blender-archive/source/blender/blenkernel/intern/tracking.c

/*
 * ***** 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 *****
 */

/** \file blender/blenkernel/intern/tracking.c
 *  \ingroup bke
 */

#include <stddef.h>
#include <limits.h>
#include <math.h>
#include <memory.h>

#include "MEM_guardedalloc.h"

#include "DNA_gpencil_types.h"
#include "DNA_camera_types.h"
#include "DNA_movieclip_types.h"
#include "DNA_object_types.h"	/* SELECT */
#include "DNA_scene_types.h"

#include "BLI_utildefines.h"
#include "BLI_math.h"
#include "BLI_math_base.h"
#include "BLI_listbase.h"
#include "BLI_ghash.h"
#include "BLI_path_util.h"
#include "BLI_string.h"
#include "BLI_threads.h"

#include "BKE_global.h"
#include "BKE_tracking.h"
#include "BKE_movieclip.h"
#include "BKE_object.h"
#include "BKE_scene.h"

#include "IMB_imbuf_types.h"
#include "IMB_imbuf.h"

#ifdef WITH_LIBMV
#  include "libmv-capi.h"
#else
struct libmv_Features;
#endif

typedef struct MovieDistortion {
	struct libmv_CameraIntrinsics *intrinsics;
} MovieDistortion;

static struct {
	ListBase tracks;
} tracking_clipboard;

/*********************** common functions *************************/

void BKE_tracking_init_settings(MovieTracking *tracking)
{
	tracking->camera.sensor_width = 35.0f;
	tracking->camera.pixel_aspect = 1.0f;
	tracking->camera.units = CAMERA_UNITS_MM;

	tracking->settings.default_tracker = TRACKER_HYBRID;
	tracking->settings.default_minimum_correlation = 0.75;
	tracking->settings.default_pattern_size = 11;
	tracking->settings.default_search_size = 61;
	tracking->settings.default_pyramid_levels = 2;
	tracking->settings.keyframe1 = 1;
	tracking->settings.keyframe2 = 30;
	tracking->settings.dist = 1;
	tracking->settings.object_distance = 1;

	tracking->stabilization.scaleinf = 1.0f;
	tracking->stabilization.locinf = 1.0f;
	tracking->stabilization.rotinf = 1.0f;
	tracking->stabilization.maxscale = 2.0f;

	BKE_tracking_new_object(tracking, "Camera");
}

void BKE_tracking_clamp_track(MovieTrackingTrack *track, int event)
{
	int a;
	float pat_min[2];
	float pat_max[2];
	float max_pyramid_level_factor = 1.0;

	if (track->tracker == TRACKER_KLT) {
		max_pyramid_level_factor= 1 << (track->pyramid_levels - 1);
	}

	/* sort */
	for (a = 0; a < 2; a++) {
		if (track->pat_min[a] > track->pat_max[a])
			SWAP(float, track->pat_min[a], track->pat_max[a]);

		if (track->search_min[a] > track->search_max[a])
			SWAP(float, track->search_min[a], track->search_max[a]);
	}

	/* compute the effective pattern size, which differs from the fine resolution
	 * pattern size for the pyramid KLT tracker */
	for (a = 0; a < 2; a++) {
		pat_min[a] = max_pyramid_level_factor * track->pat_min[a];
		pat_max[a] = max_pyramid_level_factor * track->pat_max[a];
	}

	if (event == CLAMP_PAT_DIM) {
		for (a = 0; a < 2; a++) {
			/* search shouldn't be resized smaller than pattern */
			track->search_min[a] = MIN2(pat_min[a], track->search_min[a]);
			track->search_max[a] = MAX2(pat_max[a], track->search_max[a]);
		}
	}
	else if (event == CLAMP_PAT_POS) {
		float dim[2];

		sub_v2_v2v2(dim, track->pat_max, track->pat_min);

		for (a = 0; a < 2; a++) {
			/* pattern shouldn't be moved outside of search */
			if (pat_min[a] < track->search_min[a]) {
				track->pat_min[a] = track->search_min[a] - (pat_min[a] - track->pat_min[a]);
				track->pat_max[a] = track->pat_min[a] + dim[a];
			}
			if (track->pat_max[a] > track->search_max[a]) {
				track->pat_max[a] = track->search_max[a] - (pat_max[a] - track->pat_max[a]);
				track->pat_min[a] = track->pat_max[a] - dim[a];
			}
		}
	}
	else if (event == CLAMP_SEARCH_DIM) {
		for (a = 0; a < 2; a++) {
			/* search shouldn't be resized smaller than pattern */
			track->search_min[a] = MIN2(pat_min[a], track->search_min[a]);
			track->search_max[a] = MAX2(pat_max[a], track->search_max[a]);
		}
	}
	else if (event == CLAMP_SEARCH_POS) {
		float dim[2];

		sub_v2_v2v2(dim, track->search_max, track->search_min);

		for (a = 0; a < 2; a++) {
			/* search shouldn't be moved inside pattern */
			if (track->search_min[a] > pat_min[a]) {
				track->search_min[a] = pat_min[a];
				track->search_max[a] = track->search_min[a]+dim[a];
			}
			if (track->search_max[a] < pat_max[a]) {
				track->search_max[a] = pat_max[a];
				track->search_min[a] = track->search_max[a]-dim[a];
			}
		}
	}
	else if (event == CLAMP_PYRAMID_LEVELS || (event == CLAMP_SEARCH_DIM && track->tracker == TRACKER_KLT)) {
		float dim[2];
		sub_v2_v2v2(dim, track->pat_max, track->pat_min);
		{
			float search_ratio = 2.3f * max_pyramid_level_factor;

			/* resize the search area to something sensible based
			 * on the number of pyramid levels */
			for (a = 0; a < 2; a++) {
				track->search_min[a] = search_ratio * track->pat_min[a];
				track->search_max[a] = search_ratio * track->pat_max[a];
			}
		}
	}

	/* marker's center should be in center of pattern */
	if (event == CLAMP_PAT_DIM || event == CLAMP_PAT_POS) {
		float dim[2];

		sub_v2_v2v2(dim, track->pat_max, track->pat_min);

		for (a = 0; a < 2; a++) {
			track->pat_min[a] = -dim[a]/2.0f;
			track->pat_max[a] = dim[a]/2.0f;
		}
	}
}

void BKE_tracking_track_flag(MovieTrackingTrack *track, int area, int flag, int clear)
{
	if (area == TRACK_AREA_NONE)
		return;

	if (clear) {
		if (area & TRACK_AREA_POINT)
			track->flag &= ~flag;
		if (area & TRACK_AREA_PAT)
			track->pat_flag &= ~flag;
		if (area & TRACK_AREA_SEARCH)
			track->search_flag &= ~flag;
	}
	else {
		if (area & TRACK_AREA_POINT)
			track->flag |= flag;
		if (area & TRACK_AREA_PAT)
			track->pat_flag |= flag;
		if (area & TRACK_AREA_SEARCH)
			track->search_flag |= flag;
	}
}

MovieTrackingTrack *BKE_tracking_add_track(MovieTracking *tracking, ListBase *tracksbase, float x, float y,
                                           int framenr, int width, int height)
{
	MovieTrackingTrack *track;
	MovieTrackingMarker marker;
	MovieTrackingSettings *settings = &tracking->settings;

	float half_pattern = (float)settings->default_pattern_size / 2.0f;
	float half_search = (float)settings->default_search_size / 2.0f;
	float pat[2], search[2];

	pat[0] = half_pattern / (float)width;
	pat[1] = half_pattern / (float)height;

	search[0] = half_search / (float)width;
	search[1] = half_search / (float)height;

	track = MEM_callocN(sizeof(MovieTrackingTrack), "add_marker_exec track");
	strcpy(track->name, "Track");

	track->tracker = settings->default_tracker;
	track->pyramid_levels = settings->default_pyramid_levels;
	track->minimum_correlation = settings->default_minimum_correlation;
	track->margin = settings->default_margin;
	track->pattern_match = settings->default_pattern_match;
	track->frames_limit = settings->default_frames_limit;
	track->flag = settings->default_flag;

	memset(&marker, 0, sizeof(marker));
	marker.pos[0] = x;
	marker.pos[1] = y;
	marker.framenr = framenr;

	copy_v2_v2(track->pat_max, pat);
	negate_v2_v2(track->pat_min, pat);

	copy_v2_v2(track->search_max, search);
	negate_v2_v2(track->search_min, search);

	BKE_tracking_insert_marker(track, &marker);

	if (track->tracker == TRACKER_KLT)
		BKE_tracking_clamp_track(track, CLAMP_PYRAMID_LEVELS);

	BLI_addtail(tracksbase, track);
	BKE_track_unique_name(tracksbase, track);

	return track;
}

MovieTrackingMarker *BKE_tracking_insert_marker(MovieTrackingTrack *track, MovieTrackingMarker *marker)
{
	MovieTrackingMarker *old_marker= NULL;

	if (track->markersnr)
		old_marker = BKE_tracking_exact_marker(track, marker->framenr);

	if (old_marker) {
		*old_marker = *marker;

		return old_marker;
	}
	else {
		int a = track->markersnr;

		while (a--) {
			if (track->markers[a].framenr < marker->framenr)
				break;
		}

		track->markersnr++;

		if (track->markers)
			track->markers = MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr);
		else
			track->markers = MEM_callocN(sizeof(MovieTrackingMarker), "MovieTracking markers");

		memmove(track->markers+a+2, track->markers+a+1, (track->markersnr-a-2)*sizeof(MovieTrackingMarker));
		track->markers[a+1] = *marker;

		track->last_marker = a + 1;

		return &track->markers[a + 1];
	}
}

void BKE_tracking_delete_marker(MovieTrackingTrack *track, int framenr)
{
	int a= 0;

	while (a<track->markersnr) {
		if (track->markers[a].framenr == framenr) {
			if (track->markersnr > 1) {
				memmove(track->markers+a, track->markers+a+1, (track->markersnr-a-1)*sizeof(MovieTrackingMarker));
				track->markersnr--;
				track->markers = MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr);
			}
			else {
				MEM_freeN(track->markers);
				track->markers = NULL;
				track->markersnr = 0;
			}

			break;
		}

		a++;
	}
}

MovieTrackingMarker *BKE_tracking_get_marker(MovieTrackingTrack *track, int framenr)
{
	int a = track->markersnr-1;

	if (!track->markersnr)
		return NULL;

	/* approximate pre-first framenr marker with first marker */
	if (framenr < track->markers[0].framenr)
		return &track->markers[0];

	if (track->last_marker < track->markersnr)
		a = track->last_marker;

	if (track->markers[a].framenr <= framenr) {
		while (a < track->markersnr && track->markers[a].framenr <= framenr) {
			if (track->markers[a].framenr == framenr) {
				track->last_marker = a;

				return &track->markers[a];
			}
			a++;
		}

		/* if there's no marker for exact position, use nearest marker from left side */
		return &track->markers[a-1];
	}
	else {
		while (a >= 0 && track->markers[a].framenr >= framenr) {
			if (track->markers[a].framenr == framenr) {
				track->last_marker = a;

				return &track->markers[a];
			}

			a--;
		}

		/* if there's no marker for exact position, use nearest marker from left side */
		return &track->markers[a];
	}

	return NULL;
}

MovieTrackingMarker *BKE_tracking_ensure_marker(MovieTrackingTrack *track, int framenr)
{
	MovieTrackingMarker *marker = BKE_tracking_get_marker(track, framenr);

	if (marker->framenr != framenr) {
		MovieTrackingMarker marker_new;

		marker_new = *marker;
		marker_new.framenr = framenr;

