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Camera tracking: synchronize changes with own branch

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Should be no functional changes.
This commit is contained in:
Sergey Sharybin
2012-12-20 11:03:39 +00:00
parent 2f3d2483c3
commit 0d7e4f3229
10 changed files with 530 additions and 349 deletions
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4
extern/libmv/CMakeLists.txt vendored
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@@ -47,9 +47,9 @@ set(SRC
libmv/multiview/conditioning.cc
libmv/multiview/euclidean_resection.cc
libmv/multiview/fundamental.cc
libmv/multiview/homography.cc
libmv/multiview/projection.cc
libmv/multiview/triangulation.cc
libmv/multiview/homography.cc
libmv/numeric/numeric.cc
libmv/numeric/poly.cc
libmv/simple_pipeline/bundle.cc
@@ -71,8 +71,8 @@ set(SRC
libmv/tracking/lmicklt_region_tracker.cc
libmv/tracking/pyramid_region_tracker.cc
libmv/tracking/retrack_region_tracker.cc
libmv/tracking/trklt_region_tracker.cc
libmv/tracking/track_region.cc
libmv/tracking/trklt_region_tracker.cc
third_party/fast/fast_10.c
third_party/fast/fast_11.c

800
extern/libmv/ChangeLog vendored
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@@ -1,3 +1,487 @@
commit cfabdfe48df2add3d1f30cf4370efd0b31990ab0
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 20 05:46:53 2012 +0600
Assorted fixes for keyframe selection:
- Biggest error was in cost functors used for F and H refirement,
they were just wrong.
- Use natural logarithms, since it's actually makes sense from
math papers point of view and error is somewhere else.
- Disabled rho for GRIC, for now use non-clamped error for tests.
- Made SymmetricEpipolarDistance returning non-squared distance
Keyframe selection is currently the only used of this function
and it seems using non-squared distance makes much more sense.
Also would think to append suffix "Squared" to functions which
returns squared distances.
- Removed templated version of SymmetricEpipolarDistance, since
it's not needed actually.
This is actually even worse working than previous implementation,
but commit it needed for further review.
commit 35d8c57626ad74818f155e6e5960c663ea84e032
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 20 03:00:40 2012 +0600
Euclidean resection cost function didn't use correct constructor
It was storing a reference to initial rotation passed by value,
leading to pointer being pointing to a stack variable, leading to
wrong memory access in residuals computing.
Apparently was visible in optimized builds only with inline
substitution allowed.
commit 0798d3162bb49cee7e1c423ceccbca1326ad5650
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 20 02:50:52 2012 +0600
Automatic keyframe selection based on Pollefeys's criteria
This commit implements automatic keyframe selection algorithm
based on Pollefeys's criteria (F-GRIC is smaller than H-GRIC
and correspondence ratio is more then 90%).
It is implemented as a part of simple pipeline and returns
vector of keyframe images for a given Tracks structure.
For simple pipeline reconstruction two best keyframes are
expected to be selected from all detected candidates.
Criteria for this selection could be reprojection error of
solution from two candidate keyfames.
Unfortunately, it's not fully workable yet, hopefully would
be fixed soon.
commit e943985552f0598ae122252876f305d72c25c2f9
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 17:47:11 2012 +0600
Camera Tracking: allow fallback to reprojection resection
by user demand
This fixes some "regressions" introduced in previous commit
which lead to much worse solution in some cases. Now it's
possible to bring old behavior back.
Perhaps it's more like temporal solution for time being smarter
solution is found. But finding such a solution isn't so fast,
so let's bring manual control over reprojection usage.
But anyway, imo it's now nice to have a structure which could
be used to pass different settings to the solver.
commit 5a23d01dd531d1e0798298d17ba42a3397effb82
Author: Keir Mierle <mierle@gmail.com>
Date: Thu Sep 20 18:55:44 2012 +0000
Make Euclidean resection "always" succeed.
The Euclidean resection code had a magical constant, 1e-3, used to
compare the results of solving an equation. This failure detection
was well-intended, trying to prevent poor solutions from getting
made without notifying the caller. Unfortunately in practice, this
threshold is too conservative. Furthermore, it is not clear the
threshold should exist at all; the purpose of the Euclidean
resection is to come up with the best solution it can; other
methods (e.g. reprojection error) should be used to compare
whether the method succeeded.
This commit changes the Euclidean EPnP code to always succeed,
causing the previous fallback to projective resection to never
run. In most cases, this will result in better reconstructions.
This should, in most cases, fix the dreaded "flipping" problem.
commit 57dad861d2a7f9d058c6d8edde1a2d51d7225a51
Author: Keir Mierle <mierle@gmail.com>
Date: Thu Sep 20 02:27:34 2012 +0000
Fix variable naming in the planar tracker.
commit e9392fd3b46f5668662935696e7d9afac3390ca4
