libmv_Reconstruction *libmv_solveReconstructionImpl(
const std::vector<std::string> &images,
const libmv_CameraIntrinsicsOptions* libmv_camera_intrinsics_options,
libmv_ReconstructionOptions* libmv_reconstruction_options)
{
Ptr<Feature2D> edetector = ORB::create(10000);
Ptr<Feature2D> edescriber = xfeatures2d::DAISY::create();
//Ptr<Feature2D> edescriber = xfeatures2d::LATCH::create(64, true, 4);
cout << "Initialize nViewMatcher ... ";
libmv::correspondence::nRobustViewMatching nViewMatcher(edetector, edescriber);
cout << "OK" << endl << "Performing Cross Matching ... ";
nViewMatcher.computeCrossMatch(images); cout << "OK" << endl;
// Building tracks
libmv::Tracks tracks;
libmv::Matches matches = nViewMatcher.getMatches();
parser_2D_tracks( matches, tracks );
// Perform reconstruction
return libmv_solveReconstruction(tracks,
libmv_camera_intrinsics_options,
libmv_reconstruction_options);
}
virtual void run(InputArrayOfArrays _points2d)
{
std::vector<Mat> points2d;
_points2d.getMatVector(points2d);
CV_Assert( _points2d.total() >= 2 );
// Parse 2d points to Tracks
Tracks tracks;
parser_2D_tracks(points2d, tracks);
// Set libmv logs level
libmv_initLogging("");
if (libmv_reconstruction_options_.verbosity_level >= 0)
{
libmv_startDebugLogging();
libmv_setLoggingVerbosity(
libmv_reconstruction_options_.verbosity_level);
}
// Perform reconstruction
libmv_reconstruction_ =
*libmv_solveReconstruction(tracks,
&libmv_camera_intrinsics_options_,
&libmv_reconstruction_options_);
}
/* Solve camera/object motion and reconstruct 3D markers position
* from a prepared reconstruction context.
*
* stop is not actually used at this moment, so reconstruction
* job could not be stopped.
*
* do_update, progress and stat_message are set by reconstruction
* callback in libmv side and passing to an interface.
*/
void BKE_tracking_reconstruction_solve(MovieReconstructContext *context, short *stop, short *do_update,
float *progress, char *stats_message, int message_size)
{
float error;
ReconstructProgressData progressdata;
libmv_CameraIntrinsicsOptions camera_intrinsics_options;
libmv_ReconstructionOptions reconstruction_options;
progressdata.stop = stop;
progressdata.do_update = do_update;
progressdata.progress = progress;
progressdata.stats_message = stats_message;
progressdata.message_size = message_size;
camraIntrincicsOptionsFromContext(&camera_intrinsics_options, context);
reconstructionOptionsFromContext(&reconstruction_options, context);
if (context->motion_flag & TRACKING_MOTION_MODAL) {
context->reconstruction = libmv_solveModal(context->tracks,
&camera_intrinsics_options,
&reconstruction_options,
reconstruct_update_solve_cb, &progressdata);
}
else {
context->reconstruction = libmv_solveReconstruction(context->tracks,
&camera_intrinsics_options,
&reconstruction_options,
reconstruct_update_solve_cb, &progressdata);
if (context->select_keyframes) {
/* store actual keyframes used for reconstruction to update them in the interface later */
context->keyframe1 = reconstruction_options.keyframe1;
context->keyframe2 = reconstruction_options.keyframe2;
}
}
error = libmv_reprojectionError(context->reconstruction);
context->reprojection_error = error;
}
