[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [54841] trunk/blender/extern/libmv: Synchronize libmv with own branch
Sergey Sharybin
sergey.vfx at gmail.com
Mon Feb 25 10:27:58 CET 2013
Revision: 54841
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=54841
Author: nazgul
Date: 2013-02-25 09:27:57 +0000 (Mon, 25 Feb 2013)
Log Message:
-----------
Synchronize libmv with own branch
Should be no functional changes, just would help a lot
checking on which stuff was/shall be merged from tomato
and which is not.
Modified Paths:
--------------
trunk/blender/extern/libmv/ChangeLog
trunk/blender/extern/libmv/libmv/multiview/fundamental.cc
trunk/blender/extern/libmv/libmv/multiview/homography.cc
trunk/blender/extern/libmv/libmv/multiview/homography.h
Modified: trunk/blender/extern/libmv/ChangeLog
===================================================================
--- trunk/blender/extern/libmv/ChangeLog 2013-02-25 09:24:31 UTC (rev 54840)
+++ trunk/blender/extern/libmv/ChangeLog 2013-02-25 09:27:57 UTC (rev 54841)
@@ -1,3 +1,101 @@
+commit 575336f794841ada90aacd783285014081b8318c
+Author: Sergey Sharybin <sergey.vfx at gmail.com>
+Date: Mon Jan 7 15:58:40 2013 +0600
+
+ Fixed for keyframe selection
+
+ - Calculate residuals for GRIC in pixel space rather than
+ in normalized space.
+
+ This seems to be how it's intended to be used.
+
+ Algebraic H and F will still use normalized coordinates which
+ are more stable, after this matrices are converted to pixel
+ space and Ceres refinement happens in pixel space.
+
+ - Standard deviation calculation was wrong in GRIC. It shouldn't
+ be deviation of residuals, but as per Torr it should be deviation
+ of measurement error, which is constant (in our case 0.1)
+
+ Not sure if using squared cost function is correct for GRIC,
+ but cost function is indeed squared and in most papers cost
+ function is used for GRIC. After some further tests we could
+ switch GRIC residuals to non-squared distance.
+
+ - Bring back rho part of GRIC, in unit tests it doesn't make
+ sense whether it's enabled or not, lets see how it'll behave
+ in real-life footage.
+
+ - Added one more unit test based on elevator scene and manual
+ keyframe selection.
+
+commit 24117f3c3fc5531beb6497d79bb6f1780a998081
+Author: Sergey Sharybin <sergey.vfx at gmail.com>
+Date: Sun Jan 6 19:07:06 2013 +0600
+
+ Added test for keyframe selection based on manual selection
+
+ Additional changes:
+
+ - Reduce minimal correspondence to match real-world manually
+ tracked footage
+
+ - Returned back squares to SymmetricEpipolarDistance and
+ SymmetricGeometricDistance -- this is actually a cost
+ functions, not distances and they shall be squared.
+
+commit 770eb0293b881c4c419c587a6cdb062c47ab6e44
+Author: Sergey Sharybin <sergey.vfx at gmail.com>
+Date: Fri Dec 21 00:43:30 2012 +0600
+
+ Improvements for keyframe selection
+
+ - Changed main keyframe selection cycle, so in cases there're no
+ more next keyframes for current keyframe could be found in the
+ image sequence, current keyframe would be moved forward and
+ search continues.
+
+ This helps in cases when there's poor motion in the beginning
+ of the sequence, then markers becomes occluded. There could be
+ good keyframes in the middle of the shot still.
+
+ - Extended keyframe_selection_test with real world cases.
+
+ - Moved correspondences constraint to the top, so no H/F estimation
+ happens if there's bad correspondence. Makes algorithm go a bit
+ faster.
+
+ Strangely, but using non-squared distances makes neighbor frames
+ test fail, using squared distances makes this tests pass.
+
+ However, using non-squared distances seems to be working better
+ in real tests i've been doing. So this requires more investigation/
+
+commit 7415c62fbda36c5bd1c291bc94d535a66da896d0
+Author: Sergey Sharybin <sergey.vfx at gmail.com>
+Date: Thu Dec 20 18:46:09 2012 +0600
+
+ Cosmetic change to correspondences reports in keyframe selection
+
+commit ceaf80c987ec0338e7e83965bc808411453eb755
+Author: Sergey Sharybin <sergey.vfx at gmail.com>
+Date: Thu Dec 20 18:08:03 2012 +0600
+
+ Various fixes:
+
+ - That was a typo in symmetric geometric cost functor, which
+ computed inverse distance in a wrong way.
