[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [39537] branches/soc-2011-tomato: Camera tracking integration
Sergey Sharybin
g.ulairi at gmail.com
Thu Aug 18 23:20:13 CEST 2011
Revision: 39537
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=39537
Author: nazgul
Date: 2011-08-18 21:20:12 +0000 (Thu, 18 Aug 2011)
Log Message:
-----------
Camera tracking integration
===========================
Bundle new libmv to fix crash caused by some errors in detector.
This commit makes SAD tracking much slower because now it supports
afgine tracking. Not implemented in Blender yet to keep commits
more clear.
Modified Paths:
--------------
branches/soc-2011-tomato/extern/libmv/ChangeLog
branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/detect.cc
branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.cc
branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.h
branches/soc-2011-tomato/extern/libmv/libmv-capi.cpp
branches/soc-2011-tomato/extern/libmv/libmv-capi.h
branches/soc-2011-tomato/source/blender/blenkernel/intern/tracking.c
Modified: branches/soc-2011-tomato/extern/libmv/ChangeLog
===================================================================
--- branches/soc-2011-tomato/extern/libmv/ChangeLog 2011-08-18 20:35:37 UTC (rev 39536)
+++ branches/soc-2011-tomato/extern/libmv/ChangeLog 2011-08-18 21:20:12 UTC (rev 39537)
@@ -1,3 +1,39 @@
+commit 75520f4bc4ccbb272a1b4149d3b8d05a90f7f896
+Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
+Date: Thu Aug 18 23:14:17 2011 +0200
+
+ Fix affine iteration.
+
+commit 4e8e0aa6018e3eb2fbebdad7f1cbd6c909d26e79
+Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
+Date: Thu Aug 18 23:03:26 2011 +0200
+
+ Handle rotations.
+
+commit 3ce41cf3c1b5c136a61d8f4c63ccae3cafbdb8da
+Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
+Date: Thu Aug 18 22:24:47 2011 +0200
+
+ Slow brute-force affine diamond search implementation.
+
+commit 1c4acd03e030c1c50dc6fc36c419c72ea69a0713
+Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
+Date: Thu Aug 18 20:51:43 2011 +0200
+
+ Fix detect.cc.
+
+commit ec18cc5ea9ae2e641075a847e82d0aacb8415ad8
+Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
+Date: Thu Aug 18 17:45:37 2011 +0200
+
+ Compute and return Pearson product-moment correlation coefficient between reference and matched pattern.
+
+commit 21d4245c63a01bfc736192d55baf10983e7c9ec7
+Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
+Date: Thu Aug 18 16:18:44 2011 +0200
+
+ UI and API support for affine tracking.
+
commit a4876d8c40dcde615b44009c38c49e9a1b1d4698
Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
Date: Wed Aug 17 20:26:01 2011 +0200
@@ -406,11 +442,3 @@
Add optimized version of KLT tracker.
FIXME: It currently doesn't work.
-
-commit 07a27f214c98e92b876c0878d05397f2031b35cd
-Author: Matthias Fauconneau <matthias.fauconneau at gmail.com>
-Date: Sun Jul 17 23:01:58 2011 +0200
-
- Add some #if (QT_VERSION < QT_VERSION_CHECK(4, 7, 0)) and #define constBits bits macros to support Qt < 4.7 which is still used on older systems.
-
- Build using Qt < 4.7 will see increased memory usage and unecessary copying.