Author: Keir Mierle <mierle@gmail.com>
Date: Thu Sep 20 02:10:33 2012 +0000
Add smarter tolerance checking in the planar tracker.
The planar tracker uses Ceres for the refinement stage. During
refinement, Ceres iteratively updates the parameters with the
latest best guess. If the change in the parameters falls below a
threshold, Ceres will abort successfully ("converged").
For the case of pure translation tracking, the parameters are
exactly the two pixel shifts (dx, dy), and measuring the change in
these parameters gives a meaningful termination criterion.
However, for all the other parameterizations like affine, where
the parameterization involves affine parameters that have no
physical interpretation, Ceres is left with no way to terminate
the solver early. With the existing code, often many iterations
are run long after Ceres has found a solution sufficiently
accurate for all tracking needs. No one needs tracking with
a quadrillionth of a pixel accuracy; that time is wasted.
This patch extends the existing iteration callback that is passed
in to Ceres to check if the pattern has fallen out of the search
window, to also check if the optimizer has made a tiny step. In
particular, if the maximum shift of any patch corner between two
successful optimizer steps is less than a threshold (currently
0.005 pixels), the track is declared successful and tracking
is terminated.
This leads to dramatic speed increases in some cases, with little
to no loss in track quality. This is especially apparent when
tracking patches with affine or perspective motion models. For
example, on some tracking cases I tried, the iterations Ceres took
went from 50 to 3.
commit 36729c19bf90cb767e9adb96ba7dd48a5ace2be1
Author: Keir Mierle <mierle@gmail.com>
Date: Wed Sep 19 22:25:02 2012 +0000
Detect too-small planar tracking patches.
The planar tracker did not detect very skinny patches which have
effectively zero area and are untrackable. This adds detection and
rejection of patterns with zero area. This fixes a crash found by
during Mango production.
commit 5cf2bae255a5a0f2e36ea0516670782cb88b589d
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 17:33:53 2012 +0600
Real fix for previous commit from Keir. He's comment;
Cleanup for when trackers fall out of the search window.
Sergey originally left a TODO() here, but his fix is the correct
one. I removed the TODO and fixed some comment issues.
commit a11533918720e5b43dc1e95895db0eb36c8c06aa
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 17:31:16 2012 +0600
Fix crash when tracking in planar motion model (and maybe some other)
It was an Abort() caused by check for solver result not equal to USER_ABORT.
In some cases solver returns USER_ABORT due to BoundaryCheckingCallback
detects coordinates does not belong to image.
Somehow this callback wasn't called in previous version of Ceres and
in the same case marker was jumping. Now when the callback is called
it seems we could simply return failure of tracking without aborting
Blender.
Probably this is in fact some issue somewhere else, would double
check with Keir about this.
commit 4be2306bcc664b259aaf7068b9f32ab60124a509
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 17:29:39 2012 +0600
Resolved some compilation warnings (missed prototypes)
In some cases it was missed include of header file, in some other
cases symbol could be static.
commit bef729ba5c12683d13584d2a728b8b6506b7ca90
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 17:27:17 2012 +0600
Code cleanup: silence some -Wnarrowing warnings from C++11
commit add1415d896818367087c784a3013dd8f1bb2095
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 17:25:18 2012 +0600
Changes to SamplePlanarPatch to support mask input and
added output for pattern center.
commit daa354c0735b954b0cd7725626e9a3d67416d46b
Author: Keir Mierle <mierle@gmail.com>
Date: Sat Jun 9 19:22:39 2012 +0000
Change libmv's bilinear sampling to assume the same
pixel conventions as Blender. This fixes the preview
widget in Blender, and should make tracking slightly
more accurate.
commit 99b6222873fbfbe248316316956720376a58f438
Author: Keir Mierle <mierle@gmail.com>
Date: Sat Jun 9 18:58:51 2012 +0000
Add new warp regularization scheme for planar tracking.
This adds a new term to the tracking cost function that
restricts how much the optimizer can warp the patch (as
opposed to merely adjusting the translation). This should
reduce the "jumpiness" that is sometimes seen when doing
non-"Loc" tracks.
It is disabled in this commit; a subsequent commit will add
controls to the tracking dialog for this.
commit a1c5a70badd11cba0470700bad2eac2b2bd30c86
Author: Keir Mierle <mierle@gmail.com>
Date: Sat Jun 9 06:55:21 2012 +0000
Planar tracker polish.
- Fixes the correlation checking code that was broken in the
previous commit. The bug was a transpose error.
- Fixes a memory leak of the warp functor, found by Sameer.
- Various cleanups done at Sameer's suggestion.
Thanks to Sameer Agarwal for a code review.
commit 2cb784caa854a77cdd43620ab133f26b87ed0d83
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Jun 8 17:42:17 2012 +0000
Make planar tracking much faster.
- This makes planar tracking around 2-3x or more faster than
