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Camera tracking: SAD tracker now supports patterns with any size

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(rectangle patterns are getting enlarged to square like it's happening for KLT)
This commit is contained in:
Sergey Sharybin
2011-11-28 21:48:49 +00:00
parent ac88b67b30
commit 0668ad2d55
4 changed files with 48 additions and 28 deletions
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8
extern/libmv/libmv-capi.cpp vendored
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@@ -297,16 +297,16 @@ void libmv_regionTrackerDestroy(libmv_RegionTracker *libmv_tracker)
/* ************ Tracks ************ */
void libmv_SADSamplePattern(unsigned char *image, int stride,
float warp[3][2], unsigned char *pattern)
float warp[3][2], unsigned char *pattern, int pattern_size)
{
libmv::mat32 mat32;
memcpy(mat32.data, warp, sizeof(float)*3*2);
libmv::SamplePattern(image, stride, mat32, pattern, 16);
libmv::SamplePattern(image, stride, mat32, pattern, pattern_size);
}
float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsigned char *image, int stride,
float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, int pattern_size, unsigned char *image, int stride,
int width, int height, float warp[3][2])
{
float result;
@@ -314,7 +314,7 @@ float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsig
memcpy(mat32.data, warp, sizeof(float)*3*2);
result = libmv::Track(pattern, warped, 16, image, stride, width, height, &mat32, 16, 16);
result = libmv::Track(pattern, warped, pattern_size, image, stride, width, height, &mat32, 16, 16);
memcpy(warp, mat32.data, sizeof(float)*3*2);

4
extern/libmv/libmv-capi.h vendored
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@@ -50,8 +50,8 @@ void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker);
/* SAD Tracker */
void libmv_SADSamplePattern(unsigned char *image, int stride,
float warp[3][2], unsigned char *pattern);
float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, unsigned char *image,
float warp[3][2], unsigned char *pattern, int pattern_size);
float libmv_SADTrackerTrack(unsigned char *pattern, unsigned char *warped, int pattern_size, unsigned char *image,
int stride, int width, int height, float warp[3][2]);
/* Tracks */

23
extern/libmv/libmv/tracking/sad.cc vendored
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@@ -25,6 +25,7 @@
#include "libmv/tracking/sad.h"
#include <stdlib.h>
#include <math.h>
#include <stdio.h>
namespace libmv {
@@ -78,15 +79,31 @@ void SamplePattern(ubyte* image, int stride, mat32 warp, ubyte* pattern, int siz
#ifdef __SSE2__
#include <emmintrin.h>
static uint SAD(const ubyte* pattern, const ubyte* image, int stride, int size) {
static uint SAD(/*const*/ ubyte* pattern, /*const*/ ubyte* image, int stride, int size) {
uint sad = 0;
__m128i a = _mm_setzero_si128();
for(int i = 0; i < size; i++) {
for(int j = 0; j < size/16; j++) {
int j = 0;
for(j = 0; j < size/16; j++) {
if((i*size/16+j) % 32 == 0) {
sad += _mm_extract_epi16(a,0) + _mm_extract_epi16(a,4);
a = _mm_setzero_si128();
}
a = _mm_adds_epu16(a, _mm_sad_epu8( _mm_loadu_si128((__m128i*)(pattern+i*size+j*16)),
_mm_loadu_si128((__m128i*)(image+i*stride+j*16))));
}
for(j = j*16; j < size; j++) {
sad += abs((int)pattern[i*size+j] - image[i*stride+j]);
}
}
return _mm_extract_epi16(a,0) + _mm_extract_epi16(a,4);
sad += _mm_extract_epi16(a,0) + _mm_extract_epi16(a,4);
return sad;
}
#else
static uint SAD(const ubyte* pattern, const ubyte* image, int stride, int size) {

