[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [39026] branches/soc-2011-tomato: Camera tracking integration

Sergey Sharybin g.ulairi at gmail.com
Thu Aug 4 17:40:29 CEST 2011


Revision: 39026
          http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=39026
Author:   nazgul
Date:     2011-08-04 15:40:28 +0000 (Thu, 04 Aug 2011)
Log Message:
-----------
Camera tracking integration
===========================

- Added function to calculate per-track average error.
  Made this in libmv c-api, probably should be ported
  to libmv pipeline.
- MovieTrackingTrack now holds average reprojection error
  which is displayed in Active Track panel and information
  text in clip editor (if displaying of names are enabled).
- Make "Clean Tracks" take average error on account.

Modified Paths:
--------------
    branches/soc-2011-tomato/extern/libmv/libmv-capi.cpp
    branches/soc-2011-tomato/extern/libmv/libmv-capi.h
    branches/soc-2011-tomato/release/scripts/startup/bl_ui/space_clip.py
    branches/soc-2011-tomato/source/blender/blenkernel/intern/tracking.c
    branches/soc-2011-tomato/source/blender/editors/space_clip/clip_draw.c
    branches/soc-2011-tomato/source/blender/editors/space_clip/tracking_ops.c
    branches/soc-2011-tomato/source/blender/makesdna/DNA_tracking_types.h
    branches/soc-2011-tomato/source/blender/makesrna/intern/rna_tracking.c

Modified: branches/soc-2011-tomato/extern/libmv/libmv-capi.cpp
===================================================================
--- branches/soc-2011-tomato/extern/libmv/libmv-capi.cpp	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/extern/libmv/libmv-capi.cpp	2011-08-04 15:40:28 UTC (rev 39026)
@@ -67,6 +67,11 @@
 
 typedef struct libmv_Reconstruction {
 	libmv::Reconstruction reconstruction;
+
+	/* used for per-track average error calculation after reconstruction */
+	libmv::Tracks tracks;
+	libmv::CameraIntrinsics intrinsics;
+
 	double error;
 } libmv_Reconstruction;
 
@@ -326,18 +331,18 @@
 {
 	/* Invert the camera intrinsics. */
 	libmv::vector<libmv::Marker> markers = ((libmv::Tracks*)tracks)->AllMarkers();
-	libmv::CameraIntrinsics intrinsics;
 	libmv_Reconstruction *libmv_reconstruction = new libmv_Reconstruction();
 	libmv::Reconstruction *reconstruction = &libmv_reconstruction->reconstruction;
+	libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
 
-	intrinsics.SetFocalLength(focal_length, focal_length);
-	intrinsics.SetPrincipalPoint(principal_x, principal_y);
-	intrinsics.SetRadialDistortion(k1, k2, k3);
+	intrinsics->SetFocalLength(focal_length, focal_length);
+	intrinsics->SetPrincipalPoint(principal_x, principal_y);
+	intrinsics->SetRadialDistortion(k1, k2, k3);
 
 	if(focal_length) {
 		/* do a lens undistortion if focal length is non-zero only */
 		for (int i = 0; i < markers.size(); ++i) {
-			intrinsics.InvertIntrinsics(markers[i].x,
+			intrinsics->InvertIntrinsics(markers[i].x,
 				markers[i].y,
 				&(markers[i].x),
 				&(markers[i].y));
@@ -352,8 +357,10 @@
 	libmv::ReconstructTwoFrames(keyframe_markers, reconstruction);
 	libmv::Bundle(normalized_tracks, reconstruction);
 	libmv::CompleteReconstruction(normalized_tracks, reconstruction);
-	libmv_reconstruction->error = libmv::ReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, intrinsics);
 
+	libmv_reconstruction->tracks = *(libmv::Tracks *)tracks;
+	libmv_reconstruction->error = libmv::ReprojectionError(*(libmv::Tracks *)tracks, *reconstruction, *intrinsics);
+
 	return (libmv_Reconstruction *)libmv_reconstruction;
 }
 