before, by rearranging how the sampling is done.
Previously, the source patch was sampled repeatedly on
every optimizer iteration; this was done for
implementation speed, but was wasteful in computation.
- This also contains some additions to Ceres to help
deailing with mixed numeric / automatic differentation. In
particular, there is now a "Chain::Rule" operator that
facilitates calling a function that takes Jet arguments,
yet does numeric derivatives internally. This is used to
mix the numeric differentation of the images with the warp
parameters, passed as jets by Ceres to the warp functor.
There is also a new "JetOps" object for doing operations
on types which may or may not be jets, such as scaling
the derivative part only, or extracting the scalar part
of a jet.
This patche is aimed at Ceres upstream.
- A new function for sampling a patch is now part of the
track_region.h API; this will get used to make the preview
widget properly show what is getting tracked. Currently
the preview widget does not handle perspective tracks.
Known issues:
This patch introduces a bug such that the "Minimum
Correlation" flag does not work; if it is enabled, tracking
aborts immediately. The workaround for now is to disable the
correlation checking, and examine your tracks carefully. A
fix will get added shortly.
commit 81d028f13738ebe2304287dfce90e91bc782e2cf
Author: Keir Mierle <mierle@gmail.com>
Date: Fri May 18 20:04:43 2012 +0000
Remove an unnecessary template<> line in libmv. Convert debug logs to LG.
commit 238aaba241ef99995d254aadc974db719da04b96
Author: Keir Mierle <mierle@gmail.com>
Date: Fri May 18 12:05:10 2012 +0000
Support normalization in the tracking prepass
The last tracker commit added normalized tracking. This makes
tracking patches undergoing uniform illumination change easier.
However, the prepass which computes a quick translation-only
estimate of the warp did not take this into account. This commit
fixes that.
This works reasonably well but in some examples the brute
initialization fails. I suspect this is due to the warped template
estimate in the current frame being too different from the
original, so there are multiple peaks in the normalized-SAD
correlation function.
The solution is to use the previous frame for the brute
initialization and the keyframe for refinement, but that requires
architecture changes.
commit 981ca4f6a679cd9ac3d086eae3cd946ce72ca8a5
Author: Keir Mierle <mierle@gmail.com>
Date: Fri May 18 02:12:47 2012 +0000
Add light-normalized tracking to the planar tracker
This commit adds the ability to normalize patterns by their
average value while tracking, to make them invariant to global
illumination changes.
To see this in action, check out the "Lobby" scene from Hollywood
VFX. If you track the markers that are shadowed by the actress,
previously they would not track. With the scale adaption on, the
tracker would shrink the area to compensate for the changed
illumination, losing the track. With "Normalize" turned on, the
patch is correctly tracked and scale is maintained.
A remaining problem is that only the Ceres cost function is
updated to handle the normalization. The brute translation search
does not take this into account. Perhaps "Prepass" (see below)
should get disabled if normalization is enabled until I fix the
prepass to normalize as well.
There are a few other changes:
- Bail out of the sampling loop early if the mask is zero; this
saves expensive samples of the image derivatives.
- Fix a bug where the mask was ignored when sampling in the cost
functor.
commit e9384b15fb2a6a5b81346d5758fa136f0911e945
Author: Keir Mierle <mierle@gmail.com>
Date: Thu May 17 23:53:32 2012 +0000
Implement support for affine tracking in the planar tracker; cleanups.
commit 021d41eed8b4ce6a4e37786ccd357ed5dc83a13f
Author: Keir Mierle <mierle@gmail.com>
Date: Thu May 17 21:26:06 2012 +0000
For the planar tracker, initialize the warp from the four correspondences
after brute force translation search.
commit 003d1bf6145cfd30938b35f6e10d43708dbf916c
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 16:56:01 2012 +0600
Correction to region tracker options initialization.
Based on patch from Keir to Blender:
https://svn.blender.org/svnroot/bf-blender/branches/soc-2011-tomato@46743
commit 6af47b218cfdf5219f0ebb3cb95459817cf9abf2
Author: Keir Mierle <mierle@gmail.com>
Date: Thu May 17 02:31:52 2012 +0000
Add new planar tracker features and use the new planar API
This commit removes the use of the legacy RegionTracker API from
Blender, and replaces it with the new TrackRegion API. This also
adds several features to the planar tracker in libmv:
- Do a brute-force initialization of tracking similar to "Hybrid"
mode in the stable release, but using all floats. This is slower
but more accurate. It is still necessary to evaluate if the
performance loss is worth it. In particular, this change is
necessary to support high bit depth imagery.
- Add support for masks over the search window. This is a step
towards supporting user-defined tracker masks. The tracker masks
will make it easy for users to make a mask for e.g. a ball.
- Add Pearson product moment correlation coefficient checking (aka
