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code cleanup: camera tracking

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- Moved keyframes and refirement flags into reconstruction options structure
- Moved distortion coefficients and other camera intrinsics into own structure
- Cleaned up reconstruction functions in libmv c-api

---
svn merge -r52853:52854 ^/branches/soc-2011-tomato
This commit is contained in:
Sergey Sharybin
2013-02-25 09:24:31 +00:00
parent 66cca267b1
commit 12baa00b6a
3 changed files with 140 additions and 74 deletions
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128
extern/libmv/libmv-capi.cpp vendored
View File

@@ -552,40 +552,78 @@ static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntr
reconstruction, intrinsics);
}
libmv_Reconstruction *libmv_solveReconstruction(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, struct libmv_reconstructionOptions *options,
reconstruct_progress_update_cb progress_update_callback, void *callback_customdata)
static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsics,
libmv_cameraIntrinsicsOptions *camera_intrinsics_options)
{
camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length,
camera_intrinsics_options->focal_length);
camera_intrinsics->SetPrincipalPoint(camera_intrinsics_options->principal_point_x,
camera_intrinsics_options->principal_point_y);
camera_intrinsics->SetRadialDistortion(camera_intrinsics_options->k1,
camera_intrinsics_options->k2,
camera_intrinsics_options->k3);
}
static libmv::Tracks getNormalizedTracks(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics)
{
libmv::vector<libmv::Marker> markers = tracks->AllMarkers();
for (int i = 0; i < markers.size(); ++i) {
camera_intrinsics->InvertIntrinsics(markers[i].x, markers[i].y,
&(markers[i].x), &(markers[i].y));
}
return libmv::Tracks(markers);
}
static void finishReconstruction(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics,
libmv_Reconstruction *libmv_reconstruction,
reconstruct_progress_update_cb progress_update_callback,
void *callback_customdata)
{
/* Invert the camera intrinsics. */
libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers();
libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
libmv::ReconstructionOptions reconstruction_options;
/* reprojection error calculation */
progress_update_callback(callback_customdata, 1.0, "Finishing solution");
libmv_reconstruction->tracks = *tracks;
libmv_reconstruction->error = libmv::EuclideanReprojectionError(*tracks, *reconstruction, *camera_intrinsics);
}
libmv_Reconstruction *libmv_solveReconstruction(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)
{
libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
ReconstructUpdateCallback update_callback =
ReconstructUpdateCallback(progress_update_callback, callback_customdata);
intrinsics->SetFocalLength(focal_length, focal_length);
intrinsics->SetPrincipalPoint(principal_x, principal_y);
intrinsics->SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
reconstruction_options.success_threshold = options->success_threshold;
reconstruction_options.use_fallback_reconstruction = options->use_fallback_reconstruction;
/* Invert the camera intrinsics */
libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
for (int i = 0; i < markers.size(); ++i) {
intrinsics->InvertIntrinsics(markers[i].x,
markers[i].y,
&(markers[i].x),
&(markers[i].y));
}
/* actual reconstruction */
libmv::ReconstructionOptions reconstruction_options;
reconstruction_options.success_threshold = libmv_reconstruction_options->success_threshold;
reconstruction_options.use_fallback_reconstruction = libmv_reconstruction_options->use_fallback_reconstruction;
libmv::Tracks normalized_tracks(markers);
int keyframe1 = libmv_reconstruction_options->keyframe1,
keyframe2 = libmv_reconstruction_options->keyframe2;
LG << "frames to init from: " << keyframe1 << " " << keyframe2;
libmv::vector<libmv::Marker> keyframe_markers =
normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
LG << "number of markers for init: " << keyframe_markers.size();
update_callback.invoke(0, "Initial reconstruction");
@@ -595,49 +633,45 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyfra
libmv::EuclideanCompleteReconstruction(reconstruction_options, normalized_tracks,
reconstruction, &update_callback);
if (refine_intrinsics) {
libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, intrinsics, reconstruction,
refine_intrinsics, progress_update_callback, callback_customdata);
/* refinement */
if (libmv_reconstruction_options->refine_intrinsics) {
libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction,
libmv_reconstruction_options->refine_intrinsics,
progress_update_callback, callback_customdata);
}
progress_update_callback(callback_customdata, 1.0, "Finishing solution");
libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
/* finish reconstruction */
finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
progress_update_callback, callback_customdata);
return (libmv_Reconstruction *)libmv_reconstruction;
}
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)
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)
{
/* Invert the camera intrinsics. */
libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers();
libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
ReconstructUpdateCallback update_callback =
ReconstructUpdateCallback(progress_update_callback, callback_customdata);
intrinsics->SetFocalLength(focal_length, focal_length);
intrinsics->SetPrincipalPoint(principal_x, principal_y);
intrinsics->SetRadialDistortion(k1, k2, k3);
cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
for (int i = 0; i < markers.size(); ++i) {
intrinsics->InvertIntrinsics(markers[i].x,
markers[i].y,
&(markers[i].x),
&(markers[i].y));
}
libmv::Tracks normalized_tracks(markers);
/* Invert the camera intrinsics */
libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
/* actual reconstruction */
libmv::ModalSolver(normalized_tracks, reconstruction, &update_callback);
progress_update_callback(callback_customdata, 1.0, "Finishing solution");
libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
/* finish reconstruction */
finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
progress_update_callback, callback_customdata);
return (libmv_Reconstruction *)libmv_reconstruction;
}

38
extern/libmv/libmv-capi.h vendored
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@@ -86,28 +86,40 @@ void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track,
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)
/* TODO: make keyframes/distortion model a part of options? */
struct libmv_reconstructionOptions {
#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;
} 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 *tracks, int keyframe1, int keyframe2,
int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
struct libmv_reconstructionOptions *options, reconstruct_progress_update_cb progress_update_callback,
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);
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);