		BKE_tracking_insert_marker(track, &marker_new);
		marker = BKE_tracking_get_marker(track, framenr);
	}

	return marker;
}

MovieTrackingMarker *BKE_tracking_exact_marker(MovieTrackingTrack *track, int framenr)
{
	MovieTrackingMarker *marker = BKE_tracking_get_marker(track, framenr);

	if (marker->framenr != framenr)
		return NULL;

	return marker;
}

int BKE_tracking_has_marker(MovieTrackingTrack *track, int framenr)
{
	return BKE_tracking_exact_marker(track, framenr) != 0;
}

int BKE_tracking_has_enabled_marker(MovieTrackingTrack *track, int framenr)
{
	MovieTrackingMarker *marker = BKE_tracking_exact_marker(track, framenr);

	return marker && (marker->flag & MARKER_DISABLED) == 0;
}

void BKE_tracking_free_track(MovieTrackingTrack *track)
{
	if (track->markers)
		MEM_freeN(track->markers);
}

static void put_disabled_marker(MovieTrackingTrack *track, MovieTrackingMarker *ref_marker, int before, int overwrite)
{
	MovieTrackingMarker marker_new;

	marker_new = *ref_marker;
	marker_new.flag &= ~MARKER_TRACKED;
	marker_new.flag |= MARKER_DISABLED;

	if (before)
		marker_new.framenr--;
	else
		marker_new.framenr++;

	if (!BKE_tracking_has_marker(track, marker_new.framenr) || overwrite)
		BKE_tracking_insert_marker(track, &marker_new);
}

void BKE_tracking_clear_path(MovieTrackingTrack *track, int ref_frame, int action)
{
	int a;

	if (action == TRACK_CLEAR_REMAINED) {
		a = 1;

		while (a < track->markersnr) {
			if (track->markers[a].framenr > ref_frame) {
				track->markersnr = a;
				track->markers = MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr);

				break;
			}

			a++;
		}

		if (track->markersnr)
			put_disabled_marker(track, &track->markers[track->markersnr-1], 0, 1);
	}
	else if (action == TRACK_CLEAR_UPTO) {
		a= track->markersnr-1;

		while (a >= 0) {
			if (track->markers[a].framenr <= ref_frame) {
				memmove(track->markers, track->markers+a, (track->markersnr-a)*sizeof(MovieTrackingMarker));

				track->markersnr = track->markersnr-a;
				track->markers = MEM_reallocN(track->markers, sizeof(MovieTrackingMarker)*track->markersnr);

				break;
			}

			a--;
		}

		if (track->markersnr)
			put_disabled_marker(track, &track->markers[0], 1, 1);
	}
	else if (action == TRACK_CLEAR_ALL) {
		MovieTrackingMarker *marker, marker_new;

		marker = BKE_tracking_get_marker(track, ref_frame);
		marker_new = *marker;

		MEM_freeN(track->markers);
		track->markers = NULL;
		track->markersnr = 0;

		BKE_tracking_insert_marker(track, &marker_new);

		put_disabled_marker(track, &marker_new, 1, 1);
		put_disabled_marker(track, &marker_new, 0, 1);
	}
}

void BKE_tracking_join_tracks(MovieTrackingTrack *dst_track, MovieTrackingTrack *src_track)
{
	int i = 0, a = 0, b = 0, tot;
	MovieTrackingMarker *markers;

	tot = dst_track->markersnr + src_track->markersnr;
	markers = MEM_callocN(tot * sizeof(MovieTrackingMarker), "tmp tracking joined tracks");

	while (a < src_track->markersnr || b < dst_track->markersnr) {
		if (b >= dst_track->markersnr) {
			markers[i] = src_track->markers[a++];
		}
		else if (a >= src_track->markersnr) {
			markers[i] = dst_track->markers[b++];
		}
		else if (src_track->markers[a].framenr < dst_track->markers[b].framenr) {
			markers[i] = src_track->markers[a++];
		}
		else if (src_track->markers[a].framenr > dst_track->markers[b].framenr) {
			markers[i] = dst_track->markers[b++];
		}
		else {
			if ((src_track->markers[a].flag & MARKER_DISABLED)==0) {
				if ((dst_track->markers[b].flag & MARKER_DISABLED)==0) {
					/* both tracks are enabled on this frame, so find the whole segment
					 * on which tracks are intersecting and blend tracks using linear
					 * interpolation to prevent jumps */

					MovieTrackingMarker *marker_a, *marker_b;
					int start_a = a, start_b = b, len = 0, frame = src_track->markers[a].framenr;
					int j, inverse = 0;

					inverse = (b == 0) ||
					          (dst_track->markers[b-1].flag & MARKER_DISABLED) ||
					          (dst_track->markers[b-1].framenr != frame - 1);

					/* find length of intersection */
					while (a < src_track->markersnr && b < dst_track->markersnr) {
						marker_a = &src_track->markers[a];
						marker_b = &dst_track->markers[b];

						if (marker_a->flag & MARKER_DISABLED || marker_b->flag & MARKER_DISABLED)
							break;

						if (marker_a->framenr != frame || marker_b->framenr != frame)
							break;

						frame++;
						len++;
						a++;
						b++;
					}

					a = start_a;
					b = start_b;

					/* linear interpolation for intersecting frames */
					for (j = 0; j < len; j++) {
						float fac = 0.5f;

						if (len > 1)
							fac = 1.0f / (len - 1) * j;

						if (inverse)
							fac = 1.0f - fac;

						marker_a = &src_track->markers[a];
						marker_b = &dst_track->markers[b];

						markers[i] = dst_track->markers[b];
						interp_v2_v2v2(markers[i].pos, marker_b->pos, marker_a->pos, fac);
						a++;
						b++;
						i++;
					}

					/* this values will be incremented at the end of the loop cycle */
					a--; b--; i--;
				}
				else markers[i] = src_track->markers[a];
			}
			else markers[i] = dst_track->markers[b];

			a++;
			b++;
		}

		i++;
	}

	MEM_freeN(dst_track->markers);

	dst_track->markers = MEM_callocN(i*sizeof(MovieTrackingMarker), "tracking joined tracks");
	memcpy(dst_track->markers, markers, i*sizeof(MovieTrackingMarker));

	dst_track->markersnr = i;

	MEM_freeN(markers);
}

static void tracking_tracks_free(ListBase *tracks)
{
	MovieTrackingTrack *track;

	for (track = tracks->first; track; track = track->next) {
		BKE_tracking_free_track(track);
	}

	BLI_freelistN(tracks);
}

static void tracking_reconstruction_free(MovieTrackingReconstruction *reconstruction)
{
	if (reconstruction->cameras)
		MEM_freeN(reconstruction->cameras);
}

static void tracking_object_free(MovieTrackingObject *object)
{
	tracking_tracks_free(&object->tracks);
	tracking_reconstruction_free(&object->reconstruction);
}

static void tracking_objects_free(ListBase *objects)
{
	MovieTrackingObject *object;

	for (object = objects->first; object; object = object->next)
		tracking_object_free(object);

	BLI_freelistN(objects);
}

static void tracking_dopesheet_free(MovieTrackingDopesheet *dopesheet)
{
	MovieTrackingDopesheetChannel *channel;

	channel = dopesheet->channels.first;
	while (channel) {
		if (channel->segments) {
			MEM_freeN(channel->segments);
		}

		channel = channel->next;
	}

	BLI_freelistN(&dopesheet->channels);

	dopesheet->channels.first = dopesheet->channels.last = NULL;
	dopesheet->tot_channel = 0;
}

void BKE_tracking_free(MovieTracking *tracking)
{
	tracking_tracks_free(&tracking->tracks);
	tracking_reconstruction_free(&tracking->reconstruction);
	tracking_objects_free(&tracking->objects);

	if (tracking->stabilization.scaleibuf)
		IMB_freeImBuf(tracking->stabilization.scaleibuf);

	if (tracking->camera.intrinsics)
		BKE_tracking_distortion_destroy(tracking->camera.intrinsics);

	tracking_dopesheet_free(&tracking->dopesheet);
}

static MovieTrackingTrack *duplicate_track(MovieTrackingTrack *track)
{
	MovieTrackingTrack *new_track;

	new_track = MEM_callocN(sizeof(MovieTrackingTrack), "tracksMapMerge new_track");

	*new_track = *track;
	new_track->next = new_track->prev = NULL;

	new_track->markers = MEM_dupallocN(new_track->markers);

	return new_track;
}

/*********************** clipboard *************************/

void BKE_tracking_free_clipboard(void)
{
	MovieTrackingTrack *track = tracking_clipboard.tracks.first, *next_track;

	while (track) {
		next_track = track->next;

		BKE_tracking_free_track(track);
		MEM_freeN(track);

		track = next_track;
	}
}

void BKE_tracking_clipboard_copy_tracks(MovieTracking *tracking, MovieTrackingObject *object)
{
	ListBase *tracksbase = BKE_tracking_object_tracks(tracking, object);
	MovieTrackingTrack *track = tracksbase->first;

	BKE_tracking_free_clipboard();

	while (track) {
		if (TRACK_SELECTED(track) && (track->flag & TRACK_HIDDEN) == 0) {
			MovieTrackingTrack *new_track = duplicate_track(track);

			BLI_addtail(&tracking_clipboard.tracks, new_track);
		}

		track = track->next;
	}
}

int BKE_tracking_clipboard_has_tracks(void)
{
	return tracking_clipboard.tracks.first != NULL;
}

void BKE_tracking_clipboard_paste_tracks(MovieTracking *tracking, MovieTrackingObject *object)
{
	ListBase *tracksbase = BKE_tracking_object_tracks(tracking, object);
	MovieTrackingTrack *track = tracking_clipboard.tracks.first;

	while (track) {
		MovieTrackingTrack *new_track = duplicate_track(track);

		BLI_addtail(tracksbase, new_track);
		BKE_track_unique_name(tracksbase, new_track);

		track = track->next;
	}
}

/*********************** tracks map *************************/

typedef struct TracksMap {
	char object_name[MAX_NAME];
	int is_camera;

	int num_tracks;
	int customdata_size;

	char *customdata;
	MovieTrackingTrack *tracks;

	GHash *hash;

	int ptr;
} TracksMap;

static TracksMap *tracks_map_new(const char *object_name, int is_camera, int num_tracks, int customdata_size)
{
	TracksMap *map = MEM_callocN(sizeof(TracksMap), "TrackingsMap");

	BLI_strncpy(map->object_name, object_name, sizeof(map->object_name));
	map->is_camera = is_camera;

	map->num_tracks = num_tracks;
	map->customdata_size = customdata_size;

	map->tracks = MEM_callocN(sizeof(MovieTrackingTrack)*num_tracks, "TrackingsMap tracks");

	if (customdata_size)
		map->customdata = MEM_callocN(customdata_size*num_tracks, "TracksMap customdata");

	map->hash = BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp, "TracksMap hash");

	return map;
}

static int tracks_map_size(TracksMap *map)
{
	return map->num_tracks;
}

static void tracks_map_get(TracksMap *map, int index, MovieTrackingTrack **track, void **customdata)
{
	*track = &map->tracks[index];

	if (map->customdata)
		*customdata = &map->customdata[index*map->customdata_size];
}

static void tracks_map_insert(TracksMap *map, MovieTrackingTrack *track, void *customdata)
{
	MovieTrackingTrack new_track= *track;

	new_track.markers = MEM_dupallocN(new_track.markers);

	map->tracks[map->ptr] = new_track;

	if (customdata)
		memcpy(&map->customdata[map->ptr*map->customdata_size], customdata, map->customdata_size);

