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Tracking: Simplify configuration of intrinsics to refine 

Previously, only predefined and limited set of intrinsics combinations
could have been refined. This was caused by a bundle adjustment library
used in the early days of the solver.

Now it is possible to fully customize which intrinsics are to be refined
during camera solving. Internally solver supports per-parameter settings
but in the interface they are grouped as following:

* Focal length
* Optical center
* Radial distortion coefficients (which includes k1, k2, k3, k4)
* Tangential distortion coefficients (which includes p1, p2)

Differential Revision: https://developer.blender.org/D9294
This commit is contained in:
Sergey Sharybin 2020-10-21 10:53:13 +02:00
parent 1b1f46a98c
commit 0269f0c574
12 changed files with 126 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
intern/libmv/intern/reconstruction.cc
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@ -95,12 +95,23 @@ void libmv_solveRefineIntrinsics(
if (refine_intrinsics & LIBMV_REFINE_PRINCIPAL_POINT) {
bundle_intrinsics |= libmv::BUNDLE_PRINCIPAL_POINT;
}
if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K1) {
bundle_intrinsics |= libmv::BUNDLE_RADIAL_K1;
}
if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K2) {
bundle_intrinsics |= libmv::BUNDLE_RADIAL_K2;
}
#define SET_DISTORTION_FLAG_CHECKED(type, coefficient) \
do { \
if (refine_intrinsics & LIBMV_REFINE_ ## type ##_DISTORTION_ ## coefficient) { \
bundle_intrinsics |= libmv::BUNDLE_ ## type ## _ ## coefficient; \
} \
} while (0)
SET_DISTORTION_FLAG_CHECKED(RADIAL, K1);
SET_DISTORTION_FLAG_CHECKED(RADIAL, K2);
SET_DISTORTION_FLAG_CHECKED(RADIAL, K3);
SET_DISTORTION_FLAG_CHECKED(RADIAL, K4);
SET_DISTORTION_FLAG_CHECKED(TANGENTIAL, P1);
SET_DISTORTION_FLAG_CHECKED(TANGENTIAL, P2);
#undef SET_DISTORTION_FLAG_CHECKED
progress_update_callback(callback_customdata, 1.0, "Refining solution");

20
intern/libmv/intern/reconstruction.h
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@ -31,10 +31,22 @@ struct libmv_CameraIntrinsicsOptions;
typedef struct libmv_Reconstruction libmv_Reconstruction;
enum {
LIBMV_REFINE_FOCAL_LENGTH = (1 << 0),
LIBMV_REFINE_PRINCIPAL_POINT = (1 << 1),
LIBMV_REFINE_RADIAL_DISTORTION_K1 = (1 << 2),
LIBMV_REFINE_RADIAL_DISTORTION_K2 = (1 << 4),
LIBMV_REFINE_FOCAL_LENGTH = (1 << 0),
LIBMV_REFINE_PRINCIPAL_POINT = (1 << 1),
LIBMV_REFINE_RADIAL_DISTORTION_K1 = (1 << 2),
LIBMV_REFINE_RADIAL_DISTORTION_K2 = (1 << 3),
LIBMV_REFINE_RADIAL_DISTORTION_K3 = (1 << 4),
LIBMV_REFINE_RADIAL_DISTORTION_K4 = (1 << 5),
LIBMV_REFINE_RADIAL_DISTORTION = (LIBMV_REFINE_RADIAL_DISTORTION_K1 |
LIBMV_REFINE_RADIAL_DISTORTION_K2 |
LIBMV_REFINE_RADIAL_DISTORTION_K3 |
LIBMV_REFINE_RADIAL_DISTORTION_K4),
LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 = (1 << 6),
LIBMV_REFINE_TANGENTIAL_DISTORTION_P2 = (1 << 7),
LIBMV_REFINE_TANGENTIAL_DISTORTION = (LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 |
LIBMV_REFINE_TANGENTIAL_DISTORTION_P2),
};
typedef struct libmv_ReconstructionOptions {

