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Camera tracking integration: cleanup and finish some parts of recent commit 

- Replace set of booleans with menu, so now you'll simply be unable to choose
  unsupported refine combination
- Some internal code cleanup and minor refactor
This commit is contained in:
Sergey Sharybin 2011-11-10 11:16:33 +00:00
parent d4fec9f19f
commit 55d0cb04aa
7 changed files with 129 additions and 82 deletions
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4
extern/libmv/libmv-capi.cpp vendored
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@ -397,10 +397,10 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *tracks, int keyfra
libmv::Tracks normalized_tracks(markers);
printf("frames to init from: %d, %d\n", keyframe1, keyframe2);
// printf("frames to init from: %d, %d\n", keyframe1, keyframe2);
libmv::vector<libmv::Marker> keyframe_markers =
normalized_tracks.MarkersForTracksInBothImages(keyframe1, keyframe2);
printf("number of markers for init: %d\n", keyframe_markers.size());
// printf("number of markers for init: %d\n", keyframe_markers.size());
libmv::EuclideanReconstructTwoFrames(keyframe_markers, reconstruction);
libmv::EuclideanBundle(normalized_tracks, reconstruction);

9
release/scripts/startup/bl_ui/space_clip.py
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@ -157,15 +157,14 @@ class CLIP_PT_tools_solving(Panel):
col.operator("clip.solve_camera")
col.operator("clip.clear_solution")
layout.prop(settings, "refine_focal_length")
layout.prop(settings, "refine_principal_point")
layout.prop(settings, "refine_radial_distortion_k1")
layout.prop(settings, "refine_radial_distortion_k2")
col = layout.column(align=True)
col.prop(settings, "keyframe_a")
col.prop(settings, "keyframe_b")
col = layout.column(align=True)
col.label(text="Refine:")
col.prop(settings, "refine_intrinsics", text="")
class CLIP_PT_tools_cleanup(Panel):
bl_space_type = 'CLIP_EDITOR'

2
source/blender/blenkernel/BKE_tracking.h
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@ -91,6 +91,8 @@ void BKE_tracking_sync_user(struct MovieClipUser *user, struct MovieTrackingCont
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);

106
source/blender/blenkernel/intern/tracking.c
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@ -47,6 +47,7 @@
#include "BLI_listbase.h"
#include "BLI_ghash.h"
#include "BLI_path_util.h"
#include "BLI_string.h"
#include "BKE_global.h"
#include "BKE_tracking.h"
@ -1257,7 +1258,28 @@ static struct libmv_Tracks *create_libmv_tracks(MovieTracking *tracking, int wid
return tracks;
}
static int retrieve_libmv_reconstruct(MovieTracking *tracking, struct libmv_Reconstruction *libmv_reconstruction)
static void retrieve_libmv_reconstruct_intrinscis(MovieTracking *tracking, struct libmv_Reconstruction *libmv_reconstruction)
{
struct libmv_CameraIntrinsics *libmv_intrinsics = libmv_ReconstructionExtractIntrinsics(libmv_reconstruction);
float aspy= 1.0f/tracking->camera.pixel_aspect;
double focal_length, principal_x, principal_y, k1, k2, k3;
int width, height;
libmv_CameraIntrinsicsExtract(libmv_intrinsics, &focal_length, &principal_x, &principal_y,
&k1, &k2, &k3, &width, &height);
tracking->camera.focal= focal_length;
tracking->camera.principal[0]= principal_x;
/* todo: verify divide by aspy is correct */
tracking->camera.principal[1]= principal_y / aspy;
tracking->camera.k1= k1;
tracking->camera.k2= k2;
}
static int retrieve_libmv_reconstruct_tracks(MovieTracking *tracking, struct libmv_Reconstruction *libmv_reconstruction)
{
int tracknr= 0;
int sfra= INT_MAX, efra= INT_MIN, a, origin_set= 0;
@ -1267,24 +1289,6 @@ static int retrieve_libmv_reconstruct(MovieTracking *tracking, struct libmv_Reco
float origin[3]= {0.0f, 0.0f, 0.0f};
int ok= 1;
/* take the intrinscis back from libmv */
{
struct libmv_CameraIntrinsics *libmv_intrinsics = libmv_ReconstructionExtractIntrinsics(libmv_reconstruction);
float aspy= 1.0f/tracking->camera.pixel_aspect;
double focal_length, principal_x, principal_y, k1, k2, k3;
int width, height;
libmv_CameraIntrinsicsExtract(libmv_intrinsics, &focal_length, &principal_x, &principal_y,
&k1, &k2, &k3, &width, &height);
tracking->camera.focal = focal_length;
tracking->camera.principal[0] = principal_x;
/* todo: verify divide by aspy is correct */
tracking->camera.principal[1] = principal_y / aspy;
tracking->camera.k1 = k1;
tracking->camera.k2 = k2;
}
track= tracking->tracks.first;
while(track) {
double pos[3];
@ -1369,19 +1373,79 @@ static int retrieve_libmv_reconstruct(MovieTracking *tracking, struct libmv_Reco
return ok;
}
static int retrieve_libmv_reconstruct(MovieTracking *tracking, struct libmv_Reconstruction *libmv_reconstruction)
{
/* take the intrinscis back from libmv */
retrieve_libmv_reconstruct_intrinscis(tracking, libmv_reconstruction);
return retrieve_libmv_reconstruct_tracks(tracking, libmv_reconstruction);
}
static int get_refine_intrinsics_flags(MovieTracking *tracking)
{
int refine= tracking->settings.refine_camera_intrinsics;
int flags= 0;
if(refine&REFINE_FOCAL_LENGTH)
flags|= LIBMV_REFINE_FOCAL_LENGTH;
if(refine&REFINE_PRINCIPAL_POINT)
flags|= LIBMV_REFINE_PRINCIPAL_POINT;
if(refine&REFINE_RADIAL_DISTORTION_K1)
flags|= REFINE_RADIAL_DISTORTION_K1;
if(refine&REFINE_RADIAL_DISTORTION_K2)
flags|= REFINE_RADIAL_DISTORTION_K2;
return flags;
}
static int count_tracks_on_both_keyframes(MovieTracking *tracking)
{
int tot= 0;
int frame1= tracking->settings.keyframe1, frame2= tracking->settings.keyframe2;
MovieTrackingTrack *track;
track= tracking->tracks.first;
while(track) {
if(BKE_tracking_has_marker(track, frame1))
if(BKE_tracking_has_marker(track, frame2))
tot++;
track= track->next;
}
return tot;
}
#endif
int BKE_tracking_can_solve(MovieTracking *tracking, char *error_msg, int error_size)
{
#if WITH_LIBMV
if(count_tracks_on_both_keyframes(tracking)<8) {
BLI_strncpy(error_msg, "At least 8 tracks on both of keyframes are needed for reconstruction", error_size);
return 0;
}
return 1;
#else
BLI_strncpy(error_msg, "Blender is compiled without motion tracking library", error_size);
return 0;
#endif
}
float BKE_tracking_solve_reconstruction(MovieTracking *tracking, int width, int height)
{
#if WITH_LIBMV
{
MovieTrackingCamera *camera= &tracking->camera;
float aspy= 1.0f/tracking->camera.pixel_aspect;
struct libmv_Tracks *tracks= create_libmv_tracks(tracking, width, height*aspy);
struct libmv_Reconstruction *reconstruction = libmv_solveReconstruction(tracks,
tracking->settings.keyframe1, tracking->settings.keyframe2,
tracking->settings.refine_camera_intrinsics,
get_refine_intrinsics_flags(tracking),
camera->focal,
camera->principal[0], camera->principal[1]*aspy,
camera->k1, camera->k2, camera->k3);