	BLI_ghash_insert(map->hash, &map->tracks[map->ptr], track);

	map->ptr++;
}

static void tracks_map_merge(TracksMap *map, MovieTracking *tracking)
{
	MovieTrackingTrack *track;
	MovieTrackingTrack *act_track = BKE_tracking_active_track(tracking);
	MovieTrackingTrack *rot_track = tracking->stabilization.rot_track;
	ListBase tracks = {NULL, NULL}, new_tracks = {NULL, NULL};
	ListBase *old_tracks;
	int a;

	if (map->is_camera) {
		old_tracks = &tracking->tracks;
	}
	else {
		MovieTrackingObject *object = BKE_tracking_named_object(tracking, map->object_name);

		if (!object) {
			/* object was deleted by user, create new one */
			object = BKE_tracking_new_object(tracking, map->object_name);
		}

		old_tracks = &object->tracks;
	}

	/* duplicate currently operating tracks to temporary list.
	 * this is needed to keep names in unique state and it's faster to change names
	 * of currently operating tracks (if needed) */
	for (a = 0; a < map->num_tracks; a++) {
		int replace_sel = 0, replace_rot = 0;
		MovieTrackingTrack *new_track, *old;

		track = &map->tracks[a];

		/* find original of operating track in list of previously displayed tracks */
		old = BLI_ghash_lookup(map->hash, track);
		if (old) {
			MovieTrackingTrack *cur = old_tracks->first;

			while (cur) {
				if (cur == old)
					break;

				cur = cur->next;
			}

			/* original track was found, re-use flags and remove this track */
			if (cur) {
				if (cur == act_track)
					replace_sel = 1;
				if (cur == rot_track)
					replace_rot = 1;

				track->flag = cur->flag;
				track->pat_flag = cur->pat_flag;
				track->search_flag = cur->search_flag;

				BKE_tracking_free_track(cur);
				BLI_freelinkN(old_tracks, cur);
			}
		}

		new_track = duplicate_track(track);

		BLI_ghash_remove(map->hash, track, NULL, NULL); /* XXX: are we actually need this */
		BLI_ghash_insert(map->hash, track, new_track);

		if (replace_sel)		/* update current selection in clip */
			tracking->act_track= new_track;

		if (replace_rot)		/* update track used for rotation stabilization */
			tracking->stabilization.rot_track= new_track;

		BLI_addtail(&tracks, new_track);
	}

	/* move all tracks, which aren't operating */
	track = old_tracks->first;
	while (track) {
		MovieTrackingTrack *next = track->next;

		track->next = track->prev = NULL;
		BLI_addtail(&new_tracks, track);

		track= next;
	}

	/* now move all tracks which are currently operating and keep their names unique */
	track = tracks.first;
	while (track) {
		MovieTrackingTrack *next = track->next;

		BLI_remlink(&tracks, track);

		track->next = track->prev = NULL;
		BLI_addtail(&new_tracks, track);

		BLI_uniquename(&new_tracks, track, "Track", '.', offsetof(MovieTrackingTrack, name), sizeof(track->name));

		track= next;
	}

	*old_tracks= new_tracks;
}

static void tracks_map_free(TracksMap *map, void (*customdata_free) (void *customdata))
{
	int i= 0;

	BLI_ghash_free(map->hash, NULL, NULL);

	for (i = 0; i < map->num_tracks; i++) {
		if (map->customdata && customdata_free)
			customdata_free(&map->customdata[i*map->customdata_size]);

		BKE_tracking_free_track(&map->tracks[i]);
	}

	if (map->customdata)
		MEM_freeN(map->customdata);

	MEM_freeN(map->tracks);
	MEM_freeN(map);
}

/*********************** tracking *************************/

typedef struct TrackContext {
#ifdef WITH_LIBMV
	float keyframed_pos[2];

	struct libmv_RegionTracker *region_tracker;
	float *patch;			/* keyframed patch */
#else
	int pad;
#endif
} TrackContext;

typedef struct MovieTrackingContext {
	MovieClipUser user;
	MovieClip *clip;
	int clip_flag;

	int first_time, frames;

	MovieTrackingSettings settings;
	TracksMap *tracks_map;

	short backwards, sequence;
	int sync_frame;
} MovieTrackingContext;

MovieTrackingContext *BKE_tracking_context_new(MovieClip *clip, MovieClipUser *user, short backwards, short sequence)
{
	MovieTrackingContext *context = MEM_callocN(sizeof(MovieTrackingContext), "trackingContext");
	MovieTracking *tracking = &clip->tracking;
	MovieTrackingSettings *settings = &tracking->settings;
	ListBase *tracksbase = BKE_tracking_get_tracks(tracking);
	MovieTrackingTrack *track;
	MovieTrackingObject *object = BKE_tracking_active_object(tracking);
	int num_tracks = 0;

	context->settings = *settings;
	context->backwards = backwards;
	context->sync_frame = user->framenr;
	context->first_time = TRUE;
	context->sequence = sequence;

	/* count */
	track = tracksbase->first;
	while (track) {
		if (TRACK_SELECTED(track) && (track->flag & (TRACK_LOCKED | TRACK_HIDDEN))==0) {
			MovieTrackingMarker *marker = BKE_tracking_get_marker(track, user->framenr);

			if ((marker->flag & MARKER_DISABLED) == 0)
				num_tracks++;
		}

		track = track->next;
	}

	if (num_tracks) {
		int width, height;

		context->tracks_map = tracks_map_new(object->name, object->flag & TRACKING_OBJECT_CAMERA,
		                                     num_tracks, sizeof(TrackContext));

		BKE_movieclip_get_size(clip, user, &width, &height);

		/* create tracking data */
		track = tracksbase->first;
		while (track) {
			if (TRACK_SELECTED(track) && (track->flag & (TRACK_HIDDEN | TRACK_LOCKED)) == 0) {
				MovieTrackingMarker *marker = BKE_tracking_get_marker(track, user->framenr);

				if ((marker->flag & MARKER_DISABLED) == 0) {
					TrackContext track_context;

					memset(&track_context, 0, sizeof(TrackContext));

#ifdef WITH_LIBMV
					{
						float patx = (int)((track->pat_max[0]-track->pat_min[0])*width),
						      paty = (int)((track->pat_max[1]-track->pat_min[1])*height);

						float search_size_x = (track->search_max[0]-track->search_min[0])*width;
						float search_size_y = (track->search_max[1]-track->search_min[1])*height;
						float pattern_size_x = (track->pat_max[0]-track->pat_min[0])*width;
						float pattern_size_y = (track->pat_max[1]-track->pat_min[1])*height;
						int wndx = (int)patx / 2, wndy = (int)paty / 2;
						int half_wnd = MAX2(wndx, wndy);

							/* compute the maximum pyramid size */
						float search_to_pattern_ratio = MIN2(search_size_x,  search_size_y)
							/ MAX2(pattern_size_x, pattern_size_y);
						float log2_search_to_pattern_ratio = log(floor(search_to_pattern_ratio)) / M_LN2;
						int max_pyramid_levels = floor(log2_search_to_pattern_ratio + 1);

						/* try to accommodate the user's choice of pyramid level in a way
						 * that doesn't cause the coarsest pyramid pattern to be larger
						 * than the search size */
						int level = MIN2(track->pyramid_levels, max_pyramid_levels);

						if (track->tracker==TRACKER_KLT) {
							track_context.region_tracker =
								libmv_pyramidRegionTrackerNew(100, level, half_wnd, track->minimum_correlation);
						}
						else if (track->tracker == TRACKER_HYBRID) {
							track_context.region_tracker =
								libmv_hybridRegionTrackerNew(100, half_wnd, track->minimum_correlation);
						}
						else if (track->tracker == TRACKER_SAD) {
							track_context.region_tracker= libmv_bruteRegionTrackerNew(MAX2(wndx, wndy), track->minimum_correlation);
						}
					}
#endif

					tracks_map_insert(context->tracks_map, track, &track_context);
				}
			}

			track = track->next;
		}
	}

	context->clip = clip;

	/* store needed clip flags passing to get_buffer functions
	 * - MCLIP_USE_PROXY is needed to because timecode affects on movie clip
	 *   only in case Proxy/Timecode flag is set, so store this flag to use
	 *   timecodes properly but reset render size to SIZE_FULL so correct resolution
	 *   would be used for images
	 * - MCLIP_USE_PROXY_CUSTOM_DIR is needed because proxy/timecode files might
	 *   be stored in a different location
	 * ignore all the rest possible flags for now */
	context->clip_flag = clip->flag&MCLIP_TIMECODE_FLAGS;

	context->user = *user;
	context->user.render_size = MCLIP_PROXY_RENDER_SIZE_FULL;
	context->user.render_flag = 0;

	if (!sequence)
		BLI_begin_threaded_malloc();

	return context;
}

static void track_context_free(void *customdata)
{
	TrackContext *track_context = (TrackContext *)customdata;

#if WITH_LIBMV
	if (track_context->region_tracker)
		libmv_regionTrackerDestroy(track_context->region_tracker);

	if (track_context->patch)
		MEM_freeN(track_context->patch);

#else
		(void) track_context;
#endif
}

void BKE_tracking_context_free(MovieTrackingContext *context)
{
	if (!context->sequence)
		BLI_end_threaded_malloc();

	tracks_map_free(context->tracks_map, track_context_free);

	MEM_freeN(context);
}

/* zap channels from the imbuf that are disabled by the user. this can lead to
 * better tracks sometimes. however, instead of simply zeroing the channels
 * out, do a partial grayscale conversion so the display is better. */
void BKE_tracking_disable_imbuf_channels(ImBuf *ibuf, int disable_red, int disable_green, int disable_blue, int grayscale)
{
	int x, y;
	float scale;

	if (!disable_red && !disable_green && !disable_blue && !grayscale)
		return;

	/* If only some components are selected, it's important to rescale the result
	 * appropriately so that e.g. if only blue is selected, it's not zeroed out. */
	scale = (disable_red   ? 0.0f : 0.2126f) +
	        (disable_green ? 0.0f : 0.7152f) +
	        (disable_blue  ? 0.0f : 0.0722f);

	for (y = 0; y < ibuf->y; y++) {
		for (x = 0; x < ibuf->x; x++) {
			int pixel = ibuf->x*y + x;

			if (ibuf->rect_float) {
				float *rrgbf = ibuf->rect_float + pixel*4;
				float r = disable_red   ? 0.0f : rrgbf[0];
				float g = disable_green ? 0.0f : rrgbf[1];
				float b = disable_blue  ? 0.0f : rrgbf[2];

				if (grayscale) {
					float gray = (0.2126f*r + 0.7152f*g + 0.0722f*b) / scale;

					rrgbf[0] = rrgbf[1] = rrgbf[2] = gray;
				}
				else {
					rrgbf[0] = r;
					rrgbf[1] = g;
					rrgbf[2] = b;
				}
			}
			else {
				char *rrgb = (char*)ibuf->rect + pixel*4;
				char r = disable_red   ? 0 : rrgb[0];
				char g = disable_green ? 0 : rrgb[1];
				char b = disable_blue  ? 0 : rrgb[2];

				if (grayscale) {
					float gray = (0.2126f*r + 0.7152f*g + 0.0722f*b) / scale;

					rrgb[0] = rrgb[1] = rrgb[2] = gray;
				}
				else {
					rrgb[0] = r;
					rrgb[1] = g;
					rrgb[2] = b;
				}
			}
		}
	}

	if (ibuf->rect_float)
		ibuf->userflags |= IB_RECT_INVALID;
}

static void disable_imbuf_channels(ImBuf *ibuf, MovieTrackingTrack *track, int grayscale)
{
	BKE_tracking_disable_imbuf_channels(ibuf, track->flag & TRACK_DISABLE_RED,
			track->flag & TRACK_DISABLE_GREEN, track->flag & TRACK_DISABLE_BLUE, grayscale);
}

static ImBuf *get_area_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
                             float min[2], float max[2], int margin, int anchored, float pos[2], int origin[2])
{
	ImBuf *tmpibuf;
	int x, y;
	int x1, y1, w, h;
	float mpos[2];

	copy_v2_v2(mpos, marker->pos);
	if (anchored)
		add_v2_v2(mpos, track->offset);

	if (pos)
		zero_v2(pos);

	x = mpos[0]*ibuf->x;
	y = mpos[1]*ibuf->y;

	w = (max[0] - min[0]) * ibuf->x;
	h = (max[1] - min[1]) * ibuf->y;