Modified: branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/detect.cc
===================================================================
--- branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/detect.cc 2011-08-18 20:35:37 UTC (rev 39536)
+++ branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/detect.cc 2011-08-18 21:20:12 UTC (rev 39537)
@@ -56,7 +56,7 @@
unsigned short histogram[256];
memset(histogram,0,sizeof(histogram));
ubyte* scores = new ubyte[width*height];
- memset(scores,0,sizeof(scores));
+ memset(scores,0,width*height);
const int r = 1; //radius for self similarity comparison
for(int y=distance; y<height-distance; y++) {
for(int x=distance; x<width-distance; x++) {
@@ -104,7 +104,7 @@
}
}
*count = i;
- free(scores);
+ delete[] scores;
}
}
Modified: branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.cc
===================================================================
--- branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.cc 2011-08-18 20:35:37 UTC (rev 39536)
+++ branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.cc 2011-08-18 21:20:12 UTC (rev 39537)
@@ -28,15 +28,12 @@
namespace libmv {
-typedef unsigned int uint;
-
struct vec2 {
float x,y;
inline vec2(float x, float y):x(x),y(y){}
};
-static vec2 operator*(mat3 m, vec2 v) {
- float z = v.x*m[6]+v.y*m[7]+m[8];
- return vec2((v.x*m[0]+v.y*m[1]+m[2])/z,(v.x*m[3]+v.y*m[4]+m[5])/z);
+inline vec2 operator*(mat32 m, vec2 v) {
+ return vec2(v.x*m(0,0)+v.y*m(0,1)+m(0,2),v.x*m(1,0)+v.y*m(1,1)+m(1,2));
}
//! fixed point bilinear sample with precision k
@@ -48,95 +45,109 @@
#ifdef __SSE__
#include <xmmintrin.h>
+int lround(float x) { return _mm_cvtss_si32(_mm_set_ss(x)); }
+#elif defined(_MSC_VER)
+int lround(float x) { return x+0.5; }
#endif
-void SamplePattern(ubyte* image, int stride, mat3 warp, ubyte* pattern) {
+
+//TODO(MatthiasF): SSE optimization
+void SamplePattern(ubyte* image, int stride, mat32 warp, ubyte* pattern, int size) {
const int k = 256;
- for (int i = 0; i < 16; i++) for (int j = 0; j < 16; j++) {
- vec2 p = warp*vec2(j-8,i-8);
-#ifdef __SSE__
- //MSVC apparently doesn't support any float rounding.
- int fx = _mm_cvtss_si32(_mm_set_ss(p.x*k));
- int fy = _mm_cvtss_si32(_mm_set_ss(p.y*k));
-#elif defined(_MSC_VER)
- int fx = int(p.x*k+0.5), fy = int(p.y*k+0.5);
-#else
+ for (int i = 0; i < size; i++) for (int j = 0; j < size; j++) {
+ vec2 p = warp*vec2(j-size/2,i-size/2);
int fx = lround(p.x*k), fy = lround(p.y*k);
-#endif
int ix = fx/k, iy = fy/k;
int u = fx%k, v = fy%k;
- pattern[i*16+j] = sample<k>(image,stride,ix,iy,u,v);
+ pattern[i*size+j] = sample<k>(image,stride,ix,iy,u,v);
}
}
#ifdef __SSE2__
#include <emmintrin.h>
-static uint SAD(const ubyte* pattern, const ubyte* image, int stride) {
+static uint SAD(const ubyte* pattern, const ubyte* image, int stride, int size) {
__m128i a = _mm_setzero_si128();
- for(int i = 0; i < 16; i++) {
- a = _mm_adds_epu16(a, _mm_sad_epu8( _mm_loadu_si128((__m128i*)(pattern+i*16)),
- _mm_loadu_si128((__m128i*)(image+i*stride))));
+ for(int i = 0; i < size; i++) {
+ for(int j = 0; j < size/16; j++) {
+ 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))));
+ }
}
