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test/source/blender/blenkernel/BKE_tracking.h
Sergey Sharybin 6fbc4186fd Assorted camera tracker improvements 
- Add support for refining the camera's intrinsic parameters
  during a solve. Currently, refining supports only the following
  combinations of intrinsic parameters:

    f
    f, cx, cy
    f, cx, cy, k1, k2
    f, k1
    f, k1, k2

  This is not the same as autocalibration, since the user must
  still make a reasonable initial guess about the focal length and
  other parameters, whereas true autocalibration would eliminate
  the need for the user specify intrinsic parameters at all.

  However, the solver works well with only rough guesses for the
  focal length, so perhaps full autocalibation is not that
  important.

  Adding support for the last two combinations, (f, k1) and (f,
  k1, k2) required changes to the library libmv depends on for
  bundle adjustment, SSBA. These changes should get ported
  upstream not just to libmv but to SSBA as well.

- Improved the region of convergence for bundle adjustment by
  increasing the number of Levenberg-Marquardt iterations from 50
  to 500. This way, the solver is able to crawl out of the bad
  local minima it gets stuck in when changing from, for example,
  bundling k1 and k2 to just k1 and resetting k2 to 0.

- Add several new region tracker implementations. A region tracker
  is a libmv concept, which refers to tracking a template image
  pattern through frames. The impact to end users is that tracking
  should "just work better". I am reserving a more detailed
  writeup, and maybe a paper, for later.

- Other libmv tweaks, such as detecting that a tracker is headed
  outside of the image bounds.

This includes several changes made directly to the libmv extern
code rather expecting to get those changes through normal libmv
channels, because I, the libmv BDFL, decided it was faster to work
on libmv directly in Blender, then later reverse-port the libmv
changes from Blender back into libmv trunk. The interesting part
is that I added a full Levenberg-Marquardt loop to the region
tracking code, which should lead to a more stable solutions. I
also added a hacky implementation of "Efficient Second-Order
Minimization" for tracking, which works nicely. A more detailed
quantitative evaluation will follow.