	/* dimensions should be odd */
	w = w|1;
	h = h|1;

	x1 = x-(int)(w * (-min[0] / (max[0] - min[0])));
	y1 = y-(int)(h * (-min[1] / (max[1] - min[1])));

	tmpibuf = IMB_allocImBuf(w+margin*2, h+margin*2, 32, IB_rect);
	IMB_rectcpy(tmpibuf, ibuf, 0, 0, x1 - margin, y1 - margin, w + margin * 2, h + margin * 2);

	if (pos != NULL) {
		pos[0] = mpos[0] * ibuf->x - x1 + margin;
		pos[1] = mpos[1] * ibuf->y - y1 + margin;
	}

	if (origin != NULL) {
		origin[0] = x1 - margin;
		origin[1] = y1 - margin;
	}

	if ((track->flag & TRACK_PREVIEW_GRAYSCALE) ||
	   (track->flag & TRACK_DISABLE_RED)       ||
	   (track->flag & TRACK_DISABLE_GREEN)     ||
	   (track->flag & TRACK_DISABLE_BLUE))
	{
		disable_imbuf_channels(tmpibuf, track, TRUE /* grayscale */);
	}

	return tmpibuf;
}

ImBuf *BKE_tracking_get_pattern_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
                                      int margin, int anchored, float pos[2], int origin[2])
{
	return get_area_imbuf(ibuf, track, marker, track->pat_min, track->pat_max, margin, anchored, pos, origin);
}

ImBuf *BKE_tracking_get_search_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
                                     int margin, int anchored, float pos[2], int origin[2])
{
	return get_area_imbuf(ibuf, track, marker, track->search_min, track->search_max, margin, anchored, pos, origin);
}

#ifdef WITH_LIBMV
static float *get_search_floatbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
                                  int *width_r, int *height_r, float pos[2], int origin[2])
{
	ImBuf *tmpibuf;
	float *pixels, *fp;
	int x, y, width, height;

	width = (track->search_max[0] - track->search_min[0]) * ibuf->x;
	height = (track->search_max[1] - track->search_min[1]) * ibuf->y;

	tmpibuf = BKE_tracking_get_search_imbuf(ibuf, track, marker, 0, 0, pos, origin);
	disable_imbuf_channels(tmpibuf, track, FALSE /* don't grayscale */);

	*width_r = width;
	*height_r = height;

	fp = pixels = MEM_callocN(width * height * sizeof(float), "tracking floatBuf");
	for (y = 0; y < (int)height; y++) {
		for (x = 0; x < (int)width; x++) {
			int pixel = tmpibuf->x * y + x;

			if (tmpibuf->rect_float) {
				float *rrgbf = tmpibuf->rect_float + pixel * 4;

				*fp = 0.2126 * rrgbf[0] + 0.7152 * rrgbf[1] + 0.0722 * rrgbf[2];
			}
			else {
				unsigned char *rrgb = (unsigned char*)tmpibuf->rect + pixel * 4;

				*fp = (0.2126 * rrgb[0] + 0.7152 * rrgb[1] + 0.0722 * rrgb[2]) / 255.0f;
			}

			fp++;
		}
	}

	IMB_freeImBuf(tmpibuf);

	return pixels;
}

static unsigned char *get_ucharbuf(ImBuf *ibuf)
{
	int x, y;
	unsigned char *pixels, *cp;

	cp = pixels = MEM_callocN(ibuf->x * ibuf->y * sizeof(unsigned char), "tracking ucharBuf");
	for (y = 0; y < ibuf->y; y++) {
		for (x = 0; x < ibuf->x; x++) {
			int pixel = ibuf->x * y + x;

			if (ibuf->rect_float) {
				const float *rrgbf = ibuf->rect_float + pixel*4;
				const float grey_f = 0.2126f * rrgbf[0] + 0.7152f * rrgbf[1] + 0.0722f * rrgbf[2];

				*cp = FTOCHAR(grey_f);
			}
			else {
				const unsigned char *rrgb = (unsigned char*)ibuf->rect + pixel * 4;

				*cp = 0.2126f * rrgb[0] + 0.7152f * rrgb[1] + 0.0722f * rrgb[2];
			}

			cp++;
		}
	}

	return pixels;
}

static ImBuf *get_frame_ibuf(MovieTrackingContext *context, int framenr)
{
	ImBuf *ibuf;
	MovieClipUser user = context->user;

	user.framenr = framenr;

	ibuf = BKE_movieclip_get_ibuf_flag(context->clip, &user, context->clip_flag, MOVIECLIP_CACHE_SKIP);

	return ibuf;
}

static ImBuf *get_keyframed_ibuf(MovieTrackingContext *context, MovieTrackingTrack *track,
                                 MovieTrackingMarker *marker, MovieTrackingMarker **marker_keyed)
{
	int framenr = marker->framenr;
	int a = marker-track->markers;

	*marker_keyed = marker;

	while (a >= 0 && a < track->markersnr) {
		int next = (context->backwards) ? a+1 : a-1;
		int is_keyframed = FALSE;
		MovieTrackingMarker *cur_marker = &track->markers[a];
		MovieTrackingMarker *next_marker = NULL;

		if (next>=0 && next<track->markersnr)
			next_marker= &track->markers[next];

		/* if next mrker is disabled, stop searching keyframe and use current frame as keyframe */
		if (next_marker && next_marker->flag & MARKER_DISABLED)
			is_keyframed = TRUE;

		is_keyframed |= (cur_marker->flag & MARKER_TRACKED) == 0;

		if (is_keyframed) {
			framenr = cur_marker->framenr;
			*marker_keyed = cur_marker;

			break;
		}

		a = next;
	}

	return get_frame_ibuf(context, framenr);
}

static ImBuf *get_adjust_ibuf(MovieTrackingContext *context, MovieTrackingTrack *track, MovieTrackingMarker *marker,
                              int curfra, MovieTrackingMarker **marker_keyed)
{
	ImBuf *ibuf = NULL;

	if (track->pattern_match == TRACK_MATCH_KEYFRAME) {
		ibuf = get_keyframed_ibuf(context, track, marker, marker_keyed);
	}
	else {
		ibuf = get_frame_ibuf(context, curfra);

		/* use current marker as keyframed position */
		*marker_keyed = marker;
	}

	return ibuf;
}

#endif

void BKE_tracking_sync(MovieTrackingContext *context)
{
	MovieTracking *tracking = &context->clip->tracking;
	int newframe;

	tracks_map_merge(context->tracks_map, tracking);

	if (context->backwards)
		newframe = context->user.framenr + 1;
	else
		newframe = context->user.framenr - 1;

	context->sync_frame = newframe;

	BKE_tracking_update_dopesheet(tracking);
}

void BKE_tracking_sync_user(MovieClipUser *user, MovieTrackingContext *context)
{
	user->framenr = context->sync_frame;
}

int BKE_tracking_next(MovieTrackingContext *context)
{
	ImBuf *ibuf_new;
	int curfra = context->user.framenr;
	int a, ok = FALSE, map_size;

	map_size = tracks_map_size(context->tracks_map);

	/* nothing to track, avoid unneeded frames reading to save time and memory */
	if (!map_size)
		return FALSE;

	if (context->backwards)
		context->user.framenr--;
	else
		context->user.framenr++;

	ibuf_new = BKE_movieclip_get_ibuf_flag(context->clip, &context->user, context->clip_flag, MOVIECLIP_CACHE_SKIP);
	if (!ibuf_new)
		return FALSE;

	#pragma omp parallel for private(a) shared(ibuf_new, ok) if (map_size>1)
	for (a = 0; a < map_size; a++) {
		TrackContext *track_context = NULL;
		MovieTrackingTrack *track;
		MovieTrackingMarker *marker;

		tracks_map_get(context->tracks_map, a, &track, (void**)&track_context);

		marker = BKE_tracking_exact_marker(track, curfra);

		if (marker && (marker->flag & MARKER_DISABLED) == 0) {
#ifdef WITH_LIBMV
			int width, height, origin[2], tracked = 0, need_readjust = 0;
			float pos[2], margin[2], dim[2];
			double x1, y1, x2, y2;
			ImBuf *ibuf = NULL;
			MovieTrackingMarker marker_new, *marker_keyed;
			int onbound = FALSE, nextfra;

			if (track->pattern_match == TRACK_MATCH_KEYFRAME)
				need_readjust = context->first_time;
			else
				need_readjust = TRUE;

			if (context->backwards)
				nextfra = curfra - 1;
			else
				nextfra = curfra + 1;

			/* margin from frame boundaries */
			sub_v2_v2v2(dim, track->pat_max, track->pat_min);
			margin[0] = margin[1] = MAX2(dim[0], dim[1]) / 2.0f;

			margin[0] = MAX2(margin[0], (float)track->margin / ibuf_new->x);
			margin[1] = MAX2(margin[1], (float)track->margin / ibuf_new->y);

			/* do not track markers which are too close to boundary */
			if (marker->pos[0]<margin[0] || marker->pos[0]>1.0f-margin[0] ||
			    marker->pos[1]<margin[1] || marker->pos[1]>1.0f-margin[1])
			{
				onbound = TRUE;
			}
			else {
				float *patch_new;

				if (need_readjust) {
					/* calculate patch for keyframed position */
					ibuf = get_adjust_ibuf(context, track, marker, curfra, &marker_keyed);

					if (track_context->patch)
						MEM_freeN(track_context->patch);

					track_context->patch = get_search_floatbuf(ibuf, track, marker_keyed, &width, &height,
					                                           track_context->keyframed_pos, origin);

					IMB_freeImBuf(ibuf);
				}

				patch_new = get_search_floatbuf(ibuf_new, track, marker, &width, &height, pos, origin);

				x1 = track_context->keyframed_pos[0];
				y1 = track_context->keyframed_pos[1];

				x2 = pos[0];
				y2 = pos[1];

				tracked = libmv_regionTrackerTrack(track_context->region_tracker, track_context->patch, patch_new,
							width, height, x1, y1, &x2, &y2);

				MEM_freeN(patch_new);
			}

			if (tracked && !onbound && finite(x2) && finite(y2)) {
				if (context->first_time) {
					#pragma omp critical
					{
						/* check if there's no keyframe/tracked markers before tracking marker.
						 * if so -- create disabled marker before currently tracking "segment" */
						put_disabled_marker(track, marker, !context->backwards, 0);
					}
				}

				memset(&marker_new, 0, sizeof(marker_new));

				if (!onbound) {
					marker_new.pos[0] = (origin[0] + x2) / ibuf_new->x;
					marker_new.pos[1] = (origin[1] + y2) / ibuf_new->y;
				}
				else {
					copy_v2_v2(marker_new.pos, marker->pos);
				}

				marker_new.flag |= MARKER_TRACKED;
				marker_new.framenr= nextfra;

				#pragma omp critical
				{
					BKE_tracking_insert_marker(track, &marker_new);
				}

				/* make currently tracked segment be finished with disabled marker */
				#pragma omp critical
				{
					put_disabled_marker(track, &marker_new, context->backwards, 0);
				}
			}
			else {
				marker_new = *marker;

				marker_new.framenr = nextfra;
				marker_new.flag |= MARKER_DISABLED;

				#pragma omp critical
				{
					BKE_tracking_insert_marker(track, &marker_new);
				}
			}

			ok = TRUE;
#endif
		}
	}

	IMB_freeImBuf(ibuf_new);

	context->first_time = FALSE;
	context->frames++;

	return ok;
}

/*********************** camera solving *************************/

typedef struct MovieReconstructContext {
#ifdef WITH_LIBMV
	struct libmv_Tracks *tracks;
	int keyframe1, keyframe2;
	short refine_flags;

	struct libmv_Reconstruction *reconstruction;
#endif
	char object_name[MAX_NAME];
	int is_camera;
	short motion_flag;

	float focal_length;
	float principal_point[2];
	float k1, k2, k3;

	float reprojection_error;