24
intern/libmv/libmv/simple_pipeline/bundle.cc
View File

@ -368,6 +368,8 @@ void BundleIntrinsicsLogMessage(const int bundle_intrinsics) {
APPEND_BUNDLING_INTRINSICS("px, py", BUNDLE_PRINCIPAL_POINT);
APPEND_BUNDLING_INTRINSICS("k1", BUNDLE_RADIAL_K1);
APPEND_BUNDLING_INTRINSICS("k2", BUNDLE_RADIAL_K2);
APPEND_BUNDLING_INTRINSICS("k3", BUNDLE_RADIAL_K3);
APPEND_BUNDLING_INTRINSICS("k4", BUNDLE_RADIAL_K4);
APPEND_BUNDLING_INTRINSICS("p1", BUNDLE_TANGENTIAL_P1);
APPEND_BUNDLING_INTRINSICS("p2", BUNDLE_TANGENTIAL_P2);
@ -744,7 +746,8 @@ void EuclideanBundleCommonIntrinsics(
std::vector<int> constant_intrinsics;
#define MAYBE_SET_CONSTANT(bundle_enum, offset) \
if (!(bundle_intrinsics & bundle_enum)) { \
if (!(bundle_intrinsics & bundle_enum) || \
!packed_intrinsics.IsParameterDefined(offset)) { \
constant_intrinsics.push_back(offset); \
}
MAYBE_SET_CONSTANT(BUNDLE_FOCAL_LENGTH,
@ -755,22 +758,19 @@ void EuclideanBundleCommonIntrinsics(
PackedIntrinsics::OFFSET_PRINCIPAL_POINT_Y);
MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K1, PackedIntrinsics::OFFSET_K1);
MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K2, PackedIntrinsics::OFFSET_K2);
MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K3, PackedIntrinsics::OFFSET_K3);
MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K4, PackedIntrinsics::OFFSET_K4);
MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P1, PackedIntrinsics::OFFSET_P1);
MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P2, PackedIntrinsics::OFFSET_P2);
#undef MAYBE_SET_CONSTANT
// Always set K3 and K4 constant, it's not used at the moment.
constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K3);
constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K4);
if (!constant_intrinsics.empty()) {
ceres::SubsetParameterization *subset_parameterization =
new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS,
constant_intrinsics);
// TODO(sergey): Mark all parameters which are not used by the distortion
// model as constant.
ceres::SubsetParameterization *subset_parameterization =
new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS,
constant_intrinsics);
problem.SetParameterization(intrinsics_block, subset_parameterization);
problem.SetParameterization(intrinsics_block, subset_parameterization);
}
}
// Configure the solver.

24
intern/libmv/libmv/simple_pipeline/bundle.h
View File

@ -101,14 +101,22 @@ void EuclideanBundle(const Tracks &tracks,
*/
enum BundleIntrinsics {
BUNDLE_NO_INTRINSICS = 0,
BUNDLE_FOCAL_LENGTH = 1,
BUNDLE_PRINCIPAL_POINT = 2,
BUNDLE_RADIAL_K1 = 4,
BUNDLE_RADIAL_K2 = 8,
BUNDLE_RADIAL = 12,
BUNDLE_TANGENTIAL_P1 = 16,
BUNDLE_TANGENTIAL_P2 = 32,
BUNDLE_TANGENTIAL = 48,
BUNDLE_FOCAL_LENGTH = (1 << 0),
BUNDLE_PRINCIPAL_POINT = (1 << 1),
BUNDLE_RADIAL_K1 = (1 << 2),
BUNDLE_RADIAL_K2 = (1 << 3),
BUNDLE_RADIAL_K3 = (1 << 4),
BUNDLE_RADIAL_K4 = (1 << 5),
BUNDLE_RADIAL = (BUNDLE_RADIAL_K1 |
BUNDLE_RADIAL_K2 |
BUNDLE_RADIAL_K3 |
BUNDLE_RADIAL_K4),
BUNDLE_TANGENTIAL_P1 = (1 << 6),
BUNDLE_TANGENTIAL_P2 = (1 << 7),
BUNDLE_TANGENTIAL = (BUNDLE_TANGENTIAL_P1 | BUNDLE_TANGENTIAL_P2),
};
enum BundleConstraints {
BUNDLE_NO_CONSTRAINTS = 0,