31
source/blender/editors/space_clip/tracking_ops.c
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@ -1504,24 +1504,6 @@ void CLIP_OT_track_markers(wmOperatorType *ot)
/********************** solve camera operator *********************/
static int check_solve_track_count(MovieTracking *tracking)
{
int tot= 0;
int frame1= tracking->settings.keyframe1, frame2= tracking->settings.keyframe2;
MovieTrackingTrack *track;
track= tracking->tracks.first;
while(track) {
if(BKE_tracking_has_marker(track, frame1))
if(BKE_tracking_has_marker(track, frame2))
tot++;
track= track->next;
}
return tot>=8;
}
static int solve_camera_exec(bContext *C, wmOperator *op)
{
SpaceClip *sc= CTX_wm_space_clip(C);
@ -1530,18 +1512,13 @@ static int solve_camera_exec(bContext *C, wmOperator *op)
MovieTracking *tracking= &clip->tracking;
int width, height;
float error;
char error_msg[255];
if(!BKE_tracking_can_solve(tracking, error_msg, sizeof(error_msg))) {
BKE_report(op->reports, RPT_ERROR, error_msg);
if(!check_solve_track_count(tracking)) {
BKE_report(op->reports, RPT_ERROR, "At least 8 tracks on both of keyframes are needed for reconstruction");
return OPERATOR_CANCELLED;
}
/* XXX sergey, please fix this. it's not obvious to me that it is not
* an encapsulation violation to call the libmv c api from here. */
/*
if(!libmv_refineParametersAreValid(tracking->settings.refine_camera_intrinsics)) {
BKE_report(op->reports, RPT_ERROR, "Invalid combination for intrinsic refinement");
return OPERATOR_CANCELLED;
}*/
/* could fail if footage uses images with different sizes */
BKE_movieclip_get_size(clip, NULL, &width, &height);