	TracksMap *tracks_map;

	int sfra, efra;
} MovieReconstructContext;

typedef struct ReconstructProgressData {
	short *stop;
	short *do_update;
	float *progress;
	char *stats_message;
	int message_size;
} ReconstructProgressData;

#if WITH_LIBMV
static struct libmv_Tracks *create_libmv_tracks(ListBase *tracksbase, int width, int height)
{
	int tracknr = 0;
	MovieTrackingTrack *track;
	struct libmv_Tracks *tracks = libmv_tracksNew();

	track = tracksbase->first;
	while (track) {
		int a = 0;

		for (a = 0; a < track->markersnr; a++) {
			MovieTrackingMarker *marker = &track->markers[a];

			if ((marker->flag & MARKER_DISABLED) == 0) {
				libmv_tracksInsert(tracks, marker->framenr, tracknr,
							marker->pos[0] * width, marker->pos[1] * height);
			}
		}

		track = track->next;
		tracknr++;
	}

	return tracks;
}

static void retrieve_libmv_reconstruct_intrinscis(MovieReconstructContext *context, MovieTracking *tracking)
{
	struct libmv_Reconstruction *libmv_reconstruction = context->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;

	tracking->camera.principal[1] = principal_y / aspy;
	tracking->camera.k1 = k1;
	tracking->camera.k2 = k2;
}

static int retrieve_libmv_reconstruct_tracks(MovieReconstructContext *context, MovieTracking *tracking)
{
	struct libmv_Reconstruction *libmv_reconstruction = context->reconstruction;
	MovieTrackingReconstruction *reconstruction = NULL;
	MovieReconstructedCamera *reconstructed;
	MovieTrackingTrack *track;
	ListBase *tracksbase =  NULL;
	int ok = TRUE, tracknr = 0, a, origin_set = FALSE;
	int sfra = context->sfra, efra = context->efra;
	float imat[4][4];

	if (context->is_camera) {
		tracksbase = &tracking->tracks;
		reconstruction = &tracking->reconstruction;
	}
	else {
		MovieTrackingObject *object = BKE_tracking_named_object(tracking, context->object_name);

		tracksbase = &object->tracks;
		reconstruction = &object->reconstruction;
	}

	unit_m4(imat);

	track = tracksbase->first;
	while (track) {
		double pos[3];

		if (libmv_reporojectionPointForTrack(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_reporojectionErrorForTrack(libmv_reconstruction, tracknr);
		}
		else {
			track->flag &= ~TRACK_HAS_BUNDLE;
			ok = FALSE;

			printf("No bundle 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_reporojectionCameraForImage(libmv_reconstruction, a, matd)) {
			int i, j;
			float mat[4][4];
			float error = libmv_reporojectionErrorForImage(libmv_reconstruction, a);

			for (i = 0; i < 4; i++)
				for (j = 0; j < 4; j++)
					mat[i][j] = matd[i][j];

			if (!origin_set) {
				copy_m4_m4(imat, mat);
				invert_m4(imat);
				origin_set = TRUE;
			}

			if (origin_set)
				mult_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) {
		reconstruction->cameras = MEM_callocN(reconstruction->camnr * sizeof(MovieReconstructedCamera), "reconstructed camera");
		memcpy(reconstruction->cameras, reconstructed, reconstruction->camnr * sizeof(MovieReconstructedCamera));
	}

	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;
}

static int retrieve_libmv_reconstruct(MovieReconstructContext *context, MovieTracking *tracking)
{
	/* take the intrinscis back from libmv */
	retrieve_libmv_reconstruct_intrinscis(context, tracking);

	return retrieve_libmv_reconstruct_tracks(context, tracking);
}

static int get_refine_intrinsics_flags(MovieTracking *tracking, MovieTrackingObject *object)
{
	int refine = tracking->settings.refine_camera_intrinsics;
	int flags = 0;

	if ((object->flag & TRACKING_OBJECT_CAMERA) == 0)
		return 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, ListBase *tracksbase)
{
	int tot = 0;
	int frame1 = tracking->settings.keyframe1, frame2= tracking->settings.keyframe2;
	MovieTrackingTrack *track;

	track = tracksbase->first;
	while (track) {
		if (BKE_tracking_has_enabled_marker(track, frame1))
			if (BKE_tracking_has_enabled_marker(track, frame2))
				tot++;

		track = track->next;
	}

	return tot;
}
#endif

int BKE_tracking_can_reconstruct(MovieTracking *tracking, MovieTrackingObject *object, char *error_msg, int error_size)
{
#if WITH_LIBMV
	ListBase *tracksbase = BKE_tracking_object_tracks(tracking, object);

	if (tracking->settings.motion_flag & TRACKING_MOTION_MODAL) {
		/* TODO: check for number of tracks? */
		return TRUE;
	}
	else if (count_tracks_on_both_keyframes(tracking, tracksbase) < 8) {
		BLI_strncpy(error_msg, "At least 8 common tracks on both of keyframes are needed for reconstruction", error_size);

		return FALSE;
	}

	return TRUE;
#else
	BLI_strncpy(error_msg, "Blender is compiled without motion tracking library", error_size);

	(void) tracking;
	(void) object;

	return 0;
#endif
}

MovieReconstructContext* BKE_tracking_reconstruction_context_new(MovieTracking *tracking, MovieTrackingObject *object,
                                                                 int keyframe1, int keyframe2, int width, int height)
{
	MovieReconstructContext *context = MEM_callocN(sizeof(MovieReconstructContext), "MovieReconstructContext data");
	MovieTrackingCamera *camera = &tracking->camera;
	ListBase *tracksbase = BKE_tracking_object_tracks(tracking, object);
	float aspy = 1.0f / tracking->camera.pixel_aspect;
	int num_tracks = BLI_countlist(tracksbase);
	int sfra = INT_MAX, efra = INT_MIN;
	MovieTrackingTrack *track;

	BLI_strncpy(context->object_name, object->name, sizeof(context->object_name));
	context->is_camera = object->flag & TRACKING_OBJECT_CAMERA;
	context->motion_flag = tracking->settings.motion_flag;

	context->tracks_map = tracks_map_new(context->object_name, context->is_camera, num_tracks, 0);

	track = tracksbase->first;
	while (track) {
		int first = 0, last = track->markersnr-1;
		MovieTrackingMarker *first_marker = &track->markers[0];
		MovieTrackingMarker *last_marker = &track->markers[track->markersnr - 1];

		/* find first not-disabled marker */
		while (first <= track->markersnr - 1 && first_marker->flag & MARKER_DISABLED) {
			first++;
			first_marker++;
		}

		/* find last not-disabled marker */
		while (last >= 0 && last_marker->flag & MARKER_DISABLED) {
			last--;
			last_marker--;
		}

		if (first<track->markersnr - 1)
			sfra = MIN2(sfra, first_marker->framenr);

		if (last >= 0)
			efra = MAX2(efra, last_marker->framenr);

		tracks_map_insert(context->tracks_map, track, NULL);

		track = track->next;
	}

	context->sfra = sfra;
	context->efra = efra;

#ifdef WITH_LIBMV
	context->tracks = create_libmv_tracks(tracksbase, width, height*aspy);
	context->keyframe1 = keyframe1;
	context->keyframe2 = keyframe2;
	context->refine_flags = get_refine_intrinsics_flags(tracking, object);
#else
	(void) width;
	(void) height;
	(void) keyframe1;
	(void) keyframe2;
#endif

	context->focal_length = camera->focal;
	context->principal_point[0] = camera->principal[0];
	context->principal_point[1] = camera->principal[1] * aspy;

	context->k1 = camera->k1;
	context->k2 = camera->k2;
	context->k3 = camera->k3;

	return context;
}

void BKE_tracking_reconstruction_context_free(MovieReconstructContext *context)
{
#ifdef WITH_LIBMV
	if (context->reconstruction)
			libmv_destroyReconstruction(context->reconstruction);

	libmv_tracksDestroy(context->tracks);
#endif

	tracks_map_free(context->tracks_map, NULL);

	MEM_freeN(context);
}

#ifdef WITH_LIBMV
static void solve_reconstruction_update_cb(void *customdata, double progress, const char *message)
{
	ReconstructProgressData *progressdata= customdata;

	if (progressdata->progress) {
		*progressdata->progress = progress;
		*progressdata->do_update = TRUE;
	}

	BLI_snprintf(progressdata->stats_message, progressdata->message_size, "Solving camera | %s", message);
}
#endif

#if 0
static int solve_reconstruction_testbreak_cb(void *customdata)
{
	ReconstructProgressData *progressdata = customdata;

	if (progressdata->stop && *progressdata->stop)
		return TRUE;

	return G.afbreek;
}
#endif

void BKE_tracking_solve_reconstruction(MovieReconstructContext *context, short *stop, short *do_update,
                                       float *progress, char *stats_message, int message_size)
{
#ifdef WITH_LIBMV
	float error;

	ReconstructProgressData progressdata;

	progressdata.stop = stop;
	progressdata.do_update = do_update;
	progressdata.progress = progress;
	progressdata.stats_message = stats_message;
	progressdata.message_size = message_size;

	if (context->motion_flag & TRACKING_MOTION_MODAL) {
		context->reconstruction = libmv_solveModal(context->tracks,
			context->focal_length,
			context->principal_point[0], context->principal_point[1],
			context->k1, context->k2, context->k3,
			solve_reconstruction_update_cb, &progressdata);
	}
	else {
		context->reconstruction = libmv_solveReconstruction(context->tracks,
			context->keyframe1, context->keyframe2,
			context->refine_flags,
			context->focal_length,
			context->principal_point[0], context->principal_point[1],
			context->k1, context->k2, context->k3,
			solve_reconstruction_update_cb, &progressdata);
	}

	error = libmv_reprojectionError(context->reconstruction);

	context->reprojection_error = error;
#else
	(void) context;
	(void) stop;
	(void) do_update;
	(void) progress;
	(void) stats_message;
	(void) message_size;
#endif
}

int BKE_tracking_finish_reconstruction(MovieReconstructContext *context, MovieTracking *tracking)
{
	MovieTrackingReconstruction *reconstruction;

	tracks_map_merge(context->tracks_map, tracking);

	if (context->is_camera) {
		reconstruction = &tracking->reconstruction;
	}
	else {
		MovieTrackingObject *object;

		object = BKE_tracking_named_object(tracking, context->object_name);
		reconstruction = &object->reconstruction;
	}

	reconstruction->error = context->reprojection_error;
	reconstruction->flag |= TRACKING_RECONSTRUCTED;

#ifdef WITH_LIBMV
	if (!retrieve_libmv_reconstruct(context, tracking))
		return FALSE;
#endif

	return TRUE;
}

void BKE_track_unique_name(ListBase *tracksbase, MovieTrackingTrack *track)
{
	BLI_uniquename(tracksbase, track, "Track", '.', offsetof(MovieTrackingTrack, name), sizeof(track->name));
}

MovieTrackingTrack *BKE_tracking_named_track(MovieTracking *tracking, MovieTrackingObject *object, const char *name)
{
	ListBase *tracksbase = BKE_tracking_object_tracks(tracking, object);
	MovieTrackingTrack *track = tracksbase->first;

	while (track) {
		if (!strcmp(track->name, name))
			return track;

		track = track->next;
	}

	return NULL;
}

static int reconstruction_camera_index(MovieTrackingReconstruction *reconstruction, int framenr, int nearest)
{
	MovieReconstructedCamera *cameras= reconstruction->cameras;
	int a = 0, d = 1;

	if (!reconstruction->camnr)
		return -1;

	if (framenr<cameras[0].framenr) {
		if (nearest)
			return 0;
		else
			return -1;
	}

	if (framenr>cameras[reconstruction->camnr - 1].framenr) {
		if (nearest)
			return reconstruction->camnr - 1;
		else
			return -1;
	}

	if (reconstruction->last_camera<reconstruction->camnr)
		a = reconstruction->last_camera;

	if (cameras[a].framenr >= framenr)
		d = -1;

	while (a >= 0 && a < reconstruction->camnr) {
		int cfra = cameras[a].framenr;

