOptions;
typedef struct libmv_ReconstructionOptions {
int select_keyframes;
int keyframe1, keyframe2;
int refine_intrinsics;
} libmv_ReconstructionOptions;
typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
struct libmv_Reconstruction *libmv_solveReconstruction(const struct libmv_Tracks *libmv_tracks,
const 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(const struct libmv_Tracks *libmv_tracks,
const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
const libmv_ReconstructionOptions *libmv_reconstruction_options,
reconstruct_progress_update_cb progress_update_callback,
void *callback_customdata);
void libmv_reconstructionDestroy(struct libmv_Reconstruction *libmv_reconstruction);
int libmv_reprojectionPointForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
double libmv_reprojectionErrorForTrack(const struct libmv_Reconstruction *libmv_reconstruction, int track);
double libmv_reprojectionErrorForImage(const struct libmv_Reconstruction *libmv_reconstruction, int image);
int libmv_reprojectionCameraForImage(const struct libmv_Reconstruction *libmv_reconstruction,
int image, double mat[4][4]);
double libmv_reprojectionError(const struct libmv_Reconstruction *libmv_reconstruction);
struct libmv_CameraIntrinsics *libmv_reconstructionExtractIntrinsics(struct libmv_Reconstruction *libmv_Reconstruction);
/* Feature detector */
enum {
LIBMV_DETECTOR_FAST,
LIBMV_DETECTOR_MORAVEC,
LIBMV_DETECTOR_HARRIS,
};
typedef struct libmv_DetectOptions {
int detector;
int margin;
int min_distance;
int fast_min_trackness;
int moravec_max_count;
unsigned char *moravec_pattern;
double harris_threshold;
} libmv_DetectOptions;
struct libmv_Features *libmv_detectFeaturesByte(const unsigned char *image_buffer,
int width, int height, int channels,
libmv_DetectOptions *options);
struct libmv_Features *libmv_detectFeaturesFloat(const float *image_buffer,
int width, int height, int channels,
libmv_DetectOptions *options);
void libmv_featuresDestroy(struct libmv_Features *libmv_features);
int libmv_countFeatures(const struct libmv_Features *libmv_features);
void libmv_getFeature(const struct libmv_Features *libmv_features, int number, double *x, double *y, double *score,
double *size);
/* Camera intrinsics */
struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsNew(
const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options);
struct libmv_CameraIntrinsics *libmv_cameraIntrinsicsCopy(const struct libmv_CameraIntrinsics *libmv_intrinsics);
void libmv_cameraIntrinsicsDestroy(struct libmv_CameraIntrinsics *libmv_intrinsics);
void libmv_cameraIntrinsicsUpdate(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
struct libmv_CameraIntrinsics *libmv_intrinsics);
void libmv_cameraIntrinsicsSetThreads(struct libmv_CameraIntrinsics *libmv_intrinsics, int threads);
void libmv_cameraIntrinsicsExtractOptions(
const struct libmv_CameraIntrinsics *libmv_intrinsics,
struct libmv_CameraIntrinsicsOptions *camera_intrinsics_options);
void libmv_cameraIntrinsicsUndistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
unsigned char *src, unsigned char *dst, int width, int height,
float overscan, int channels);
void libmv_cameraIntrinsicsUndistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
float *src, float *dst, int width, int height,
float overscan, int channels);
void libmv_cameraIntrinsicsDistortByte(const struct libmv_CameraIntrinsics *libmv_intrinsics,
unsigned char *src, unsigned char *dst, int width, int height,
float overscan, int channels);
void libmv_cameraIntrinsicsDistortFloat(const struct libmv_CameraIntrinsics *libmv_intrinsics,
float *src, float *dst, int width, int height,
float overscan, int channels);
void libmv_cameraIntrinsicsApply(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1);
void libmv_cameraIntrinsicsInvert(const libmv_CameraIntrinsicsOptions *libmv_camera_intrinsics_options,
double x, double y, double *x1, double *y1);
void libmv_homography2DFromCorrespondencesEuc(double (*x1)[2], double (*x2)[2], int num_points, double H[3][3]);
#ifdef __cplusplus
}
#endif
#endif // LIBMV_C_API_H
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