"Correlation" in the UI. This causes tracking failure if the
tracked patch is not linearly related to the template.
- Add support for warping a few points in addition to the supplied
points. This is useful because the tracking code deliberately
does not expose the underlying warp representation. Instead,
warps are specified in an aparametric way via the correspondences.
- Remove the "num_samples_xy" concept and replace it with
automatic determination of the number of samples. This makes the
API easier for users.
- Fix various bugs in the parameterizations.
There remains a bug with subpixel precision tracking when in
"keyframe" mode; this will get fixed shortly.
commit 16a46db104468cec80bd31ca9d5f8bffbe3e003e
Author: Keir Mierle <mierle@gmail.com>
Date: Mon May 14 12:15:38 2012 +0000
"Efficient Second-order Minimization" for the planar tracker
This implements the "Efficient Second-order Minimization"
scheme, as supported by the existing translation tracker.
This increases the amount of per-iteration work, but
decreases the number of iterations required to converge and
also increases the size of the basin of attraction for the
optimization.
commit 23243b1b1f3e1ab3ef862b47bca06ee876ac2cf4
Author: Keir Mierle <mierle@gmail.com>
Date: Sun May 13 23:08:56 2012 +0000
Add a planar tracking implementation to libmv
This adds a new planar tracking implementation to libmv. The
tracker is based on Ceres[1], the new nonlinear minimizer that
myself and Sameer released from Google as open source. Since
the motion model is more involved, the interface is
different than the RegionTracker interface used previously
in Blender.
The ESM tracker, also known as the KLT tracker in the UI, is
temporarily changed to use the new Ceres-based planar
tracker in translation-only mode. Currently it is a bit
slower than ESM and also doesn't have all the bells and
whistles implemented. Those will come soon. Longer term,
both trackers will remain since Ceres is unlikely to be as
fast as ESM for pure translation solving, due to its
generality.
The next step is to implement a new tracking UI. The current
UI assumes a translational motion model; the new one must
support arbitrary perspective transforms of the pattern
regions.
[1] http://code.google.com/p/ceres-solver
commit 52be92b53eb4decb1a316690b162196f227cc441
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Dec 6 16:06:08 2012 +0600
Initial Ceres integration
Currently only put sources to src/third_party/ceres and made sure they're
not giving compilation issues.
Used Ceres upstream version 1.3.0.
Needed to make some modifications to it's CMakeLists.txt also to glog and
fglags. They're described in README.libmv of this libraries.
Basically:
- Added -fPIC to glog/gflags, so shared ceres library could be linked
statically against this libraries.
- Tweaked Ceres's build rules to use needed libraries from libmv's
third_party folder.
commit b13f9d13122e091cb85855c2094386ccdef6e5a4
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Dec 5 19:05:34 2012 +0600
Update Eigen to version 3.1.2
Mainly because of lots of warnings generating by gcc-4.7 which are
resolved in newer eigen version.
commit 1f0dd94e8e37d3fe2df89282ec16a6a685fdde0b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri May 25 16:36:44 2012 +0600
- Added avutil to qt-tracker linking when building with FFmpeg support.
On some platforms it seems to be required
- Synchronized QT Creator project for qt-tracker with changes in sources,
so no it might be compiled from QT Creator.
commit b813dbe3f46bbbc7e73ac791d4665622e4fc7ba5
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed May 9 19:01:10 2012 +0600
@@ -238,319 +722,3 @@ Date: Fri Feb 17 20:08:01 2012 +0600
SAD tracker now can deal with pattern size any size,
Very quick implementation came from Blender before Hybrid tracker was added.
Better to be replaced with brute tracker.
commit d547c9cfe37d5d3397d33c8b0e58471e1e1c1634
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:03:52 2012 +0600
Just convert end of lines to unix style.
commit eb73ddbaec5b9e1ad30331bbf858a6ebc266c4aa
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:02:20 2012 +0600
Made some function static. Resolves possible linking issues when building with MinGW.
commit 2930681fafd86e4f4a958054b1db8bfff29623d1
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:59:45 2012 +0600
Missed this in commit with improvements in camera intrinsics.
commit 8d31bc767019b05c5bf8c9f309f9545b3428afa1
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:57:51 2012 +0600
Another step of syncing codebase with Blender.
Mainly fixes for freebsd/osx compilation and aligned memory allocation.
commit 3214a2df5bfd98021f25d0f1a626a86318bb245f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:48:02 2012 +0600
Support compilation on FreeBSD platform
commit 0e5abe96f543687ccfb3a923ec639cb8f45d54f8
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:44:18 2012 +0600
Implementation of basic system for progress reporting into callee stuff
Implemented by using simple callbacks classes which are getting invoked from
places where lots of calculation happens, so applications which are using
