Commit: 6b096974c56d95b2d4a58daebfd6acd1146045c0
Author: Tianwei Shen
Date: Thu Jun 9 17:15:41 2016 +0800
Branches: soc-2016-multiview
https://developer.blender.org/rB6b096974c56d95b2d4a58daebfd6acd1146045c0
get re-projection error and make it displayed right in blender
===================================================================
M intern/libmv/intern/reconstructionN.cc
M intern/libmv/intern/reconstructionN.h
M source/blender/blenkernel/BKE_tracking.h
M source/blender/blenkernel/intern/tracking_correspondence.c
M source/blender/editors/space_clip/tracking_ops_correspondence.c
===================================================================
diff --git a/intern/libmv/intern/reconstructionN.cc
b/intern/libmv/intern/reconstructionN.cc
index 1c97654..e0dae97 100644
--- a/intern/libmv/intern/reconstructionN.cc
+++ b/intern/libmv/intern/reconstructionN.cc
@@ -201,7 +201,35 @@ libmv_ReconstructionN**
libmv_solveMultiviewReconstruction(const int clip_num,
// progress_update_callback,
// callback_customdata);
- //libmv_reconstruction->is_valid = true;
+ for(int i = 0; i < clip_num; i++)
+ {
+ all_libmv_reconstruction[i]->is_valid = true;
+ }
return all_libmv_reconstruction;
}
+
+bool libmv_multiviewReconstructionIsValid(const int clip_num,
+ const libmv_ReconstructionN
**all_libmv_reconstruction)
+{
+ bool valid_flag = true;
+ for(int i = 0; i < clip_num; i++)
+ valid_flag &= all_libmv_reconstruction[i]->is_valid;
+ return valid_flag;
+}
+
+double libmv_multiviewReprojectionError(const int clip_num,
+ const libmv_ReconstructionN
**all_libmv_reconstruction)
+{
+ double error = 0.0;
+ for(int i = 0; i < clip_num; i++)
+ error += all_libmv_reconstruction[i]->error;
+ error /= clip_num;
+
+ return error;
+}
+
+libmv_CameraIntrinsics
*libmv_reconstructionNExtractIntrinsics(libmv_ReconstructionN
*libmv_reconstruction)
+{
+ return (libmv_CameraIntrinsics *) libmv_reconstruction->intrinsics;
+}
diff --git a/intern/libmv/intern/reconstructionN.h
b/intern/libmv/intern/reconstructionN.h
index 9165302..a9acaae 100644
--- a/intern/libmv/intern/reconstructionN.h
+++ b/intern/libmv/intern/reconstructionN.h
@@ -54,6 +54,13 @@ libmv_ReconstructionN**
libmv_solveMultiviewReconstruction(const int clip_num,
multiview_reconstruct_progress_update_cb progress_update_callback,
void* callback_customdata);
+bool libmv_multiviewReconstructionIsValid(const int clip_num,
+ const libmv_ReconstructionN
**all_libmv_reconstruction);
+double libmv_multiviewReprojectionError(const int clip_num,
+ const libmv_ReconstructionN**
all_libmv_reconstruction);
+
+libmv_CameraIntrinsics
*libmv_reconstructionNExtractIntrinsics(libmv_ReconstructionN
*libmv_reconstruction);
+
#ifdef __cplusplus
}
#endif
diff --git a/source/blender/blenkernel/BKE_tracking.h
b/source/blender/blenkernel/BKE_tracking.h
index 9c7ec2f..e16e1ac 100644
--- a/source/blender/blenkernel/BKE_tracking.h
+++ b/source/blender/blenkernel/BKE_tracking.h
@@ -306,8 +306,7 @@ struct MovieMultiviewReconstructContext