		/* check if needed framenr was "skipped" -- no data for requested frame */

		if (d > 0 && cfra > framenr) {
			/* interpolate with previous position */
			if (nearest)
				return a - 1;
			else
				break;
		}

		if (d < 0 && cfra < framenr) {
			/* interpolate with next position */
			if (nearest)
				return a;
			else
				break;
		}

		if (cfra == framenr) {
			reconstruction->last_camera = a;

			return a;
		}

		a += d;
	}

	return -1;
}

static void scale_reconstructed_camera(MovieTrackingObject *object, float mat[4][4])
{
	if ((object->flag & TRACKING_OBJECT_CAMERA) == 0) {
		float smat[4][4];

		scale_m4_fl(smat, 1.0f / object->scale);
		mult_m4_m4m4(mat, mat, smat);
	}
}

MovieReconstructedCamera *BKE_tracking_get_reconstructed_camera(MovieTracking *tracking,
                                                                MovieTrackingObject *object, int framenr)
{
	MovieTrackingReconstruction *reconstruction;
	int a;

	reconstruction = BKE_tracking_object_reconstruction(tracking, object);
	a = reconstruction_camera_index(reconstruction, framenr, FALSE);

	if (a ==-1)
		return NULL;

	return &reconstruction->cameras[a];
}

void BKE_tracking_get_interpolated_camera(MovieTracking *tracking, MovieTrackingObject *object,
                                          int framenr, float mat[4][4])
{
	MovieTrackingReconstruction *reconstruction;
	MovieReconstructedCamera *cameras;
	int a;

	reconstruction = BKE_tracking_object_reconstruction(tracking, object);
	cameras = reconstruction->cameras;
	a = reconstruction_camera_index(reconstruction, framenr, 1);

	if (a == -1) {
		unit_m4(mat);

		return;
	}

	if (cameras[a].framenr != framenr && a > 0 && a < reconstruction->camnr - 1) {
		float t = ((float)framenr-cameras[a].framenr) / (cameras[a + 1].framenr-cameras[a].framenr);

		blend_m4_m4m4(mat, cameras[a].mat, cameras[a+1].mat, t);
	}
	else {
		copy_m4_m4(mat, cameras[a].mat);
	}

	scale_reconstructed_camera(object, mat);
}

void BKE_get_tracking_mat(Scene *scene, Object *ob, float mat[4][4])
{
	if (!ob) {
		if (scene->camera)
			ob = scene->camera;
		else
			ob = scene_find_camera(scene);
	}

	if (ob)
		where_is_object_mat(scene, ob, mat);
	else
		unit_m4(mat);
}

void BKE_tracking_camera_shift(MovieTracking *tracking, int winx, int winy, float *shiftx, float *shifty)
{
	/* indeed in both of cases it should be winx -- it's just how camera shift works for blender's camera */
	*shiftx = (0.5f * winx-tracking->camera.principal[0]) / winx;
	*shifty = (0.5f * winy-tracking->camera.principal[1]) / winx;
}

void BKE_tracking_camera_to_blender(MovieTracking *tracking, Scene *scene, Camera *camera, int width, int height)
{
	float focal = tracking->camera.focal;

	camera->sensor_x = tracking->camera.sensor_width;
	camera->sensor_fit = CAMERA_SENSOR_FIT_AUTO;
	camera->lens = focal*camera->sensor_x/width;

	scene->r.xsch = width*tracking->camera.pixel_aspect;
	scene->r.ysch = height;

	scene->r.xasp = 1.0f;
	scene->r.yasp = 1.0f;

	BKE_tracking_camera_shift(tracking, width, height, &camera->shiftx, &camera->shifty);
}

void BKE_tracking_projection_matrix(MovieTracking *tracking, MovieTrackingObject *object,
                                    int framenr, int winx, int winy, float mat[4][4])
{
	MovieReconstructedCamera *camera;
	float lens = tracking->camera.focal*tracking->camera.sensor_width/(float)winx;
	float viewfac, pixsize, left, right, bottom, top, clipsta, clipend;
	float winmat[4][4];
	float ycor =  1.0f / tracking->camera.pixel_aspect;
	float shiftx, shifty, winside = MAX2(winx, winy);

	BKE_tracking_camera_shift(tracking, winx, winy, &shiftx, &shifty);

	clipsta = 0.1f;
	clipend = 1000.0f;

	if (winx >= winy)
		viewfac = (lens*winx)/tracking->camera.sensor_width;
	else
		viewfac = (ycor*lens*winy)/tracking->camera.sensor_width;

	pixsize = clipsta/viewfac;

	left = -0.5f * (float)winx + shiftx * winside;
	bottom = -0.5f * (ycor) * (float)winy + shifty * winside;
	right =  0.5f * (float)winx + shiftx * winside;
	top =  0.5f * (ycor) * (float)winy + shifty * winside;

	left *= pixsize;
	right *= pixsize;
	bottom *= pixsize;
	top *= pixsize;

	perspective_m4(winmat, left, right, bottom, top, clipsta, clipend);

	camera = BKE_tracking_get_reconstructed_camera(tracking, object, framenr);

	if (camera) {
		float imat[4][4];

		invert_m4_m4(imat, camera->mat);
		mult_m4_m4m4(mat, winmat, imat);
	}
	else copy_m4_m4(mat, winmat);
}

ListBase *BKE_tracking_get_tracks(MovieTracking *tracking)
{
	MovieTrackingObject *object = BKE_tracking_active_object(tracking);

	if (object && (object->flag & TRACKING_OBJECT_CAMERA) == 0) {
		return &object->tracks;
	}

	return &tracking->tracks;
}

MovieTrackingTrack *BKE_tracking_active_track(MovieTracking *tracking)
{
	ListBase *tracksbase;

	if (!tracking->act_track)
		return NULL;

	tracksbase = BKE_tracking_get_tracks(tracking);

	/* check that active track is in current tracks list */
	if (BLI_findindex(tracksbase, tracking->act_track) >= 0)
		return tracking->act_track;

	return NULL;
}

MovieTrackingObject *BKE_tracking_active_object(MovieTracking *tracking)
{
	return BLI_findlink(&tracking->objects, tracking->objectnr);
}

MovieTrackingObject *BKE_tracking_get_camera_object(MovieTracking *tracking)
{
	MovieTrackingObject *object = tracking->objects.first;

	while (object) {
		if (object->flag & TRACKING_OBJECT_CAMERA)
			return object;

		object= object->next;
	}

	return NULL;
}

ListBase *BKE_tracking_object_tracks(MovieTracking *tracking, MovieTrackingObject *object)
{
	if (object->flag & TRACKING_OBJECT_CAMERA) {
		return &tracking->tracks;
	}

	return &object->tracks;
}

MovieTrackingReconstruction *BKE_tracking_object_reconstruction(MovieTracking *tracking, MovieTrackingObject *object)
{
	if (object->flag & TRACKING_OBJECT_CAMERA) {
		return &tracking->reconstruction;
	}

	return &object->reconstruction;
}

MovieTrackingReconstruction *BKE_tracking_get_reconstruction(MovieTracking *tracking)
{
	MovieTrackingObject *object = BKE_tracking_active_object(tracking);

	return BKE_tracking_object_reconstruction(tracking, object);
}

void BKE_tracking_apply_intrinsics(MovieTracking *tracking, float co[2], float nco[2])
{
	MovieTrackingCamera *camera= &tracking->camera;

#ifdef WITH_LIBMV
	double x, y;
	float aspy = 1.0f/tracking->camera.pixel_aspect;

	/* normalize coords */
	x = (co[0] - camera->principal[0]) / camera->focal;
	y = (co[1] - camera->principal[1] * aspy) / camera->focal;

	libmv_applyCameraIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy,
	                            camera->k1, camera->k2, camera->k3, x, y, &x, &y);

	/* result is in image coords already */
	nco[0] = x;
	nco[1] = y;
#else
	(void) camera;
	(void) co;
	(void) nco;
#endif
}

void BKE_tracking_invert_intrinsics(MovieTracking *tracking, float co[2], float nco[2])
{
	MovieTrackingCamera *camera = &tracking->camera;

#ifdef WITH_LIBMV
	double x = co[0], y = co[1];
	float aspy = 1.0f / tracking->camera.pixel_aspect;

	libmv_InvertIntrinsics(camera->focal, camera->principal[0], camera->principal[1] * aspy,
	                       camera->k1, camera->k2, camera->k3, x, y, &x, &y);

	nco[0] = x * camera->focal + camera->principal[0];
	nco[1] = y * camera->focal + camera->principal[1] * aspy;
#else
	(void) camera;
	(void) co;
	(void) nco;
#endif
}

#ifdef WITH_LIBMV
static int point_in_stroke(bGPDstroke *stroke, float x, float y)
{
	int i, prev;
	int count = 0;
	bGPDspoint *points = stroke->points;

	prev = stroke->totpoints - 1;

	for (i = 0; i<stroke->totpoints; i++) {
		if ((points[i].y < y && points[prev].y >= y) || (points[prev].y < y && points[i].y >= y)) {
			float fac = (y - points[i].y) / (points[prev].y - points[i].y);

			if (points[i].x + fac * (points[prev].x - points[i].x) < x)
				count++;
		}

		prev= i;
	}

	return count % 2;
}

static int point_in_layer(bGPDlayer *layer, float x, float y)
{
	bGPDframe *frame = layer->frames.first;

	while (frame) {
		bGPDstroke *stroke = frame->strokes.first;

		while (stroke) {
			if (point_in_stroke(stroke, x, y))
				return TRUE;

			stroke = stroke->next;
		}
		frame = frame->next;
	}

	return FALSE;
}

static void retrieve_libmv_features(MovieTracking *tracking, ListBase *tracksbase,
                                    struct libmv_Features *features, int framenr, int width, int height,
                                    bGPDlayer *layer, int place_outside_layer)
{
	int a;

	a = libmv_countFeatures(features);
	while (a--) {
		MovieTrackingTrack *track;
		double x, y, size, score;
		int ok = TRUE;
		float xu, yu;

		libmv_getFeature(features, a, &x, &y, &score, &size);

		xu = x / width;
		yu = y / height;

		if (layer)
			ok = point_in_layer(layer, xu, yu) != place_outside_layer;

		if (ok) {
			track = BKE_tracking_add_track(tracking, tracksbase, xu, yu, framenr, width, height);
			track->flag |= SELECT;
			track->pat_flag |= SELECT;
			track->search_flag |= SELECT;
		}
	}
}
#endif

void BKE_tracking_detect_fast(MovieTracking *tracking, ListBase *tracksbase, ImBuf *ibuf,
                              int framenr, int margin, int min_trackness, int min_distance, bGPDlayer *layer,
                              int place_outside_layer)
{
#ifdef WITH_LIBMV
	struct libmv_Features *features;
	unsigned char *pixels = get_ucharbuf(ibuf);

	features = libmv_detectFeaturesFAST(pixels, ibuf->x, ibuf->y, ibuf->x,
	                                    margin, min_trackness, min_distance);

	MEM_freeN(pixels);

	retrieve_libmv_features(tracking, tracksbase, features, framenr,
	                        ibuf->x, ibuf->y, layer, place_outside_layer);

	libmv_destroyFeatures(features);
#else
	(void) tracking;
	(void) tracksbase;
	(void) ibuf;
	(void) framenr;
	(void) margin;
	(void) min_trackness;
	(void) min_distance;
	(void) layer;
	(void) place_outside_layer;
#endif
}