libmv may display nice progress bar.
commit c5e18fe35464618055e0e9761be8d22fae56db49
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:25:45 2012 +0600
Add support for detecting tracking failure in the ESM tracker component of
libmv. Since both KLT and Hybrid rely on ESM underneath, KLT and Hybrid now
have a minimum correlation setting to match. With this fix, track failures
should get detected quicker, with the issue that sometimes the tracker will
give up too easily. That is fixable by reducing the required correlation (in
the track properties).
commit ea0fed736ecdcc8c020227aeef8ef4cd3be5e63d
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:23:50 2012 +0600
Add a new hybrid region tracker for motion tracking to libmv, and
add it as an option (under "Hybrid") in the tracking settings. The
region tracker is a combination of brute force tracking for coarse
alignment, then refinement with the ESM/KLT algorithm already in
libmv that gives excellent subpixel precision (typically 1/50'th
of a pixel)
This also adds a new "brute force" region tracker which does a
brute force search through every pixel position in the destination
for the pattern in the first frame. It leverages SSE if available,
similar to the SAD tracker, to do this quickly. Currently it does
some unnecessary conversions to/from floating point that will get
fixed later.
The hybrid tracker glues the two trackers (brute & ESM) together
to get an overall better tracker. The algorithm is simple:
1. Track from frame 1 to frame 2 with the brute force tracker.
This tries every possible pixel position for the pattern from
frame 1 in frame 2. The position with the smallest
sum-of-absolute-differences is chosen. By definition, this
position is only accurate up to 1 pixel or so.
2. Using the result from 1, initialize a track with ESM. This does
a least-squares fit with subpixel precision.
3. If the ESM shift was more than 2 pixels, report failure.
4. If the ESM track shifted less than 2 pixels, then the track is
good and we're done. The rationale here is that if the
refinement stage shifts more than 1 pixel, then the brute force
result likely found some random position that's not a good fit.
commit a07fff8431621c01d81ae52595d8dd91a295a776
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:19:58 2012 +0600
Assorted camera tracker improvements
- Add support for refining the camera's intrinsic parameters
during a solve. Currently, refining supports only the following
combinations of intrinsic parameters:
f
f, cx, cy
f, cx, cy, k1, k2
f, k1
f, k1, k2
This is not the same as autocalibration, since the user must
still make a reasonable initial guess about the focal length and
other parameters, whereas true autocalibration would eliminate
the need for the user specify intrinsic parameters at all.
However, the solver works well with only rough guesses for the
focal length, so perhaps full autocalibation is not that
important.
Adding support for the last two combinations, (f, k1) and (f,
k1, k2) required changes to the library libmv depends on for
bundle adjustment, SSBA. These changes should get ported
upstream not just to libmv but to SSBA as well.
- Improved the region of convergence for bundle adjustment by
increasing the number of Levenberg-Marquardt iterations from 50
to 500. This way, the solver is able to crawl out of the bad
local minima it gets stuck in when changing from, for example,
bundling k1 and k2 to just k1 and resetting k2 to 0.
- Add several new region tracker implementations. A region tracker
is a libmv concept, which refers to tracking a template image
pattern through frames. The impact to end users is that tracking
should "just work better". I am reserving a more detailed
writeup, and maybe a paper, for later.
- Other libmv tweaks, such as detecting that a tracker is headed
outside of the image bounds.
This includes several changes made directly to the libmv extern
code rather expecting to get those changes through normal libmv
channels, because I, the libmv BDFL, decided it was faster to work
on libmv directly in Blender, then later reverse-port the libmv
changes from Blender back into libmv trunk. The interesting part
is that I added a full Levenberg-Marquardt loop to the region
tracking code, which should lead to a more stable solutions. I
also added a hacky implementation of "Efficient Second-Order
Minimization" for tracking, which works nicely. A more detailed
quantitative evaluation will follow.
commit 0bf66c009d5022eacfc473d247884a73ffeefa8f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:13:49 2012 +0600
Rest of compilation fix with FAST library.
commit 71b578ca2ba34c528363c514cd1fcc85791d01f3
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:00:28 2012 +0600
Improve the KLT tracking behaviour and UI
- Remove the overly-conservative use of libmv's re-track tracker. The re-track
tracker would take a normal tracker such as TRKLT or KLT or pyramid KLT, and
track from frame 1 to 2, then back from the position found in 2 back to 1.
Then, when the reverse-track doesn't match the original track with high
precision, the track is considered "failed". This is a good approach for
