code cleanup: camera tracking
- 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
This commit is contained in:
Sergey Sharybin
128
extern/libmv/libmv-capi.cpp
vendored
128
extern/libmv/libmv-capi.cpp
vendored
@@ -552,40 +552,78 @@ static void libmv_solveRefineIntrinsics(libmv::Tracks *tracks, libmv::CameraIntr
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reconstruction, intrinsics);
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}
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libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyframe1, int keyframe2,
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int refine_intrinsics, double focal_length, double principal_x, double principal_y,
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double k1, double k2, double k3, struct libmv_reconstructionOptions *options,
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reconstruct_progress_update_cb progress_update_callback, void *callback_customdata)
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static void cameraIntrinsicsFromOptions(libmv::CameraIntrinsics *camera_intrinsics,
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libmv_cameraIntrinsicsOptions *camera_intrinsics_options)
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{
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camera_intrinsics->SetFocalLength(camera_intrinsics_options->focal_length,
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camera_intrinsics_options->focal_length);
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camera_intrinsics->SetPrincipalPoint(camera_intrinsics_options->principal_point_x,
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camera_intrinsics_options->principal_point_y);
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camera_intrinsics->SetRadialDistortion(camera_intrinsics_options->k1,
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camera_intrinsics_options->k2,
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camera_intrinsics_options->k3);
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}
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static libmv::Tracks getNormalizedTracks(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics)
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{
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libmv::vector<libmv::Marker> markers = tracks->AllMarkers();
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for (int i = 0; i < markers.size(); ++i) {
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camera_intrinsics->InvertIntrinsics(markers[i].x, markers[i].y,
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&(markers[i].x), &(markers[i].y));
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}
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return libmv::Tracks(markers);
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}
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static void finishReconstruction(libmv::Tracks *tracks, libmv::CameraIntrinsics *camera_intrinsics,
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libmv_Reconstruction *libmv_reconstruction,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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/* Invert the camera intrinsics. */
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libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers();
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libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
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libmv::ReconstructionOptions reconstruction_options;
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/* reprojection error calculation */
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progress_update_callback(callback_customdata, 1.0, "Finishing solution");
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libmv_reconstruction->tracks = *tracks;
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libmv_reconstruction->error = libmv::EuclideanReprojectionError(*tracks, *reconstruction, *camera_intrinsics);
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}
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libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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libmv_reconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
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libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
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ReconstructUpdateCallback update_callback =
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ReconstructUpdateCallback(progress_update_callback, callback_customdata);
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intrinsics->SetFocalLength(focal_length, focal_length);
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intrinsics->SetPrincipalPoint(principal_x, principal_y);
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intrinsics->SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
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reconstruction_options.success_threshold = options->success_threshold;
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reconstruction_options.use_fallback_reconstruction = options->use_fallback_reconstruction;
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/* Invert the camera intrinsics */
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libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
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for (int i = 0; i < markers.size(); ++i) {
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intrinsics->InvertIntrinsics(markers[i].x,
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markers[i].y,
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&(markers[i].x),
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&(markers[i].y));
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}
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/* actual reconstruction */
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libmv::ReconstructionOptions reconstruction_options;
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reconstruction_options.success_threshold = libmv_reconstruction_options->success_threshold;
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reconstruction_options.use_fallback_reconstruction = libmv_reconstruction_options->use_fallback_reconstruction;
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libmv::Tracks normalized_tracks(markers);
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int keyframe1 = libmv_reconstruction_options->keyframe1,
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keyframe2 = libmv_reconstruction_options->keyframe2;
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LG << "frames to init from: " << keyframe1 << " " << keyframe2;
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libmv::vector<libmv::Marker> keyframe_markers =
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normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
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LG << "number of markers for init: " << keyframe_markers.size();
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update_callback.invoke(0, "Initial reconstruction");
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@@ -595,49 +633,45 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyfra
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libmv::EuclideanCompleteReconstruction(reconstruction_options, normalized_tracks,
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reconstruction, &update_callback);
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if (refine_intrinsics) {
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libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, intrinsics, reconstruction,
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refine_intrinsics, progress_update_callback, callback_customdata);
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/* refinement */
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if (libmv_reconstruction_options->refine_intrinsics) {
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libmv_solveRefineIntrinsics((libmv::Tracks *)tracks, camera_intrinsics, reconstruction,
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libmv_reconstruction_options->refine_intrinsics,
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progress_update_callback, callback_customdata);
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}
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progress_update_callback(callback_customdata, 1.0, "Finishing solution");
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libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
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libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