MovieTrackingTrack *BKE_tracking_indexed_track(MovieTracking *tracking, int tracknr, ListBase **tracksbase_r)
{
	MovieTrackingObject *object;
	int cur = 1;

	object = tracking->objects.first;
	while (object) {
		ListBase *tracksbase = BKE_tracking_object_tracks(tracking, object);
		MovieTrackingTrack *track = tracksbase->first;

		while (track) {
			if (track->flag & TRACK_HAS_BUNDLE) {
				if (cur == tracknr) {
					*tracksbase_r = tracksbase;
					return track;
				}

				cur++;
			}

			track = track->next;
		}

		object= object->next;
	}

	*tracksbase_r= NULL;

	return NULL;
}

static int stabilization_median_point(MovieTracking *tracking, int framenr, float median[2])
{
	int ok = FALSE;
	float min[2], max[2];
	MovieTrackingTrack *track;

	INIT_MINMAX2(min, max);

	track = tracking->tracks.first;
	while (track) {
		if (track->flag & TRACK_USE_2D_STAB) {
			MovieTrackingMarker *marker = BKE_tracking_get_marker(track, framenr);

			DO_MINMAX2(marker->pos, min, max);

			ok = TRUE;
		}

		track = track->next;
	}

	median[0] = (max[0] + min[0]) / 2.0f;
	median[1] = (max[1] + min[1]) / 2.0f;

	return ok;
}

static void calculate_stabdata(MovieTracking *tracking, int framenr, float width, float height,
                               float firstmedian[2], float median[2], float loc[2], float *scale, float *angle)
{
	MovieTrackingStabilization *stab = &tracking->stabilization;

	*scale = (stab->scale - 1.0f) * stab->scaleinf + 1.0f;
	*angle = 0.0f;

	loc[0] = (firstmedian[0] - median[0]) *width * (*scale);
	loc[1] = (firstmedian[1] - median[1]) *height * (*scale);

	mul_v2_fl(loc, stab->locinf);

	if ((stab->flag & TRACKING_STABILIZE_ROTATION) && stab->rot_track && stab->rotinf) {
		MovieTrackingMarker *marker;
		float a[2], b[2];
		float x0 = (float)width / 2.0f, y0 = (float)height / 2.0f;
		float x = median[0] * width, y = median[1] * height;

		marker = BKE_tracking_get_marker(stab->rot_track, 1);
		sub_v2_v2v2(a, marker->pos, firstmedian);
		a[0] *= width;
		a[1] *= height;

		marker = BKE_tracking_get_marker(stab->rot_track, framenr);
		sub_v2_v2v2(b, marker->pos, median);
		b[0] *= width;
		b[1] *= height;

		*angle = -atan2(a[0]*b[1]-a[1]*b[0], a[0]*b[0]+a[1]*b[1]);
		*angle *= stab->rotinf;

		/* convert to rotation around image center */
		loc[0] -= (x0 + (x - x0) * cosf(*angle) - (y - y0) * sinf(*angle) - x) * (*scale);
		loc[1] -= (y0 + (x - x0) * sinf(*angle) + (y - y0) * cosf(*angle) - y) * (*scale);
	}
}

static float stabilization_auto_scale_factor(MovieTracking *tracking, int width, int height)
{
	float firstmedian[2];
	MovieTrackingStabilization *stab = &tracking->stabilization;
	float aspect = tracking->camera.pixel_aspect;

	if (stab->ok)
		return stab->scale;

	if (stabilization_median_point(tracking, 1, firstmedian)) {
		int sfra = INT_MAX, efra = INT_MIN, cfra;
		float scale = 1.0f;
		MovieTrackingTrack *track;

		stab->scale = 1.0f;

		track = tracking->tracks.first;
		while (track) {
			if (track->flag & TRACK_USE_2D_STAB ||
			   ((stab->flag & TRACKING_STABILIZE_ROTATION) && track == stab->rot_track))
			{
				sfra = MIN2(sfra, track->markers[0].framenr);
				efra = MAX2(efra, track->markers[track->markersnr - 1].framenr);
			}

			track = track->next;
		}

		for (cfra = sfra; cfra <= efra; cfra++) {
			float median[2];
			float loc[2], angle, tmp_scale;
			int i;
			float mat[4][4];
			float points[4][2] = {{0.0f, 0.0f}, {0.0f, height}, {width, height}, {width, 0.0f}};
			float si, co;

			stabilization_median_point(tracking, cfra, median);

			calculate_stabdata(tracking, cfra, width, height, firstmedian, median, loc, &tmp_scale, &angle);

			BKE_tracking_stabdata_to_mat4(width, height, aspect, loc, 1.0f, angle, mat);

			si = sin(angle);
			co = cos(angle);

			for (i = 0; i < 4; i++) {
				int j;
				float a[3] = {0.0f, 0.0f, 0.0f}, b[3]= {0.0f, 0.0f, 0.0f};

				copy_v3_v3(a, points[i]);
				copy_v3_v3(b, points[(i+1)%4]);

				mul_m4_v3(mat, a);
				mul_m4_v3(mat, b);

				for (j = 0; j < 4; j++) {
					float point[3] = {points[j][0], points[j][1], 0.0f};
					float v1[3], v2[3];

					sub_v3_v3v3(v1, b, a);
					sub_v3_v3v3(v2, point, a);

					if (cross_v2v2(v1, v2) >= 0.0f) {
						const float rotDx[4][2] = {{1.0f, 0.0f}, {0.0f, -1.0f}, {-1.0f, 0.0f}, {0.0f, 1.0f}};
						const float rotDy[4][2] = {{0.0f, 1.0f}, {1.0f, 0.0f}, {0.0f, -1.0f}, {-1.0f, 0.0f}};

						float dx = loc[0] * rotDx[j][0] + loc[1] * rotDx[j][1],
						      dy = loc[0] * rotDy[j][0] + loc[1] * rotDy[j][1];

						float w, h, E, F, G, H, I, J, K, S;

						if (j % 2) {
							w = (float)height / 2.0f;
							h = (float)width / 2.0f;
						}
						else {
							w = (float)width / 2.0f;
							h = (float)height / 2.0f;
						}

						E = -w*co + h*si;
						F = -h*co - w*si;

						if ((i % 2) == (j % 2)) {
							G = -w*co - h*si;
							H = h*co - w*si;
						}
						else {
							G = w*co + h*si;
							H = -h*co + w*si;
						}

						I = F - H;
						J = G - E;
						K = G*F - E*H;

						S = (-w*I - h*J) / (dx*I + dy*J + K);

						scale = MAX2(scale, S);
					}
				}
			}
		}

		stab->scale = scale;

		if (stab->maxscale>0.0f)
			stab->scale = MIN2(stab->scale, stab->maxscale);
	}
	else {
		stab->scale = 1.0f;
	}

	stab->ok = TRUE;

	return stab->scale;
}

static ImBuf* stabilize_alloc_ibuf(ImBuf *cacheibuf, ImBuf *srcibuf, int fill)
{
	int flags;

	if (cacheibuf && (cacheibuf->x != srcibuf->x || cacheibuf->y != srcibuf->y)) {
		IMB_freeImBuf(cacheibuf);
		cacheibuf = NULL;
	}

	flags = IB_rect;

	if (srcibuf->rect_float)
		flags |= IB_rectfloat;

	if (cacheibuf) {
		if (fill) {
			float col[4] = {0.0f, 0.0f, 0.0f, 0.0f};

			IMB_rectfill(cacheibuf, col);
		}
	}
	else {
		cacheibuf = IMB_allocImBuf(srcibuf->x, srcibuf->y, srcibuf->planes, flags);
		cacheibuf->profile = srcibuf->profile;
	}

	return cacheibuf;
}

void BKE_tracking_stabilization_data(MovieTracking *tracking, int framenr, int width, int height, float loc[2], float *scale, float *angle)
{
	float firstmedian[2], median[2];
	MovieTrackingStabilization *stab = &tracking->stabilization;

	if ((stab->flag & TRACKING_2D_STABILIZATION) == 0) {
		zero_v2(loc);
		*scale= 1.0f;
		*angle= 0.0f;

		return;
	}

	if (stabilization_median_point(tracking, 1, firstmedian)) {
		stabilization_median_point(tracking, framenr, median);

		if ((stab->flag & TRACKING_AUTOSCALE) == 0)
			stab->scale = 1.0f;

		if (!stab->ok) {
			if (stab->flag & TRACKING_AUTOSCALE)
				stabilization_auto_scale_factor(tracking, width, height);

			calculate_stabdata(tracking, framenr, width, height, firstmedian, median, loc, scale, angle);

			stab->ok = TRUE;
		}
		else {
			calculate_stabdata(tracking, framenr, width, height, firstmedian, median, loc, scale, angle);
		}
	}
	else {
		zero_v2(loc);
		*scale = 1.0f;
		*angle = 0.0f;
	}
}

ImBuf *BKE_tracking_stabilize(MovieTracking *tracking, int framenr, ImBuf *ibuf, float loc[2], float *scale, float *angle)
{
	float tloc[2], tscale, tangle;
	MovieTrackingStabilization *stab = &tracking->stabilization;
	ImBuf *tmpibuf;
	float width = ibuf->x, height = ibuf->y;
	float aspect = tracking->camera.pixel_aspect;

	if (loc)
		copy_v2_v2(tloc, loc);

	if (scale)
		tscale = *scale;

	if ((stab->flag & TRACKING_2D_STABILIZATION) == 0) {
		if (loc)
			zero_v2(loc);

		if (scale)
			*scale = 1.0f;

		return ibuf;
	}

	BKE_tracking_stabilization_data(tracking, framenr, width, height, tloc, &tscale, &tangle);

	tmpibuf = stabilize_alloc_ibuf(NULL, ibuf, TRUE);

	/* scale would be handled by matrix transformation when angle is non-zero */
	if (tscale != 1.0f && tangle == 0.0f) {
		ImBuf *scaleibuf;

		stabilization_auto_scale_factor(tracking, width, height);

		scaleibuf = stabilize_alloc_ibuf(stab->scaleibuf, ibuf, 0);
		stab->scaleibuf = scaleibuf;

		IMB_rectcpy(scaleibuf, ibuf, 0, 0, 0, 0, ibuf->x, ibuf->y);
		IMB_scalefastImBuf(scaleibuf, ibuf->x*tscale, ibuf->y*tscale);

		ibuf = scaleibuf;
	}

	if (tangle == 0.0f) {
		/* if angle is zero, then it's much faster to use rect copy
		 * but could be issues with subpixel precisions */
		IMB_rectcpy(tmpibuf, ibuf,
		            tloc[0] - (tscale - 1.0f) * width / 2.0f,
		            tloc[1] - (tscale - 1.0f) * height / 2.0f,
		            0, 0, ibuf->x, ibuf->y);
	}
	else {
		float mat[4][4];
		int i, j, filter = tracking->stabilization.filter;
		void (*interpolation) (struct ImBuf*, struct ImBuf*, float, float, int, int) = NULL;

		BKE_tracking_stabdata_to_mat4(ibuf->x, ibuf->y, aspect, tloc, tscale, tangle, mat);
		invert_m4(mat);

		if (filter == TRACKING_FILTER_NEAREAST)
			interpolation = neareast_interpolation;
		else if (filter == TRACKING_FILTER_BILINEAR)
			interpolation = bilinear_interpolation;
		else if (filter == TRACKING_FILTER_BICUBIC)
			interpolation = bicubic_interpolation;
		else
			/* fallback to default interpolation method */
			interpolation = neareast_interpolation;

		for (j = 0; j < tmpibuf->y; j++) {
			for (i = 0; i < tmpibuf->x;i++) {
				float vec[3] = {i, j, 0};

				mul_v3_m4v3(vec, mat, vec);

				interpolation(ibuf, tmpibuf, vec[0], vec[1], i, j);
			}
		}
	}

	tmpibuf->userflags |= IB_MIPMAP_INVALID;

	if (tmpibuf->rect_float)
		tmpibuf->userflags |= IB_RECT_INVALID;

	if (loc)
		copy_v2_v2(loc, tloc);

	if (scale)
		*scale= tscale;

	if (angle)
		*angle= tangle;

	return tmpibuf;
}

void BKE_tracking_stabdata_to_mat4(int width, int height, float aspect, float loc[2], float scale, float angle, float mat[4][4])
{
	float lmat[4][4], rmat[4][4], smat[4][4], cmat[4][4], icmat[4][4], amat[4][4], iamat[4][4];
	float svec[3]= {scale, scale, scale};

	unit_m4(rmat);
	unit_m4(lmat);
	unit_m4(smat);
	unit_m4(cmat);
	unit_m4(amat);