fully automatic reconstruction, but is too conservative for supervised
tracking.
The retrack-tracker will return when fully automatic tracking is added.
- Always solve for (dx, dy) in the TRKLT loop even if the linear system is
ill-conditioned. The client (Blender in this case) can still use the solved
position, even though it is less reliable.
commit 7d8a8762f2bc2e36f95b0b6f4fb4ca996f9f0db7
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:46:24 2012 +0600
Changes in camera intrinsics distortion/undistortion:
- Distortion/undistortion of scaled images wasn't happening right,
because camera intrinsics are calibrated on an original frame which
has got some particular resolution and trying to apply this model on
an image with another resolution gives totally wrong result.
This is needed to be able to do post-prccessing of render, running
distortion on a scene which might be rendered with higher resolution
than footage itself and then be scaled down.
- Fixed incorrect calculation/applying of precomputed grid when
distortion is high high enough and produces pixel offset higher
than 127 pixels. This might be still not very distorted image,
but if it's a 4K footage "normal" camera will easily give such
a distortion.
- Added support of overscan distortion/undistortion.
commit ed080785d63bb8e3a13dde51a2dc94fe59b059bb
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:38:51 2012 +0600
Fast headers now can be included from C++ sources.
Was needed to make it working fine when bundling in Blender but might also
be needed to bundle into another applications.
commit 5f5a7aa46a2d87b96c8098dfc8682f4d01b5cd40
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:36:16 2012 +0600
Bring back FAST detector which seems to be working much nicer than Morravec.
Both of them are available in API.
commit 2cab13c18216fb684b270cec077f7300262584af
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:27:36 2012 +0600
Revert "Make CameraIntrinsics (and thus Qt tracker) compilable without linking libmv."
This reverts commit 81613ee0cc94b315f333c9632b18b95d426aad05.
That commit made inverting intrinsics totally unworkable, so reverted this and
made needed tweaks to qt-tracker project file to make it compilable (was needed
to make it linking together with glog).
Conflicts:
src/ui/tracker/tracker.cc
src/ui/tracker/tracker.pro
commit ec46cae041401b17afb4fe4d9c9343d10797090f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:59:55 2012 +0600
Fix compilation error using official MinGW
commit 6fbc370e922c47cfa35381662b6c439f4891ed74
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:38:20 2012 +0600
Fix compilation error with MSVC 2010 which is more picky for "missed" STL headers
commit be9e6b63691d83b551a085f0766878bd84220767
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:36:18 2012 +0600
Fix compilation with MSVC where snprintf function is declared as unsafe and _snprintf should be used instead.
Better to switch to own implementation will ensure string is correctly NULL-terminated.
commit 1847d9e414ed763cd80668775d7d9f79575fc8ca
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:34:45 2012 +0600
Fix compilation error on OSX caused by incorrect access to ucontext
commit 90579b6ffad07672172a1c240499615b30b25549
Merge: b9aac30 531c79b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:32:52 2012 +0600
Merge remote-tracking branch 'Matthias-Fauconneau/master' into devel
Conflicts:
src/libmv/tracking/CMakeLists.txt
commit b9aac30a9ca6bc8362c09a0e191040964f7c6de2
Merge: 198894e 6969e1a
Author: Keir Mierle <mierle@gmail.com>
Date: Sat Nov 5 17:38:30 2011 -0700
Merge pull request #3 from nathanwiegand/master
Just a few tiny cleanups
commit 6969e1a9534291a982749baa5a3672c97bfa506d
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Sat Nov 5 14:26:54 2011 -0700
I've added cleaned up a few style issues here an there. Also, I've updated the CMakeLists.txt file so that it can build the image_io library. Note, it's only been tested on OSX 10.6
commit 4763f851299050140757bfaa069107a0cf639e56
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 23:59:08 2011 -0700
Removed a superfulous comment
commit a44577c0162e273681e4a9a3cc5f5b37d4315b67
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 23:55:52 2011 -0700
Removed a duplicate entry for an author.
commit 198894e4c4f51c2c1784ad7c02eb45d2d1ada9bc
Merge: c4c67db 6e797d6
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Nov 4 21:47:05 2011 -0700
Merge pull request #2 from nathanwiegand/master
CMake changes for OSX
commit 6e797d678c4c19f6a9e21657d66183f412cc995b
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 21:43:28 2011 -0700
Uncomment the GUI part of the CMake file
commit 33ef88a33860345d8906f3c9dd22d8dbce3df53e
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 21:31:22 2011 -0700
Fixed build error on OSX by adding 'glog' to the dependencies in the tracker CMake
commit 531c79bf95fddaaa70707d1abcd4fdafda16bbf0
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Sat Aug 20 00:00:42 2011 +0200
Display warped pattern in marker preview.
commit bb5c27e671b6f8eb56ddf490f0795d59bede591b
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 18:37:48 2011 +0200
Fix CMake build.