@@ -373,6 +380,49 @@
 	return 0;
 }
 
+static libmv::Marker ProjectMarker(const libmv::Point &point, const libmv::Camera &camera,
+			const libmv::CameraIntrinsics &intrinsics) {
+	libmv::Vec3 projected = camera.R * point.X + camera.t;
+	projected /= projected(2);
+
+	libmv::Marker reprojected_marker;
+	intrinsics.ApplyIntrinsics(projected(0), projected(1), &reprojected_marker.x, &reprojected_marker.y);
+
+	reprojected_marker.image = camera.image;
+	reprojected_marker.track = point.track;
+
+	return reprojected_marker;
+}
+
+double libmv_reporojectionErrorForTrack(libmv_Reconstruction *libmv_reconstruction, int track)
+{
+	libmv::Reconstruction *reconstruction = &libmv_reconstruction->reconstruction;
+	libmv::CameraIntrinsics *intrinsics = &libmv_reconstruction->intrinsics;
+	libmv::vector<libmv::Marker> markers =  libmv_reconstruction->tracks.MarkersForTrack(track);
+
+	int num_reprojected = 0;
+	double total_error = 0.0;
+
+	for (int i = 0; i < markers.size(); ++i) {
+		const libmv::Camera *camera = reconstruction->CameraForImage(markers[i].image);
+		const libmv::Point *point = reconstruction->PointForTrack(markers[i].track);
+
+		if (!camera || !point) {
+			continue;
+		}
+
+		num_reprojected++;
+
+		libmv::Marker reprojected_marker = ProjectMarker(*point, *camera, *intrinsics);
+		double ex = reprojected_marker.x - markers[i].x;
+		double ey = reprojected_marker.y - markers[i].y;
+
+		total_error += sqrt(ex*ex + ey*ey);
+	}
+
+	return total_error / num_reprojected;
+}
+
 int libmv_reporojectionCameraForImage(libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4])
 {
 	libmv::Reconstruction *reconstruction = &libmv_reconstruction->reconstruction;

Modified: branches/soc-2011-tomato/extern/libmv/libmv-capi.h
===================================================================
--- branches/soc-2011-tomato/extern/libmv/libmv-capi.h	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/extern/libmv/libmv-capi.h	2011-08-04 15:40:28 UTC (rev 39026)
@@ -59,6 +59,7 @@
 struct libmv_Reconstruction *libmv_solveReconstruction(struct libmv_Tracks *tracks, int keyframe1, int keyframe2,
 			double focal_length, double principal_x, double principal_y, double k1, double k2, double k3);
 int libmv_reporojectionPointForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track, double pos[3]);
+double libmv_reporojectionErrorForTrack(struct libmv_Reconstruction *libmv_reconstruction, int track);
 int libmv_reporojectionCameraForImage(struct libmv_Reconstruction *libmv_reconstruction, int image, double mat[4][4]);
 double libmv_reprojectionError(struct libmv_Reconstruction *libmv_reconstruction);
 void libmv_destroyReconstruction(struct libmv_Reconstruction *libmv_reconstruction);

Modified: branches/soc-2011-tomato/release/scripts/startup/bl_ui/space_clip.py
===================================================================
--- branches/soc-2011-tomato/release/scripts/startup/bl_ui/space_clip.py	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/release/scripts/startup/bl_ui/space_clip.py	2011-08-04 15:40:28 UTC (rev 39026)
@@ -239,7 +239,11 @@
         row.prop(act_track, "use_green_channel", text="Green")
         row.prop(act_track, "use_blue_channel", text="Blue")
 
+        if act_track.has_bundle:
+            label_text = "Average Error: %.4f" % (act_track.average_error)
+            layout.label(text=label_text)
 
+
 class CLIP_PT_track_settings(bpy.types.Panel):
     bl_space_type = 'CLIP_EDITOR'
     bl_region_type = 'UI'

Modified: branches/soc-2011-tomato/source/blender/blenkernel/intern/tracking.c
===================================================================
--- branches/soc-2011-tomato/source/blender/blenkernel/intern/tracking.c	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/source/blender/blenkernel/intern/tracking.c	2011-08-04 15:40:28 UTC (rev 39026)
@@ -916,6 +916,7 @@
 			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= 0;

Modified: branches/soc-2011-tomato/source/blender/editors/space_clip/clip_draw.c
===================================================================
--- branches/soc-2011-tomato/source/blender/editors/space_clip/clip_draw.c	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/source/blender/editors/space_clip/clip_draw.c	2011-08-04 15:40:28 UTC (rev 39026)
@@ -719,9 +719,16 @@
 		BLI_snprintf(str, sizeof(str), "%s", track->name);
 
 	UI_DrawString(x, y, str);
+	y-= 12.f*UI_DPI_FAC;
 