	/* aspect ratio correction matrix */
	amat[0][0] = 1.0f / aspect;
	invert_m4_m4(iamat, amat);

	/* image center as rotation center */
	cmat[3][0] = (float)width / 2.0f;
	cmat[3][1] = (float)height / 2.0f;
	invert_m4_m4(icmat, cmat);

	size_to_mat4(smat, svec);		/* scale matrix */
	add_v2_v2(lmat[3], loc);		/* translation matrix */
	rotate_m4(rmat, 'Z', angle);	/* rotation matrix */

	/* compose transformation matrix */
	mul_serie_m4(mat, lmat, cmat, amat, rmat, iamat, smat, icmat, NULL);
}

MovieDistortion *BKE_tracking_distortion_create(void)
{
	MovieDistortion *distortion;

	distortion = MEM_callocN(sizeof(MovieDistortion), "BKE_tracking_distortion_create");

	return distortion;
}

MovieDistortion *BKE_tracking_distortion_copy(MovieDistortion *distortion)
{
	MovieDistortion *new_distortion;

	new_distortion = MEM_callocN(sizeof(MovieDistortion), "BKE_tracking_distortion_create");

#ifdef WITH_LIBMV
	new_distortion->intrinsics = libmv_CameraIntrinsicsCopy(distortion->intrinsics);
#else
	(void) distortion;
#endif

	return new_distortion;
}

void BKE_tracking_distortion_update(MovieDistortion *distortion, MovieTracking *tracking, int width, int height)
{
	MovieTrackingCamera *camera = &tracking->camera;
	float aspy = 1.0f / tracking->camera.pixel_aspect;

#ifdef WITH_LIBMV
	if (!distortion->intrinsics) {
		distortion->intrinsics = libmv_CameraIntrinsicsNew(camera->focal,
				camera->principal[0], camera->principal[1] * aspy,
				camera->k1, camera->k2, camera->k3, width, height * aspy);
	}
	else {
		libmv_CameraIntrinsicsUpdate(distortion->intrinsics, camera->focal,
				camera->principal[0], camera->principal[1] * aspy,
				camera->k1, camera->k2, camera->k3, width, height * aspy);
	}
#else
	(void) distortion;
	(void) width;
	(void) height;
	(void) camera;
	(void) aspy;
#endif
}

ImBuf *BKE_tracking_distortion_exec(MovieDistortion *distortion, MovieTracking *tracking,
                                    ImBuf *ibuf, int width, int height, float overscan, int undistort)
{
	ImBuf *resibuf;

	BKE_tracking_distortion_update(distortion, tracking, width, height);

	resibuf = IMB_dupImBuf(ibuf);

	if (ibuf->rect_float) {
#ifdef WITH_LIBMV
		if (undistort) {
			libmv_CameraIntrinsicsUndistortFloat(distortion->intrinsics,
						ibuf->rect_float, resibuf->rect_float,
						ibuf->x, ibuf->y, overscan, ibuf->channels);
		}
		else {
			libmv_CameraIntrinsicsDistortFloat(distortion->intrinsics,
						ibuf->rect_float, resibuf->rect_float,
						ibuf->x, ibuf->y, overscan, ibuf->channels);
		}
#endif

		ibuf->userflags |= IB_RECT_INVALID;
	}
	else {
#ifdef WITH_LIBMV
		if (undistort) {
				libmv_CameraIntrinsicsUndistortByte(distortion->intrinsics,
							(unsigned char*)ibuf->rect, (unsigned char*)resibuf->rect,
							ibuf->x, ibuf->y, overscan, ibuf->channels);
		}
		else {
			libmv_CameraIntrinsicsDistortByte(distortion->intrinsics,
						(unsigned char*)ibuf->rect, (unsigned char*)resibuf->rect,
						ibuf->x, ibuf->y, overscan, ibuf->channels);
		}
#endif
	}

#ifndef WITH_LIBMV
	(void) overscan;
	(void) undistort;
#endif

	return resibuf;
}

void BKE_tracking_distortion_destroy(MovieDistortion *distortion)
{
#ifdef WITH_LIBMV
	libmv_CameraIntrinsicsDestroy(distortion->intrinsics);
#endif

	MEM_freeN(distortion);
}

ImBuf *BKE_tracking_undistort(MovieTracking *tracking, ImBuf *ibuf, int width, int height, float overscan)
{
	MovieTrackingCamera *camera = &tracking->camera;

	if (camera->intrinsics == NULL)
		camera->intrinsics = BKE_tracking_distortion_create();

	return BKE_tracking_distortion_exec(camera->intrinsics, tracking, ibuf, width, height, overscan, 1);
}

ImBuf *BKE_tracking_distort(MovieTracking *tracking, ImBuf *ibuf, int width, int height, float overscan)
{
	MovieTrackingCamera *camera = &tracking->camera;

	if (camera->intrinsics == NULL)
		camera->intrinsics = BKE_tracking_distortion_create();

	return BKE_tracking_distortion_exec(camera->intrinsics, tracking, ibuf, width, height, overscan, 0);
}

/* area - which part of marker should be selected. see TRACK_AREA_* constants */
void BKE_tracking_select_track(ListBase *tracksbase, MovieTrackingTrack *track, int area, int extend)
{
	if (extend) {
		BKE_tracking_track_flag(track, area, SELECT, 0);
	}
	else {
		MovieTrackingTrack *cur = tracksbase->first;

		while (cur) {
			if ((cur->flag & TRACK_HIDDEN) == 0) {
				if (cur == track) {
					BKE_tracking_track_flag(cur, TRACK_AREA_ALL, SELECT, 1);
					BKE_tracking_track_flag(cur, area, SELECT, 0);
				}
				else {
					BKE_tracking_track_flag(cur, TRACK_AREA_ALL, SELECT, 1);
				}
			}

			cur = cur->next;
		}
	}
}

void BKE_tracking_deselect_track(MovieTrackingTrack *track, int area)
{
	BKE_tracking_track_flag(track, area, SELECT, 1);
}

MovieTrackingObject *BKE_tracking_new_object(MovieTracking *tracking, const char *name)
{
	MovieTrackingObject *object = MEM_callocN(sizeof(MovieTrackingObject), "tracking object");

	if (tracking->tot_object == 0) {
		/* first object is always camera */
		BLI_strncpy(object->name, "Camera", sizeof(object->name));

		object->flag |= TRACKING_OBJECT_CAMERA;
	}
	else {
		BLI_strncpy(object->name, name, sizeof(object->name));
	}

	BLI_addtail(&tracking->objects, object);

	tracking->tot_object++;
	tracking->objectnr = BLI_countlist(&tracking->objects) - 1;

	object->scale = 1.0f;

	BKE_tracking_object_unique_name(tracking, object);

	return object;
}

void BKE_tracking_remove_object(MovieTracking *tracking, MovieTrackingObject *object)
{
	MovieTrackingTrack *track;
	int index = BLI_findindex(&tracking->objects, object);

	if (index<0)
		return;

	if (object->flag & TRACKING_OBJECT_CAMERA) {
		/* object used for camera solving can't be deleted */
		return;
	}

	track = object->tracks.first;
	while (track) {
		if (track == tracking->act_track)
			tracking->act_track = NULL;

		track= track->next;
	}

	tracking_object_free(object);
	BLI_freelinkN(&tracking->objects, object);

	tracking->tot_object--;

	if (index>0)
		tracking->objectnr = index - 1;
	else
		tracking->objectnr = 0;
}

void BKE_tracking_object_unique_name(MovieTracking *tracking, MovieTrackingObject *object)
{
	BLI_uniquename(&tracking->objects, object, "Object", '.', offsetof(MovieTrackingObject, name), sizeof(object->name));
}

MovieTrackingObject *BKE_tracking_named_object(MovieTracking *tracking, const char *name)
{
	MovieTrackingObject *object = tracking->objects.first;

	while (object) {
		if (!strcmp(object->name, name))
			return object;

		object = object->next;
	}

	return NULL;
}

/*********************** dopesheet functions *************************/

static int channels_alpha_sort(void *a, void *b)
{
	MovieTrackingDopesheetChannel *channel_a = a;
	MovieTrackingDopesheetChannel *channel_b = b;

	if (BLI_strcasecmp(channel_a->track->name, channel_b->track->name) > 0)
		return 1;
	else
		return 0;
}

static void channels_segments_calc(MovieTrackingDopesheetChannel *channel)
{
	MovieTrackingTrack *track = channel->track;
	int i, segment;

	channel->tot_segment = 0;
	channel->max_segment = 0;
	channel->total_frames = 0;

	/* count */
	i = 0;
	while (i < track->markersnr) {
		MovieTrackingMarker *marker = &track->markers[i];

		if ((marker->flag & MARKER_DISABLED) == 0) {
			int prev_fra = marker->framenr, len = 0;

			i++;
			while (i < track->markersnr) {
				marker = &track->markers[i];

				if (marker->framenr != prev_fra + 1)
					break;
				if (marker->flag & MARKER_DISABLED)
					break;

				prev_fra = marker->framenr;
				len++;
				i++;
			}

			channel->tot_segment++;
		}

		i++;
	}

	if (!channel->tot_segment)
		return;

	channel->segments = MEM_callocN(2 * sizeof(int) * channel->tot_segment, "tracking channel segments");

	/* create segments */
	i = 0;
	segment = 0;
	while (i < track->markersnr) {
		MovieTrackingMarker *marker = &track->markers[i];

		if ((marker->flag & MARKER_DISABLED) == 0) {
			MovieTrackingMarker *start_marker = marker;
			int prev_fra = marker->framenr, len = 0;

			i++;
			while (i < track->markersnr) {
				marker = &track->markers[i];

				if (marker->framenr != prev_fra + 1)
					break;
				if (marker->flag & MARKER_DISABLED)
					break;

				prev_fra = marker->framenr;
				channel->total_frames++;
				len++;
				i++;
			}

			channel->segments[2 * segment] = start_marker->framenr;
			channel->segments[2 * segment + 1] = start_marker->framenr + len;

			channel->max_segment =  MAX2(channel->max_segment, len);
			segment++;
		}

		i++;
	}
}

void BKE_tracking_update_dopesheet(MovieTracking *tracking)
{
	MovieTrackingObject *object = BKE_tracking_active_object(tracking);
	MovieTrackingDopesheet *dopesheet = &tracking->dopesheet;
	MovieTrackingTrack *track;
	ListBase *tracksbase = BKE_tracking_object_tracks(tracking, object);

	tracking_dopesheet_free(dopesheet);

	for (track = tracksbase->first; track; track = track->next) {
		if (TRACK_SELECTED(track) && (track->flag & TRACK_HIDDEN) == 0) {
			MovieTrackingDopesheetChannel *channel;

			channel = MEM_callocN(sizeof(MovieTrackingDopesheetChannel), "tracking dopesheet channel");
			channel->track = track;

			channels_segments_calc(channel);

			BLI_addtail(&dopesheet->channels, channel);
			dopesheet->tot_channel++;
		}
	}

	BLI_sortlist(&dopesheet->channels, channels_alpha_sort);
}