13
extern/libmv/bundle.sh vendored
View File

@@ -136,19 +136,6 @@ set(INC_SYS
\${ZLIB_INCLUDE_DIRS}
)
# XXX - FIXME
# this is a momentary hack to find unwind.h in 10.6.sdk
if(APPLE)
if(\${CMAKE_OSX_DEPLOYMENT_TARGET} STREQUAL "10.6")
list(APPEND INC_SYS
\${CMAKE_OSX_SYSROOT}/Developer/usr/llvm-gcc-4.2/lib/gcc/i686-apple-darwin10/4.2.1/include
)
endif()
endif()
# XXX - END
set(SRC
libmv-capi.cpp
${sources}

5
extern/libmv/files.txt vendored
View File

@@ -17,6 +17,9 @@ libmv/multiview/euclidean_resection.cc
libmv/multiview/euclidean_resection.h
libmv/multiview/fundamental.cc
libmv/multiview/fundamental.h
libmv/multiview/homography.cc
libmv/multiview/homography.h
libmv/multiview/homography_parameterization.h
libmv/multiview/nviewtriangulation.h
libmv/multiview/projection.cc
libmv/multiview/projection.h
@@ -69,6 +72,8 @@ libmv/tracking/pyramid_region_tracker.h
libmv/tracking/region_tracker.h
libmv/tracking/retrack_region_tracker.cc
libmv/tracking/retrack_region_tracker.h
libmv/tracking/track_region.cc
libmv/tracking/track_region.h
libmv/tracking/trklt_region_tracker.cc
libmv/tracking/trklt_region_tracker.h
third_party/fast/fast_10.c