4
intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
View File

@ -55,4 +55,8 @@ double PackedIntrinsics::GetParameter(int index) const {
return parameters_.at(index);
}
bool PackedIntrinsics::IsParameterDefined(int offset) {
return known_parameters_.at(offset);
}
} // namespace libmv

2
intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
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@ -86,6 +86,8 @@ class PackedIntrinsics {
double* GetParametersBlock() { return parameters_.data(); }
const double* GetParametersBlock() const { return parameters_.data(); }
bool IsParameterDefined(int offset);
private:
void SetParameter(int index, double value);
double GetParameter(int index) const;

11
release/scripts/startup/bl_ui/space_clip.py
View File

@ -532,6 +532,7 @@ class CLIP_PT_tools_solve(CLIP_PT_tracking_panel, Panel):
tracking = clip.tracking
settings = tracking.settings
tracking_object = tracking.objects.active
camera = clip.tracking.camera
col = layout.column()
col.prop(settings, "use_tripod_solver", text="Tripod")
@ -548,9 +549,13 @@ class CLIP_PT_tools_solve(CLIP_PT_tracking_panel, Panel):
col = layout.column(heading="Refine", align=True)
col.active = tracking_object.is_camera
col.prop(settings, "refine_intrinsics_focal_length", text="Focal Length")
col.prop(settings, "refine_intrinsics_principal_point", text="Principal Point")
col.prop(settings, "refine_intrinsics_k1", text="K1")
col.prop(settings, "refine_intrinsics_k2", text="K2")
col.prop(settings, "refine_intrinsics_principal_point", text="Optical Center")
col.prop(settings, "refine_intrinsics_radial_distortion", text="Radial Distortion")
row = col.row()
row.active = (camera.distortion_model == 'BROWN')
row.prop(settings, "refine_intrinsics_tangential_distortion", text="Tangential Distortion")
col = layout.column(align=True)
col.scale_y = 2.0

1
source/blender/blenkernel/intern/tracking.c
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@ -338,6 +338,7 @@ void BKE_tracking_settings_init(MovieTracking *tracking)
tracking->settings.default_weight = 1.0f;
tracking->settings.dist = 1;
tracking->settings.object_distance = 1;
tracking->settings.refine_camera_intrinsics = REFINE_NO_INTRINSICS;
tracking->stabilization.scaleinf = 1.0f;
tracking->stabilization.anchor_frame = 1;

8
source/blender/blenkernel/intern/tracking_solver.c
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@ -291,12 +291,12 @@ static int reconstruct_refine_intrinsics_get_flags(MovieTracking *tracking,
flags |= LIBMV_REFINE_PRINCIPAL_POINT;
}
if (refine & REFINE_RADIAL_DISTORTION_K1) {
flags |= LIBMV_REFINE_RADIAL_DISTORTION_K1;
if (refine & REFINE_RADIAL_DISTORTION) {
flags |= LIBMV_REFINE_RADIAL_DISTORTION;
}
if (refine & REFINE_RADIAL_DISTORTION_K2) {
flags |= LIBMV_REFINE_RADIAL_DISTORTION_K2;
if (refine & REFINE_TANGENTIAL_DISTORTION) {
flags |= LIBMV_REFINE_TANGENTIAL_DISTORTION;
}
return flags;