Original patch by Keir, cleaned a bit by myself.
2011-11-14 06:41:23 +00:00

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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 BKE_TRACKING_H
#define BKE_TRACKING_H
/** \file BKE_trackingp.h
* \ingroup bke
* \author Sergey Sharybin
*/
struct bGPDlayer;
struct ImBuf;
struct MovieTrackingTrack;
struct MovieTrackingMarker;
struct MovieTracking;
struct MovieTrackingContext;
struct MovieClipUser;
struct MovieDistortion;
struct Camera;
struct Object;
struct Scene;
void BKE_tracking_clamp_track(struct MovieTrackingTrack *track, int event);
void BKE_tracking_track_flag(struct MovieTrackingTrack *track, int area, int flag, int clear);
struct MovieTrackingTrack *BKE_tracking_add_track(struct MovieTracking *tracking, float x, float y,
int framenr, int width, int height);
void BKE_tracking_insert_marker(struct MovieTrackingTrack *track, struct MovieTrackingMarker *marker);
void BKE_tracking_delete_marker(struct MovieTrackingTrack *track, int framenr);
struct MovieTrackingMarker *BKE_tracking_get_marker(struct MovieTrackingTrack *track, int framenr);
struct MovieTrackingMarker *BKE_tracking_ensure_marker(struct MovieTrackingTrack *track, int framenr);
struct MovieTrackingMarker *BKE_tracking_exact_marker(struct MovieTrackingTrack *track, int framenr);
int BKE_tracking_has_marker(struct MovieTrackingTrack *track, int framenr);
void BKE_tracking_free_track(struct MovieTrackingTrack *track);
struct MovieTrackingTrack *BKE_tracking_copy_track(struct MovieTrackingTrack *track);
void BKE_tracking_clear_path(struct MovieTrackingTrack *track, int ref_frame, int action);
int BKE_tracking_test_join_tracks(struct MovieTrackingTrack *dst_track, struct MovieTrackingTrack *src_track);
void BKE_tracking_join_tracks(struct MovieTrackingTrack *dst_track, struct MovieTrackingTrack *src_track);
void BKE_tracking_free(struct MovieTracking *tracking);
struct ImBuf *BKE_tracking_get_pattern_imbuf(struct ImBuf *ibuf, struct MovieTrackingTrack *track,
struct MovieTrackingMarker *marker, int margin, int anchored, float pos[2], int origin[2]);
struct ImBuf *BKE_tracking_get_search_imbuf(struct ImBuf *ibuf, struct MovieTrackingTrack *track,
struct MovieTrackingMarker *marker, int margin, int anchored, float pos[2], int origin[2]);
void BKE_track_unique_name(struct MovieTracking *tracking, struct MovieTrackingTrack *track);
struct MovieTrackingTrack *BKE_tracking_named_track(struct MovieTracking *tracking, const char *name);
struct MovieTrackingTrack *BKE_tracking_indexed_track(struct MovieTracking *tracking, int tracknr);
void BKE_tracking_camera_shift(struct MovieTracking *tracking, int winx, int winy, float *shiftx, float *shifty);
void BKE_tracking_camera_to_blender(struct MovieTracking *tracking, struct Scene *scene, struct Camera *camera, int width, int height);
void BKE_get_tracking_mat(struct Scene *scene, struct Object *ob, float mat[4][4]);
void BKE_tracking_projection_matrix(struct MovieTracking *tracking, int framenr, int winx, int winy, float mat[4][4]);
/* 2D tracking */
struct MovieTrackingContext *BKE_tracking_context_new(struct MovieClip *clip, struct MovieClipUser *user,
short backwards, short disable_failed);
void BKE_tracking_context_free(struct MovieTrackingContext *context);
void BKE_tracking_sync(struct MovieTrackingContext *context);
void BKE_tracking_sync_user(struct MovieClipUser *user, struct MovieTrackingContext *context);
int BKE_tracking_next(struct MovieTrackingContext *context);
/* Camera solving */
int BKE_tracking_can_solve(struct MovieTracking *tracking, char *error_msg, int error_size);
float BKE_tracking_solve_reconstruction(struct MovieTracking *tracking, int width, int height);
struct MovieReconstructedCamera *BKE_tracking_get_reconstructed_camera(struct MovieTracking *tracking, int framenr);
void BKE_tracking_get_interpolated_camera(struct MovieTracking *tracking, int framenr, float mat[4][4]);
/* Feature detection */
void BKE_tracking_detect_fast(struct MovieTracking *tracking, struct ImBuf *imbuf,
int framenr, int margin, int min_trackness, int min_distance, struct bGPDlayer *layer,
int place_outside_layer);
/* 2D stabilization */
void BKE_tracking_stabilization_data(struct MovieTracking *tracking, int framenr, int width, int height, float loc[2], float *scale, float *angle);
struct ImBuf *BKE_tracking_stabilize(struct MovieTracking *tracking, int framenr, struct ImBuf *ibuf, float loc[2], float *scale, float *angle);
void BKE_tracking_stabdata_to_mat4(int width, int height, float loc[2], float scale, float angle, float mat[4][4]);
/* Distortion/Undistortion */
void BKE_tracking_apply_intrinsics(struct MovieTracking *tracking, float co[2], float nco[2]);
void BKE_tracking_invert_intrinsics(struct MovieTracking *tracking, float co[2], float nco[2]);
struct MovieDistortion *BKE_tracking_distortion_create(void);
struct MovieDistortion *BKE_tracking_distortion_copy(struct MovieDistortion *distortion);
struct ImBuf *BKE_tracking_distortion_exec(struct MovieDistortion *distortion, struct MovieTracking *tracking,
struct ImBuf *ibuf, int width, int height, float overscan, int undistort);
void BKE_tracking_distortion_destroy(struct MovieDistortion *distortion);
struct ImBuf *BKE_tracking_undistort(struct MovieTracking *tracking, struct ImBuf *ibuf, int width, int height, float overscan);
struct ImBuf *BKE_tracking_distort(struct MovieTracking *tracking, struct ImBuf *ibuf, int width, int height, float overscan);
/* Select */
void BKE_tracking_select_track(struct MovieTracking *tracking, struct MovieTrackingTrack *track, int area, int extend);
void BKE_tracking_deselect_track(struct MovieTrackingTrack *track, int area);
#define TRACK_SELECTED(track) ((((track)->flag&TRACK_HIDDEN)==0) && ((track)->flag&SELECT || (track)->pat_flag&SELECT || (track)->search_flag&SELECT))
#define TRACK_AREA_SELECTED(track, area) ((((track)->flag&TRACK_HIDDEN)==0) && ((area)==TRACK_AREA_POINT?(track)->flag&SELECT : ((area)==TRACK_AREA_PAT?(track)->pat_flag&SELECT:(track)->search_flag&SELECT)))
#define TRACK_VIEW_SELECTED(sc, track) ((TRACK_AREA_SELECTED(track, TRACK_AREA_POINT) || (((sc)->flag&SC_SHOW_MARKER_PATTERN && TRACK_AREA_SELECTED(track, TRACK_AREA_PAT))) || (((sc)->flag&SC_SHOW_MARKER_SEARCH && TRACK_AREA_SELECTED(track, TRACK_AREA_SEARCH)))))
#define MARKER_VISIBLE(sc, marker) (((marker)->flag&MARKER_DISABLED)==0 || ((sc)->flag&SC_HIDE_DISABLED)==0)
#define CLAMP_PAT_DIM 1
#define CLAMP_PAT_POS 2
#define CLAMP_SEARCH_DIM 3
#define CLAMP_SEARCH_POS 4
#define CLAMP_PYRAMID_LEVELS 5
#define TRACK_AREA_NONE -1
#define TRACK_AREA_POINT 1
#define TRACK_AREA_PAT 2
#define TRACK_AREA_SEARCH 4
#define TRACK_AREA_ALL (TRACK_AREA_POINT|TRACK_AREA_PAT|TRACK_AREA_SEARCH)
#endif
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