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Camera tracking: libmv distortion API now also uses camera intrinsics

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structure instead of passing all the parameters to every function.

Makes it much easier to tweak distortion model.

---
svn merge -r52854:52855 ^/branches/soc-2011-tomato
This commit is contained in:
Sergey Sharybin
2013-02-25 09:36:52 +00:00
parent a0d646d186 5137b5a146
commit 2df945d8ff
3 changed files with 144 additions and 106 deletions
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54
source/blender/blenkernel/intern/tracking.c
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@@ -1429,6 +1429,27 @@ void BKE_tracking_camera_get_reconstructed_interpolate(MovieTracking *tracking,
/*********************** Distortion/Undistortion *************************/
#ifdef WITH_LIBMV
static void cameraIntrinscisOptionsFromTracking(libmv_cameraIntrinsicsOptions *camera_intrinsics_options,
MovieTracking *tracking, int calibration_width, int calibration_height)
{
MovieTrackingCamera *camera = &tracking->camera;
float aspy = 1.0f / tracking->camera.pixel_aspect;
camera_intrinsics_options->focal_length = camera->focal;
camera_intrinsics_options->principal_point_x = camera->principal[0];
camera_intrinsics_options->principal_point_y = camera->principal[1] * aspy;
camera_intrinsics_options->k1 = camera->k1;
camera_intrinsics_options->k2 = camera->k2;
camera_intrinsics_options->k3 = camera->k3;
camera_intrinsics_options->image_width = calibration_width;
camera_intrinsics_options->image_height = (double) calibration_height * aspy;
}
#endif
MovieDistortion *BKE_tracking_distortion_new(void)
{
MovieDistortion *distortion;
@@ -1441,21 +1462,17 @@ MovieDistortion *BKE_tracking_distortion_new(void)
void BKE_tracking_distortion_update(MovieDistortion *distortion, MovieTracking *tracking,
int calibration_width, int calibration_height)
{
MovieTrackingCamera *camera = &tracking->camera;
float aspy = 1.0f / tracking->camera.pixel_aspect;
#ifdef WITH_LIBMV
libmv_cameraIntrinsicsOptions camera_intrinsics_options;
cameraIntrinscisOptionsFromTracking(&camera_intrinsics_options, tracking,
calibration_width, calibration_height);
if (!distortion->intrinsics) {
distortion->intrinsics = libmv_CameraIntrinsicsNew(camera->focal,
camera->principal[0], camera->principal[1] * aspy,
camera->k1, camera->k2, camera->k3,
calibration_width, calibration_height * aspy);
distortion->intrinsics = libmv_CameraIntrinsicsNew(&camera_intrinsics_options);
}
else {
libmv_CameraIntrinsicsUpdate(distortion->intrinsics, camera->focal,
camera->principal[0], camera->principal[1] * aspy,
camera->k1, camera->k2, camera->k3,
calibration_width, calibration_height * aspy);
libmv_CameraIntrinsicsUpdate(distortion->intrinsics, &camera_intrinsics_options);
}
#else
(void) distortion;
@@ -1543,15 +1560,17 @@ void BKE_tracking_distort_v2(MovieTracking *tracking, const float co[2], float r
MovieTrackingCamera *camera = &tracking->camera;
#ifdef WITH_LIBMV
libmv_cameraIntrinsicsOptions camera_intrinsics_options;
double x, y;
float aspy = 1.0f / tracking->camera.pixel_aspect;
cameraIntrinscisOptionsFromTracking(&camera_intrinsics_options, tracking, 0, 0);
/* normalize coords */
x = (co[0] - camera->principal[0]) / camera->focal;
y = (co[1] - camera->principal[1] * aspy) / camera->focal;
libmv_applyCameraIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy,
camera->k1, camera->k2, camera->k3, x, y, &x, &y);
libmv_applyCameraIntrinsics(&camera_intrinsics_options, x, y, &x, &y);
/* result is in image coords already */
r_co[0] = x;
@@ -1568,11 +1587,13 @@ void BKE_tracking_undistort_v2(MovieTracking *tracking, const float co[2], float
MovieTrackingCamera *camera = &tracking->camera;
#ifdef WITH_LIBMV
libmv_cameraIntrinsicsOptions camera_intrinsics_options;
double x = co[0], y = co[1];
float aspy = 1.0f / tracking->camera.pixel_aspect;
libmv_InvertIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy,
camera->k1, camera->k2, camera->k3, x, y, &x, &y);
cameraIntrinscisOptionsFromTracking(&camera_intrinsics_options, tracking, 0, 0);
libmv_InvertIntrinsics(&camera_intrinsics_options, x, y, &x, &y);
r_co[0] = x * camera->focal + camera->principal[0];
r_co[1] = y * camera->focal + camera->principal[1] * aspy;
@@ -3008,6 +3029,9 @@ static void camraIntrincicsOptionsFromContext(libmv_cameraIntrinsicsOptions *cam
camera_intrinsics_options->k1 = context->k1;
camera_intrinsics_options->k2 = context->k2;
camera_intrinsics_options->k3 = context->k3;
camera_intrinsics_options->image_width = 0;
camera_intrinsics_options->image_height = 0;
}
static void reconstructionOptionsFromContext(libmv_reconstructionOptions *reconstruction_options,