17
source/blender/makesdna/DNA_tracking_types.h
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@ -124,8 +124,9 @@ typedef struct MovieTrackingSettings {
int keyframe1, keyframe2; /* two keyframes for reconstrution initialization */
/* ** which camera intrinsics to refine. uses on the REFINE_* flags */
int refine_camera_intrinsics;
char pad2[4];
short refine_camera_intrinsics;
char pad2[6];
/* ** tool settings ** */
@ -186,12 +187,6 @@ enum {
#define MARKER_TRACKED (1<<1)
#define MARKER_GRAPH_SEL (1<<2)
/* MovieTrackingSettings->refine_camera_intrinsics */
#define REFINE_FOCAL_LENGTH (1<<0)
#define REFINE_PRINCIPAL_POINT (1<<1)
#define REFINE_RADIAL_DISTORTION_K1 (1<<2)
#define REFINE_RADIAL_DISTORTION_K2 (1<<4)
/* MovieTrackingTrack->flag */
#define TRACK_HAS_BUNDLE (1<<1)
#define TRACK_DISABLE_RED (1<<2)
@ -213,6 +208,12 @@ enum {
#define TRACKING_SPEED_QUARTER 4
#define TRACKING_SPEED_DOUBLE 5
/* MovieTrackingSettings->refine_camera_intrinsics */
#define REFINE_FOCAL_LENGTH (1<<0)
#define REFINE_PRINCIPAL_POINT (1<<1)
#define REFINE_RADIAL_DISTORTION_K1 (1<<2)
#define REFINE_RADIAL_DISTORTION_K2 (1<<4)
/* MovieTrackingStrabilization->flag */
#define TRACKING_2D_STABILIZATION (1<<0)
#define TRACKING_AUTOSCALE (1<<1)

42
source/blender/makesrna/intern/rna_tracking.c
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@ -236,6 +236,23 @@ static void rna_def_trackingSettings(BlenderRNA *brna)
{0, NULL, 0, NULL, NULL}
};
static EnumPropertyItem refine_items[] = {
{0, "NONE", 0, "Nothing", "Do not refine camera intrinsics"},
{REFINE_FOCAL_LENGTH, "FOCAL_LENGTH", 0, "Focal Length", "Refine focal length"},
{REFINE_FOCAL_LENGTH|
REFINE_PRINCIPAL_POINT, "FOCAL_LENGTH_PRINCIPAL_POINT", 0, "Focal Length, Principal Point", "Refine focal length and principal point"},
{REFINE_FOCAL_LENGTH|
REFINE_PRINCIPAL_POINT|
REFINE_RADIAL_DISTORTION_K1|
REFINE_RADIAL_DISTORTION_K2,
"FOCAL_LENGTH_PRINCIPAL_POINT_RADIAL_K1_K2", 0, "Focal Length, Principal Point, K1, K2", "Refine focal length, principal point and radial distortion K1 and K2"},
{REFINE_FOCAL_LENGTH|
REFINE_RADIAL_DISTORTION_K1|
REFINE_RADIAL_DISTORTION_K2, "FOCAL_LENGTH_RADIAL_K1_K2", 0, "Focal length, K1. K2", "Refine focal length and radial distortion K1 and K2"},
{REFINE_FOCAL_LENGTH|REFINE_RADIAL_DISTORTION_K1, "FOCAL_LENGTH_RADIAL_K1", 0, "Focal length, K1", "Refine focal length and radial distortion K1"},
{0, NULL, 0, NULL, NULL}
};
srna= RNA_def_struct(brna, "MovieTrackingSettings", NULL);
RNA_def_struct_ui_text(srna, "Movie tracking settings", "Match moving settings");
@ -278,25 +295,12 @@ static void rna_def_trackingSettings(BlenderRNA *brna)
RNA_def_property_int_sdna(prop, NULL, "keyframe2");
RNA_def_property_ui_text(prop, "Keyframe B", "Second keyframe used for reconstruction initialization");
/* intrinsics refinement during bundle adjustment - focal length */
prop= RNA_def_property(srna, "refine_focal_length", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "refine_camera_intrinsics", REFINE_FOCAL_LENGTH);
RNA_def_property_ui_text(prop, "Focal length", "Refine focal length during solving");
/* intrinsics refinement during bundle adjustment - principal point */
prop= RNA_def_property(srna, "refine_principal_point", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "refine_camera_intrinsics", REFINE_PRINCIPAL_POINT);
RNA_def_property_ui_text(prop, "Principal Point", "Refine principal point during solving");
/* intrinsics refinement during bundle adjustment - radial distortion k1 */
prop= RNA_def_property(srna, "refine_radial_distortion_k1", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "refine_camera_intrinsics", REFINE_RADIAL_DISTORTION_K1);
RNA_def_property_ui_text(prop, "Radial Distortion K1", "Refine K1 radial distortion parameter during solving");
/* intrinsics refinement during bundle adjustment - radial distortion k2 */
prop= RNA_def_property(srna, "refine_radial_distortion_k2", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "refine_camera_intrinsics", REFINE_RADIAL_DISTORTION_K2);
RNA_def_property_ui_text(prop, "Radial Distortion K2", "Refine K2 radial distortion parameter during solving");
/* intrinsics refinement during bundle adjustment */
prop= RNA_def_property(srna, "refine_intrinsics", PROP_ENUM, PROP_NONE);
RNA_def_property_enum_sdna(prop, NULL, "refine_camera_intrinsics");
RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
RNA_def_property_enum_items(prop, refine_items);
RNA_def_property_ui_text(prop, "Refine", "Refine intrinsics during camera solving");
/* tool settings */