30
source/blender/blenloader/intern/versioning_290.c
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@ -44,6 +44,7 @@
#include "DNA_rigidbody_types.h"
#include "DNA_screen_types.h"
#include "DNA_shader_fx_types.h"
#include "DNA_tracking_types.h"
#include "DNA_workspace_types.h"
#include "BKE_animsys.h"
@ -929,6 +930,35 @@ void blo_do_versions_290(FileData *fd, Library *UNUSED(lib), Main *bmain)
}
}
if (!MAIN_VERSION_ATLEAST(bmain, 292, 1)) {
{
const int LEGACY_REFINE_RADIAL_DISTORTION_K1 = (1 << 2);
LISTBASE_FOREACH (MovieClip *, clip, &bmain->movieclips) {
MovieTracking *tracking = &clip->tracking;
MovieTrackingSettings *settings = &tracking->settings;
int new_refine_camera_intrinsics = 0;
if (settings->refine_camera_intrinsics & REFINE_FOCAL_LENGTH) {
new_refine_camera_intrinsics |= REFINE_FOCAL_LENGTH;
}
if (settings->refine_camera_intrinsics & REFINE_PRINCIPAL_POINT) {
new_refine_camera_intrinsics |= REFINE_PRINCIPAL_POINT;
}
/* The end goal is to enable radial distorion refinement if either K1 or K2 were set for
* refinement. It is enough to only check for L1 it was not possible to refine K2 without
* K1. */
if (settings->refine_camera_intrinsics & LEGACY_REFINE_RADIAL_DISTORTION_K1) {
new_refine_camera_intrinsics |= REFINE_RADIAL_DISTORTION;
}
settings->refine_camera_intrinsics = new_refine_camera_intrinsics;
}
}
}
/**
* Versioning code until next subversion bump goes here.
*

9
source/blender/makesdna/DNA_tracking_types.h
View File

@ -288,8 +288,7 @@ typedef struct MovieTrackingSettings {
int reconstruction_flag;
/* which camera intrinsics to refine. uses on the REFINE_* flags */
short refine_camera_intrinsics;
char _pad2[2];
int refine_camera_intrinsics;
/* ** tool settings ** */
@ -551,10 +550,12 @@ enum {
/* MovieTrackingSettings->refine_camera_intrinsics */
enum {
REFINE_NO_INTRINSICS = (0),
REFINE_FOCAL_LENGTH = (1 << 0),
REFINE_PRINCIPAL_POINT = (1 << 1),
REFINE_RADIAL_DISTORTION_K1 = (1 << 2),
REFINE_RADIAL_DISTORTION_K2 = (1 << 4),
REFINE_RADIAL_DISTORTION = (1 << 2),
REFINE_TANGENTIAL_DISTORTION = (1 << 3),
};
/* MovieTrackingStrabilization->flag */

19
source/blender/makesrna/intern/rna_tracking.c
View File

@ -924,19 +924,22 @@ static void rna_def_trackingSettings(BlenderRNA *brna)
RNA_def_property_ui_text(
prop, "Refine Principal Point", "Refine principal point during camera solving");
prop = RNA_def_property(srna, "refine_intrinsics_k1", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(
prop, NULL, "refine_camera_intrinsics", REFINE_RADIAL_DISTORTION_K1);
prop = RNA_def_property(srna, "refine_intrinsics_radial_distortion", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "refine_camera_intrinsics", REFINE_RADIAL_DISTORTION);
RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
RNA_def_property_ui_text(
prop, "Refine K1", "Refine K1 coefficient of distortion model during camera solving");
RNA_def_property_ui_text(prop,
"Refine Radial",
"Refine radial coefficients of distortion model during camera solving");
prop = RNA_def_property(srna, "refine_intrinsics_k2", PROP_BOOLEAN, PROP_NONE);
prop = RNA_def_property(
srna, "refine_intrinsics_tangential_distortion", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(
prop, NULL, "refine_camera_intrinsics", REFINE_RADIAL_DISTORTION_K2);
prop, NULL, "refine_camera_intrinsics", REFINE_TANGENTIAL_DISTORTION);
RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
RNA_def_property_ui_text(
prop, "Refine K2", "Refine K2 coefficient of distortion model during camera solving");
prop,
"Refine Tangential",
"Refine tangential coefficients of distortion model during camera solving");
/* tool settings */