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/* finish reconstruction */
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finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
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progress_update_callback, callback_customdata);
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return (libmv_Reconstruction *)libmv_reconstruction;
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}
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struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *tracks, double focal_length,
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double principal_x, double principal_y, double k1, double k2, double k3,
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reconstruct_progress_update_cb progress_update_callback, void *callback_customdata)
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struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata)
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{
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/* Invert the camera intrinsics. */
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libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers();
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libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
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libmv::Tracks *tracks = ((libmv::Tracks *) libmv_tracks);
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libmv::EuclideanReconstruction *reconstruction = &libmv_reconstruction->reconstruction;
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libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
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libmv::CameraIntrinsics *camera_intrinsics = &libmv_reconstruction->intrinsics;
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ReconstructUpdateCallback update_callback =
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ReconstructUpdateCallback(progress_update_callback, callback_customdata);
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intrinsics->SetFocalLength(focal_length, focal_length);
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intrinsics->SetPrincipalPoint(principal_x, principal_y);
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intrinsics->SetRadialDistortion(k1, k2, k3);
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cameraIntrinsicsFromOptions(camera_intrinsics, libmv_camera_intrinsics_options);
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for (int i = 0; i < markers.size(); ++i) {
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intrinsics->InvertIntrinsics(markers[i].x,
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markers[i].y,
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&(markers[i].x),
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&(markers[i].y));
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}
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libmv::Tracks normalized_tracks(markers);
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/* Invert the camera intrinsics */
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libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics);
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/* actual reconstruction */
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libmv::ModalSolver(normalized_tracks, reconstruction, &update_callback);
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progress_update_callback(callback_customdata, 1.0, "Finishing solution");
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libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
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libmv_reconstruction->error = libmv::EuclideanReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
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/* finish reconstruction */
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finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction,
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progress_update_callback, callback_customdata);
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return (libmv_Reconstruction *)libmv_reconstruction;
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}
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38
extern/libmv/libmv-capi.h
vendored
38
extern/libmv/libmv-capi.h
vendored
@@ -86,28 +86,40 @@ void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track,
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void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
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/* Reconstruction solver */
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#define LIBMV_REFINE_FOCAL_LENGTH (1<<0)
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#define LIBMV_REFINE_PRINCIPAL_POINT (1<<1)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1<<2)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1<<4)
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/* TODO: make keyframes/distortion model a part of options? */
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struct libmv_reconstructionOptions {
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#define LIBMV_REFINE_FOCAL_LENGTH (1 << 0)
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#define LIBMV_REFINE_PRINCIPAL_POINT (1 << 1)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K1 (1 << 2)
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#define LIBMV_REFINE_RADIAL_DISTORTION_K2 (1 << 4)
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typedef struct libmv_cameraIntrinsicsOptions {
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double focal_length;
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double principal_point_x, principal_point_y;
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double k1, k2, k3;
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double p1, p2;
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} libmv_cameraIntrinsicsOptions;
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typedef struct libmv_reconstructionOptions {
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int keyframe1, keyframe2;
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int refine_intrinsics;
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double success_threshold;
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int use_fallback_reconstruction;
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};
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} libmv_reconstructionOptions;
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typedef void (*reconstruct_progress_update_cb) (void *customdata, double progress, const char *message);
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int libmv_refineParametersAreValid(int parameters);
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struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *tracks, int keyframe1, int keyframe2,
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int refine_intrinsics, double focal_length, double principal_x, double principal_y, double k1, double k2, double k3,
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struct libmv_reconstructionOptions *options, reconstruct_progress_update_cb progress_update_callback,
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struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *libmv_tracks,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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libmv_reconstructionOptions *libmv_reconstruction_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata);
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struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *libmv_tracks,
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libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options,
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reconstruct_progress_update_cb progress_update_callback,
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void *callback_customdata);
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struct libmv_Reconstruction *libmv_solveModal(struct libmv_Tracks *tracks, double focal_length,
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double principal_x, double principal_y, double k1, double k2, double k3,
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reconstruct_progress_update_cb progress_update_callback, void *callback_customdata);
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int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
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double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
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double libmv_reporojectionErrorForImage(struct libmv_Reconstruction *libmv_reconstruction, int image);
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