+
+ - Fixed compilation of unit tests
+
+ - Added simple test for keyframe selection. Currently only
+ covers case that neighbor frames with only translation
+ (homography should be better than fundamental) are not
+ considered a keyframes.
+
+ Still need to be investigated why it only works if tracks
+ are in pixel space and why doesn't work in normalized space.
+
commit cfabdfe48df2add3d1f30cf4370efd0b31990ab0
Author: Sergey Sharybin <sergey.vfx at gmail.com>
Date: Thu Dec 20 05:46:53 2012 +0600
@@ -690,35 +788,3 @@
Date: Fri Feb 17 21:32:05 2012 +0600
Picky edits: corrected EOL
-
-commit 3f2a4205ec5adadcdfa306b161c705c868a7be93
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Fri Feb 17 21:30:07 2012 +0600
-
- Fixed incorrect access to ucontext on linux. Caused by incorrect merge conflict resolve.
-
-commit d360a21a5aa125cf9e83dd26b302508688ff7007
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Fri Feb 17 20:54:13 2012 +0600
-
- More Windows -> Unix EOL conversions
-
-commit 18aeda58bec9556140ba617724e31ada6f5b67c0
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Fri Feb 17 20:15:42 2012 +0600
-
- Looks like this debug output was removed accidentally.
-
-commit 189dc0cacdee3c1eab68c43263ecb038ed244c09
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Fri Feb 17 20:11:56 2012 +0600
-
- Made V3D verbose again by default
-
-commit 8b3422d3eec5e450d76243886bf07fb0a3e83a81
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-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.
Modified: trunk/blender/extern/libmv/libmv/multiview/fundamental.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/multiview/fundamental.cc 2013-02-25 09:24:31 UTC (rev 54840)
+++ trunk/blender/extern/libmv/libmv/multiview/fundamental.cc 2013-02-25 09:27:57 UTC (rev 54841)
@@ -254,8 +254,8 @@
Vec3 Ft_y = F.transpose() * y;
double y_F_x = y.dot(F_x);
- return y_F_x * ( 1 / F_x.head<2>().norm()
- + 1 / Ft_y.head<2>().norm());
+ return Square(y_F_x) * ( 1 / F_x.head<2>().squaredNorm()
+ + 1 / Ft_y.head<2>().squaredNorm());
}
// HZ 9.6 pag 257 (formula 9.12)
Modified: trunk/blender/extern/libmv/libmv/multiview/homography.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/multiview/homography.cc 2013-02-25 09:24:31 UTC (rev 54840)
+++ trunk/blender/extern/libmv/libmv/multiview/homography.cc 2013-02-25 09:27:57 UTC (rev 54841)
@@ -264,4 +264,19 @@
return false;
}
}
+
+double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2) {
+ Vec3 x(x1(0), x1(1), 1.0);
+ Vec3 y(x2(0), x2(1), 1.0);
+
+ Vec3 H_x = H * x;
+ Vec3 Hinv_y = H.inverse() * y;
+
+ H_x /= H_x(2);
+ Hinv_y /= Hinv_y(2);
+
+ return (H_x.head<2>() - y.head<2>()).squaredNorm() +
+ (Hinv_y.head<2>() - x.head<2>()).squaredNorm();
+}
+
} // namespace libmv
Modified: trunk/blender/extern/libmv/libmv/multiview/homography.h
===================================================================
--- trunk/blender/extern/libmv/libmv/multiview/homography.h 2013-02-25 09:24:31 UTC (rev 54840)
+++ trunk/blender/extern/libmv/libmv/multiview/homography.h 2013-02-25 09:27:57 UTC (rev 54841)
@@ -79,6 +79,14 @@
Mat4 *H,
double expected_precision =
EigenDouble::dummy_precision());
+
+/**
+ * Calculate symmetric geometric cost:
+ *
+ * D(H * x1, x2)^2 + D(H^-1 * x2, x1)
+ */
+double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2);
+
} // namespace libmv
#endif // LIBMV_MULTIVIEW_HOMOGRAPHY_H_
More information about the Bf-blender-cvs
mailing list