+	if(track->flag&TRACK_HAS_BUNDLE) {
+		BLI_snprintf(str, sizeof(str), "Average error: %.3f", track->error);
+		UI_DrawString(x, y, str);
+		y-= 12.f*UI_DPI_FAC;
+	}
+
 	if(track->flag&TRACK_LOCKED) {
-		UI_DrawString(x, y-12.f*UI_DPI_FAC, "locked");
+		UI_DrawString(x, y, "locked");
 	}
 }
 

Modified: branches/soc-2011-tomato/source/blender/editors/space_clip/tracking_ops.c
===================================================================
--- branches/soc-2011-tomato/source/blender/editors/space_clip/tracking_ops.c	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/source/blender/editors/space_clip/tracking_ops.c	2011-08-04 15:40:28 UTC (rev 39026)
@@ -2702,17 +2702,25 @@
 	MovieTrackingTrack *track, *next, *sel_track;
 	int frames= RNA_int_get(op->ptr, "frames");
 	int action= RNA_enum_get(op->ptr, "action");
+	float error= RNA_float_get(op->ptr, "error");
 	int sel_type;
 
 	BKE_movieclip_last_selection(clip, &sel_type, (void**)&sel_track);
 	if(sel_type!=MCLIP_SEL_TRACK)
 		sel_track= NULL;
 
+	if(error && action==2)
+		action= 1;
+
 	track= tracking->tracks.first;
 	while(track) {
+		int ok= 1;
 		next= track->next;
 
-		if(!is_track_clean(track, frames, action==2)) {
+		ok&= is_track_clean(track, frames, action==2);
+		ok&= error == 0.f || (track->flag&TRACK_HAS_BUNDLE)==0  || track->error < error;
+
+		if(!ok) {
 			if(action==0) {			/* select */
 				BKE_tracking_track_flag(track, TRACK_AREA_ALL, SELECT, 0);
 			}
@@ -2764,6 +2772,7 @@
 	ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO;
 
 	/* properties */
-	RNA_def_int(ot->srna, "frames", 0, 0, INT_MAX, "Tracked Frames", "Affect on tracks which are aracked less than specified amount of frames.", 0, INT_MAX);
+	RNA_def_int(ot->srna, "frames", 0, 0, INT_MAX, "Tracked Frames", "Affect on tracks which are tracked less than specified amount of frames.", 0, INT_MAX);
+	RNA_def_float(ot->srna, "error", 0.0f, 0.f, FLT_MAX, "Reprojection Error", "Affect on tracks with have got larger reprojection error.", 0.f, 100.0f);
 	RNA_def_enum(ot->srna, "action", actions_items, 0, "Action", "Cleanup action to execute");
 }

Modified: branches/soc-2011-tomato/source/blender/makesdna/DNA_tracking_types.h
===================================================================
--- branches/soc-2011-tomato/source/blender/makesdna/DNA_tracking_types.h	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/source/blender/makesdna/DNA_tracking_types.h	2011-08-04 15:40:28 UTC (rev 39026)
@@ -81,17 +81,17 @@
 	float search_min[2], search_max[2];	/* positions of left-bottom and right-top corners of search area (in unified 0..1 space) */
 	float offset[2];					/* offset to "parenting" point */
 
-	int pad;
-
 	/* ** track ** */
 	int markersnr;					/* count of markers in track */
 	int last_marker;				/* most recently used marker */
-	int pad2;
 	MovieTrackingMarker *markers;	/* markers in track */
 
-	/* ** bundle ** */
-	float bundle_pos[3];
+	/* ** reconstruction data ** */
+	float bundle_pos[3];			/* reconstructed position */
+	float error;					/* average track reprojection error */
 
+	int pad;
+
 	/* ** UI editing ** */
 	int flag, pat_flag, search_flag;	/* flags (selection, ...) */
 	short transflag;					/* transform flags */

Modified: branches/soc-2011-tomato/source/blender/makesrna/intern/rna_tracking.c
===================================================================
--- branches/soc-2011-tomato/source/blender/makesrna/intern/rna_tracking.c	2011-08-04 14:39:37 UTC (rev 39025)
+++ branches/soc-2011-tomato/source/blender/makesrna/intern/rna_tracking.c	2011-08-04 15:40:28 UTC (rev 39026)
@@ -456,6 +456,12 @@

@@ Diff output truncated at 10240 characters. @@



More information about the Bf-blender-cvs mailing list