*BKE_tracking_multiview_reconstruction_c
void BKE_tracking_multiview_reconstruction_context_free(struct
MovieMultiviewReconstructContext *context);
bool BKE_tracking_multiview_reconstruction_check(struct MovieClip **clips,
struct MovieTrackingObject *object,
int clip_num, char
*error_msg, int error_size);
-bool BKE_tracking_multiview_reconstruction_finish(struct
MovieMultiviewReconstructContext *context,
- struct MovieTracking
*tracking);
+bool BKE_tracking_multiview_reconstruction_finish(struct
MovieMultiviewReconstructContext *context, struct MovieClip** clips);
#define TRACK_SELECTED(track) ((track)->flag & SELECT ||
(track)->pat_flag & SELECT || (track)->search_flag & SELECT)
diff --git a/source/blender/blenkernel/intern/tracking_correspondence.c
b/source/blender/blenkernel/intern/tracking_correspondence.c
index 6c85133..6723c26 100644
--- a/source/blender/blenkernel/intern/tracking_correspondence.c
+++ b/source/blender/blenkernel/intern/tracking_correspondence.c
@@ -375,47 +375,205 @@ void
BKE_tracking_multiview_reconstruction_solve(MovieMultiviewReconstructContex
}
}
- //error = libmv_reprojectionError(context->all_reconstruction);
+ error = libmv_multiviewReprojectionError(context->clip_num,
+ (const
libmv_ReconstructionN**)context->all_reconstruction);
- //context->reprojection_error = error;
- context->reprojection_error = 0;
+ context->reprojection_error = error;
}
-/* TODO(tianwei): Finish multiview reconstruction process by copying
reconstructed data
- * to the primary movie clip datablock.
- */
-bool
BKE_tracking_multiview_reconstruction_finish(MovieMultiviewReconstructContext
*context, MovieTracking *tracking)
+/* Retrieve multiview refined camera intrinsics from libmv to blender. */
+static void
multiview_reconstruct_retrieve_libmv_intrinsics(MovieMultiviewReconstructContext
*context,
+ int clip_id,
+ MovieTracking
*tracking)
{
- MovieTrackingReconstruction *reconstruction;
- MovieTrackingObject *object;
+ struct libmv_ReconstructionN *libmv_reconstruction =
context->all_reconstruction[clip_id];
+ struct libmv_CameraIntrinsics *libmv_intrinsics =
libmv_reconstructionNExtractIntrinsics(libmv_reconstruction);
- return false;
- //if (!libmv_reconstructionIsValid(context->all_reconstruction)) {
- // printf("Failed solve the motion: most likely there are no good
keyframes\n");
- // return false;
- //}
+ libmv_CameraIntrinsicsOptions camera_intrinsics_options;
+ libmv_cameraIntrinsicsExtractOptions(libmv_intrinsics,
&camera_intrinsics_options);
- //tracks_map_merge(context->all_tracks_map, tracking);
- //BKE_tracking_dopesheet_tag_update(tracking);
+ tracking_trackingCameraFromIntrinscisOptions(tracking,
+
&camera_intrinsics_options);
+}
- //object = BKE_tracking_object_get_named(tracking,
context->object_name);
+/* Retrieve multiview reconstructed tracks from libmv to blender.
+ * Actually, this also copies reconstructed cameras
+ * from libmv to movie clip datablock.