4
extern/libmv/libmv/multiview/fundamental.cc vendored
View File

@@ -254,8 +254,8 @@ double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2) {
Vec3 Ft_y = F.transpose() * y;
double y_F_x = y.dot(F_x);
return Square(y_F_x) * ( 1 / F_x.head<2>().squaredNorm()
+ 1 / Ft_y.head<2>().squaredNorm());
return y_F_x * ( 1 / F_x.head<2>().norm()
+ 1 / Ft_y.head<2>().norm());
}
// HZ 9.6 pag 257 (formula 9.12)

16
extern/libmv/libmv/simple_pipeline/initialize_reconstruction.cc vendored
View File

@@ -31,22 +31,6 @@
namespace libmv {
namespace {
void CoordinatesForMarkersInImage(const vector<Marker> &markers,
int image,
Mat *coordinates) {
vector<Vec2> coords;
for (int i = 0; i < markers.size(); ++i) {
const Marker &marker = markers[i];
if (markers[i].image == image) {
coords.push_back(Vec2(marker.x, marker.y));
}
}
coordinates->resize(2, coords.size());
for (int i = 0; i < coords.size(); i++) {
coordinates->col(i) = coords[i];
}
}
void GetImagesInMarkers(const vector<Marker> &markers,
int *image1, int *image2) {
if (markers.size() < 2) {

26
extern/libmv/libmv/simple_pipeline/tracks.cc vendored
View File

@@ -72,6 +72,16 @@ vector<Marker> Tracks::MarkersForTrack(int track) const {
return markers;
}
vector<Marker> Tracks::MarkersInBothImages(int image1, int image2) const {
vector<Marker> markers;
for (int i = 0; i < markers_.size(); ++i) {
int image = markers_[i].image;
if (image == image1 || image == image2)
markers.push_back(markers_[i]);
}
return markers;
}
vector<Marker> Tracks::MarkersForTracksInBothImages(int image1, int image2) const {
std::vector<int> image1_tracks;
std::vector<int> image2_tracks;
@@ -156,4 +166,20 @@ int Tracks::NumMarkers() const {
return markers_.size();
}
void CoordinatesForMarkersInImage(const vector<Marker> &markers,
int image,
Mat *coordinates) {
vector<Vec2> coords;
for (int i = 0; i < markers.size(); ++i) {
const Marker &marker = markers[i];
if (markers[i].image == image) {
coords.push_back(Vec2(marker.x, marker.y));
}
}
coordinates->resize(2, coords.size());
for (int i = 0; i < coords.size(); i++) {
coordinates->col(i) = coords[i];
}
}
} // namespace libmv

8
extern/libmv/libmv/simple_pipeline/tracks.h vendored
View File

@@ -22,6 +22,7 @@
#define LIBMV_SIMPLE_PIPELINE_TRACKS_H_
#include "libmv/base/vector.h"
#include "libmv/numeric/numeric.h"
namespace libmv {
@@ -84,6 +85,9 @@ class Tracks {
/// Returns all the markers visible in \a image.
vector<Marker> MarkersInImage(int image) const;
/// Returns all the markers visible in \a image1 and \a image2.
vector<Marker> MarkersInBothImages(int image1, int image2) const;
/*!
Returns the markers in \a image1 and \a image2 which have a common track.
@@ -114,6 +118,10 @@ class Tracks {
vector<Marker> markers_;
};
void CoordinatesForMarkersInImage(const vector<Marker> &markers,
int image,
Mat *coordinates);
} // namespace libmv
#endif // LIBMV_SIMPLE_PIPELINE_MARKERS_H_

2
extern/libmv/third_party/gflags/README.libmv vendored
View File

@@ -11,4 +11,6 @@ Local modifications:
- Added a poor-man's version of upstream's port.cc/h to make gflags compile on
windows. This isn't sufficient but is a stopgap for now.
- Added -fPIC flag, so shared libraries from Ceres could be linked against static glog
TODO(keir): Import and use gflags for Windows from upstream.

1
extern/libmv/third_party/glog/README.libmv vendored
View File

@@ -22,3 +22,4 @@ Upgrading Notes
* Do not define va_copy for MinGW platforms (it's already defined there).
* Patch localtime_r to be working fine with MinGW, disable strerror_r for MinGW because
of lack of needed functions.
* Added -fPIC flag, so shared libraries from Ceres could be linked against static glog