griefith/test2
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Implement support for affine tracking in the planar tracker; cleanups.

Browse Source
This commit is contained in:
Keir Mierle
2012-05-17 23:53:32 +00:00
parent d0ec55b8c2
commit d38f2bc99f
1 changed files with 64 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

97
extern/libmv/libmv/tracking/track_region.cc vendored
View File

@@ -410,13 +410,6 @@ struct TranslationWarp {
*y2 = y1 + warp_parameters[1];
}
template<typename T>
void Backward(const T *warp_parameters,
const T &x2, const T& y2, T *x1, T* y1) const {
*x1 = x2 - warp_parameters[0];
*y1 = y2 - warp_parameters[1];
}
// Translation x, translation y.
enum { NUM_PARAMETERS = 2 };
double parameters[NUM_PARAMETERS];
@@ -461,12 +454,6 @@ struct TranslationScaleWarp {
*y2 = y1_scaled + warp_parameters[1];
}
template<typename T>
void Backward(const T *warp_parameters,
const T &x2, const T& y2, T *x1, T* y1) const {
// XXX
}
// Translation x, translation y, scale.
enum { NUM_PARAMETERS = 3 };
double parameters[NUM_PARAMETERS];
@@ -539,12 +526,6 @@ struct TranslationRotationWarp {
*y2 = y1_rotated + warp_parameters[1];
}
template<typename T>
void Backward(const T *warp_parameters,
const T &x2, const T& y2, T *x1, T* y1) const {
// XXX
}
// Translation x, translation y, rotation about the center of Q1 degrees.
enum { NUM_PARAMETERS = 3 };
double parameters[NUM_PARAMETERS];
@@ -617,12 +598,6 @@ struct TranslationRotationScaleWarp {
*y2 = y1_rotated_scaled + warp_parameters[1];
}
template<typename T>
void Backward(const T *warp_parameters,
const T &x2, const T& y2, T *x1, T* y1) const {
// XXX
}
// Translation x, translation y, rotation about the center of Q1 degrees,
// scale.
enum { NUM_PARAMETERS = 4 };
@@ -631,7 +606,69 @@ struct TranslationRotationScaleWarp {
Quad q1;
};
// TODO(keir): Finish affine warp.
struct AffineWarp {
AffineWarp(const double *x1, const double *y1,
const double *x2, const double *y2)
: q1(x1, y1) {
Quad q2(x2, y2);
// The difference in centroids is the best guess for translation.
Vec2 t = q2.Centroid() - q1.Centroid();
parameters[0] = t[0];
parameters[1] = t[1];
// Estimate the four affine parameters with the usual least squares.
Mat Q1(8, 4);
Vec Q2(8);
for (int i = 0; i < 4; ++i) {
Vec2 v1 = q1.CornerRelativeToCentroid(i);
Vec2 v2 = q2.CornerRelativeToCentroid(i);
Q1.row(2 * i + 0) << v1[0], v1[1], 0, 0 ;
Q1.row(2 * i + 1) << 0, 0, v1[0], v1[1];
Q2(2 * i + 0) = v2[0];
Q2(2 * i + 1) = v2[1];
}
// TODO(keir): Check solution quality.
Vec4 a = Q1.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(Q2);
parameters[2] = a[0];
parameters[3] = a[1];
parameters[4] = a[2];
parameters[5] = a[3];
std::cout << "a:" << a.transpose() << "\n";
std::cout << "t:" << t.transpose() << "\n";
}
// See comments in other parameterizations about why the centroid is used.
template<typename T>
void Forward(const T *p, const T &x1, const T& y1, T *x2, T* y2) const {
// Make the centroid of Q1 the origin.
const T x1_origin = x1 - q1.Centroid()(0);
const T y1_origin = y1 - q1.Centroid()(1);
// Apply the affine transformation.
const T x1_origin_affine = p[2] * x1_origin + p[3] * y1_origin;
const T y1_origin_affine = p[4] * x1_origin + p[5] * y1_origin;
// Translate back into the space of Q1 (but affine transformed).
const T x1_affine = x1_origin_affine + q1.Centroid()(0);
const T y1_affine = y1_origin_affine + q1.Centroid()(1);
// Translate into the space of Q2.
*x2 = x1_affine + p[0];
*y2 = y1_affine + p[1];
}
// Translation x, translation y, rotation about the center of Q1 degrees,
// scale.
enum { NUM_PARAMETERS = 6 };
double parameters[NUM_PARAMETERS];
Quad q1;
};
struct HomographyWarp {
HomographyWarp(const double *x1, const double *y1,
@@ -674,12 +711,6 @@ struct HomographyWarp {
*y2 = yy2 / zz2;
}
template<typename T>
void Backward(const T *warp_parameters,
const T &x2, const T& y2, T *x1, T* y1) const {
// XXX
}
enum { NUM_PARAMETERS = 8 };
double parameters[NUM_PARAMETERS];
};
@@ -1059,7 +1090,7 @@ void TrackRegion(const FloatImage &image1,
HANDLE_MODE(TRANSLATION_SCALE, TranslationScaleWarp);
HANDLE_MODE(TRANSLATION_ROTATION, TranslationRotationWarp);
HANDLE_MODE(TRANSLATION_ROTATION_SCALE, TranslationRotationScaleWarp);
//HANDLE_MODE(AFFINE, AffineWarp);
HANDLE_MODE(AFFINE, AffineWarp);
HANDLE_MODE(HOMOGRAPHY, HomographyWarp);
#undef HANDLE_MODE
}