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/*
* $Id$
*
* ***** 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_regionTrackerNew(int max_iterations, int pyramid_level, double tolerance);
int libmv_regionTrackerTrack(struct libmv_RegionTracker *libmv_tracker, const float *ima1, const float *ima2,
int width, int height, int half_window_size,
double x1, double y1, double *x2, double *y2);
void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker);
/* SAD Tracker */
void libmv_SADSamplePattern(unsigned char *image, int stride,
float warp[3][2], unsigned char *pattern);
float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsigned char *image,
int stride, int width, int height, float warp[3][2]);
/* 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 */
struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *tracks, int keyframe1, int keyframe2,
double focal_length, double principal_x, double principal_y, double k1, double k2, double k3);
int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
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_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);
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_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, 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, 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, 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, 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);
#ifdef __cplusplus
}
#endif
#endif // LIBMV_C_API_H
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