+ * TODO(tianwei): this is not finished, need to convert libmv_Reconstruction
to libmv_ReconstructionN
+ */
+//static bool
multiview_reconstruct_retrieve_libmv_tracks(MovieMultiviewReconstructContext
*context,
+// int clip_id,
+// MovieTracking
*tracking)
+//{
+// struct libmv_ReconstructionN *libmv_reconstruction =
context->all_reconstruction[clip_id];
+// MovieTrackingReconstruction *reconstruction = NULL;
+// MovieReconstructedCamera *reconstructed;
+// MovieTrackingTrack *track;
+// ListBase *tracksbase = NULL;
+// int tracknr = 0, a;
+// bool ok = true;
+// bool origin_set = false;
+// int sfra = context->all_sfra[clip_id], efra =
context->all_efra[clip_id];
+// float imat[4][4];
+//
+// if (context->is_camera) {
+// tracksbase = &tracking->tracks;
+// reconstruction = &tracking->reconstruction;
+// }
+// else {
+// MovieTrackingObject *object =
BKE_tracking_object_get_named(tracking, context->object_name);
+//
+// tracksbase = &object->tracks;
+// reconstruction = &object->reconstruction;
+// }
+//
+// unit_m4(imat);
+//
+// track = tracksbase->first;
+// while (track) {
+// double pos[3];
+//
+// if (libmv_reprojectionPointForTrack(libmv_reconstruction,
tracknr, pos)) {
+// track->bundle_pos[0] = pos[0];
+// track->bundle_pos[1] = pos[1];
+// track->bundle_pos[2] = pos[2];
+//
+// track->flag |= TRACK_HAS_BUNDLE;
+// track->error =
libmv_reprojectionErrorForTrack(libmv_reconstruction, tracknr);
+// }
+// else {
+// track->flag &= ~TRACK_HAS_BUNDLE;
+// ok = false;
+//
+// printf("Unable to reconstruct position for track #%d
'%s'\n", tracknr, track->name);
+// }
+//
+// track = track->next;
+// tracknr++;
+// }
+//
+// if (reconstruction->cameras)
+// MEM_freeN(reconstruction->cameras);
+//
+// reconstruction->camnr = 0;
+// reconstruction->cameras = NULL;
+// reconstructed = MEM_callocN((efra - sfra + 1) *
sizeof(MovieReconstructedCamera),
+// "temp reconstructed camera");
+//
+// for (a = sfra; a <= efra; a++) {
+// double matd[4][4];
+//
+// if (libmv_reprojectionCameraForImage(libmv_reconstruction, a,
matd)) {
+// int i, j;
+// float mat[4][4];
+// float error =
libmv_reprojectionErrorForImage(libmv_reconstruction, a);
+//
+// for (i = 0; i < 4; i++) {
+// for (j = 0; j < 4; j++)
+// mat[i][j] = matd[i][j];
+// }
+//
+// /* Ensure first camera has got zero rotation and
transform.
+// * This is essential for object tracking to work --
this way
+// * we'll always know object and environment are properly
+// * oriented.
+// *
+// * There's one weak part tho, which is requirement
object
+// * motion starts at the same frame as camera motion
does,
+// * otherwise that;' be a russian roulette whether
object is
+// * aligned correct or not.
+// */
+// if (!origin_set) {
+// invert_m4_m4(imat, mat);
+// unit_m4(mat);
+// origin_set = true;
+// }
+// else {
+// mul_m4_m4m4(mat, imat, mat);
+// }
+//
+// copy_m4_m4(reconstructed[reconstruction->camnr].mat,
mat);
+// reconstructed[reconstruction->camnr].framenr = a;
+// reconstructed[reconstruction->camnr].error = error;
+// reconstruction->camnr++;
+// }
+// else {
+// ok = false;
+// printf("No camera for frame %d\n", a);
+// }
+// }
+//
+// if (reconstruction->camnr) {
+// int size = reconstruction->camnr *
sizeof(MovieReconstructedCamera);
+// reconstruction->cameras = MEM_callocN(size, "reconstructed
camera");
+// memcpy(reconstruction->cameras, reconstructed, size);
+// }
+//
+// if (origin_set) {
+// track = tracksbase->first;
+// while (track) {
+// if (track->flag & TRACK_HAS_BUNDLE)
+// mul_v3_m4v3(track->bundle_pos, imat,
track->bundle_pos);
+//
+// track = track->next;
+// }
+// }
+//
+// MEM_freeN(reconstructed);
+//
+// return ok;
+//}
+
+/* Retrieve all the multiview reconstruction libmv data from context to
blender's side data blocks. */
+static int
multiview_reconstruct_retrieve_libmv(MovieMultiviewReconstructContext *context,
+ int clip_id,
+ MovieTracking *tracking)
+{
+ /* take the intrinsics back from libmv */
+ multiview_reconstruct_retrieve_libmv_intrinsics(context, clip_id,
tracking);
- //if (
@@ Diff output truncated at 10240 characters. @@
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