41
source/blender/blenkernel/intern/tracking.c
View File

@@ -718,7 +718,7 @@ typedef struct TrackContext {
float *patch; /* keyframed patch */
/* ** SAD tracker ** */
int patsize; /* size of pattern (currently only 16x16 due to libmv side) */
int pattern_size; /* size of pattern */
unsigned char *pattern; /* keyframed pattern */
unsigned char *warped; /* warped version of reference */
#else
@@ -786,12 +786,16 @@ MovieTrackingContext *BKE_tracking_context_new(MovieClip *clip, MovieClipUser *u
#ifdef WITH_LIBMV
{
float patx, paty;
patx= (int)((track->pat_max[0]-track->pat_min[0])*width);
paty= (int)((track->pat_max[1]-track->pat_min[1])*height);
if(track->tracker==TRACKER_KLT) {
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, wndy;
int wndx= (int)patx/2, wndy= (int)paty/2;
/* compute the maximum pyramid size */
float search_to_pattern_ratio= MIN2(search_size_x, search_size_y)
@@ -804,13 +808,10 @@ MovieTrackingContext *BKE_tracking_context_new(MovieClip *clip, MovieClipUser *u
* than the search size */
int level= MIN2(track->pyramid_levels, max_pyramid_levels);
wndx= (int)((track->pat_max[0]-track->pat_min[0])*width)/2;
wndy= (int)((track->pat_max[1]-track->pat_min[1])*height)/2;
track_context.region_tracker= libmv_regionTrackerNew(100, level, MAX2(wndx, wndy));
}
else if(track->tracker==TRACKER_SAD) {
/* nothing to initialize */
track_context.pattern_size= MAX2(patx, paty);
}
}
#endif
@@ -1093,10 +1094,10 @@ static void get_warped(TrackContext *track_context, int x, int y, int width, uns
{
int i, j;
for(i=0; i<track_context->patsize; i++) {
for(j=0; j<track_context->patsize; j++) {
track_context->warped[i*track_context->patsize+j]=
image[(y+i-track_context->patsize/2)*width+x+j-track_context->patsize/2];
for(i=0; i<track_context->pattern_size; i++) {
for(j=0; j<track_context->pattern_size; j++) {
track_context->warped[i*track_context->pattern_size+j]=
image[(y+i-track_context->pattern_size/2)*width+x+j-track_context->pattern_size/2];
}
}
}
@@ -1226,13 +1227,12 @@ int BKE_tracking_next(MovieTrackingContext *context)
warp[2][0]= pos[0];
warp[2][1]= pos[1];
/* pattern size is hardcoded to 16x16px in libmv */
track_context->patsize= 16;
if(!track_context->pattern) {
int square= track_context->pattern_size*track_context->pattern_size;
track_context->pattern= MEM_callocN(sizeof(unsigned char)*square, "trackking pattern");
}
if(!track_context->pattern)
track_context->pattern= MEM_callocN(sizeof(unsigned char)*track_context->patsize*track_context->patsize, "trackking pattern");
libmv_SADSamplePattern(image, width, warp, track_context->pattern);
libmv_SADSamplePattern(image, width, warp, track_context->pattern, track_context->pattern_size);
MEM_freeN(image);
IMB_freeImBuf(ibuf);
@@ -1245,8 +1245,10 @@ int BKE_tracking_next(MovieTrackingContext *context)
ibuf= get_frame_ibuf(context, curfra);
if(track_context->warped==NULL)
track_context->warped= MEM_callocN(sizeof(unsigned char)*track_context->patsize*track_context->patsize, "trackking warped");
if(track_context->warped==NULL) {
int square= track_context->pattern_size*track_context->pattern_size;
track_context->warped= MEM_callocN(sizeof(unsigned char)*square, "trackking warped");
}
image_old= get_search_bytebuf(ibuf, track, marker, &width, &height, pos, origin);
get_warped(track_context, pos[0], pos[1], width, image_old);
@@ -1260,7 +1262,8 @@ int BKE_tracking_next(MovieTrackingContext *context)
warp[2][0]= pos[0];
warp[2][1]= pos[1];
correlation= libmv_SADTrackerTrack(track_context->pattern, track_context->warped, image_new, width, width, height, warp);
correlation= libmv_SADTrackerTrack(track_context->pattern, track_context->warped,
track_context->pattern_size, image_new, width, width, height, warp);
x2= warp[2][0];
y2= warp[2][1];