return _mm_extract_epi16(a,0) + _mm_extract_epi16(a,4);
}
#else
-static uint SAD(const ubyte* pattern, const ubyte* image, int stride) {
+static uint SAD(const ubyte* pattern, const ubyte* image, int stride, int size) {
uint sad=0;
- for(int i = 0; i < 16; i++) {
- for(int j = 0; j < 16; j++) {
- sad += abs((int)pattern[i*16+j] - image[i*stride+j]);
+ for(int i = 0; i < size; i++) {
+ for(int j = 0; j < size; j++) {
+ sad += abs((int)pattern[i*size+j] - image[i*stride+j]);
}
}
return sad;
}
#endif
-//float sq( float x ) { return x*x; }
-int Track(ubyte* pattern, ubyte* image, int stride, int w, int h, float* px, float* py) {
- int ix = *px-8, iy = *py-8;
+float Track(ubyte* reference, int size, ubyte* image, int stride, int w, int h, mat32* warp) {
+ mat32 m=*warp;
uint min=-1;
- // integer pixel
- for(int y = 0; y < h-16; y++) {
- for(int x = 0; x < w-16; x++) {
- uint d = SAD(pattern,&image[y*stride+x],stride); //image L1 distance
- //d += sq(x-w/2-8)+sq(y-h/2-8); //spatial L2 distance (need feature prediction first)
- if(d < min) {
- min = d;
+
+ // exhaustive search integer pixel translation
+ int ix = m(0,2), iy = m(1,2);
+ for(int y = size/2; y < h-size/2; y++) {
+ for(int x = size/2; x < w-size/2; x++) {
+ m(0,2) = x, m(1,2) = y;
+ ubyte match[size*size];
+ SamplePattern(image,stride,m,match,size);
+ uint sad = SAD(reference,match,size,size);
+ if(sad < min) {
+ min = sad;
ix = x, iy = y;
}
}
}
+ m(0,2) = ix, m(1,2) = iy;
- const int kPrecision = 4; //subpixel precision in bits
- const int kScale = 1<<kPrecision;
- int fx=0,fy=0;
- for(int k = 1; k <= kPrecision; k++) {
- fx *= 2, fy *= 2;
- int nx = fx, ny = fy;
- int p = kPrecision-k;
- for(int y = -1; y <= 1; y++) {
- for(int x = -1; x <= 1; x++) {
- uint sad=0;
- int sx = ix, sy = iy;
- int u = (fx+x)<<p, v = (fy+y)<<p;
- if( u < 0 ) u+=kScale, sx--;
- if( v < 0 ) v+=kScale, sy--;
- for(int i = 0; i < 16; i++) {
- for(int j = 0; j < 16; j++) {
- sad += abs((int)pattern[i*16+j] - sample<kScale>(image,stride,sx+j,sy+i,u,v));
+ // 6D coordinate descent to find affine transform
+ float step = 0.5;
+ for(int p = 0; p < 4; p++) { //foreach precision level
+ step /= 2;
+ for(int i = 0; i < 2; i++) { // iterate twice per precision level
+ for(int d = 0; d < 6; d++) { // foreach dimension
+ for(float x = -step*2; x <= step*2; x+=step*2) { //test small steps
+ mat32 t = m;
+ t.data[d] += x;
+ if( d<4 && (t.data[d] > 2 || t.data[d] < -2) ) continue; // avoid big distortion
+ ubyte match[size*size];
+ SamplePattern(image,stride,t,match,size);
+ uint sad = SAD(reference,match,size,size);
+ if(sad < min) {
+ min = sad;
+ m = t;
}
}
- if(sad < min) {
- min = sad;
- nx = fx + x, ny = fy + y;
- }
}
}
- fx = nx, fy = ny;
}
+ *warp = m;
- *px = float((ix*kScale)+fx)/kScale+8;
- *py = float((iy*kScale)+fy)/kScale+8;
- return min;
+ // Compute Pearson product-moment correlation coefficient
+ uint sX=0,sY=0,sXX=0,sYY=0,sXY=0;
+ ubyte match[size*size];
+ SamplePattern(image,stride,m,match,size);
+ SAD(reference,match,size,size);
+ for(int i = 0; i < size; i++) {
+ for(int j = 0; j < size; j++) {
+ int x = reference[i*size+j];
+ int y = match[i*size+j];
+ sX += x;
+ sY += y;
+ sXX += x*x;
+ sYY += y*y;
+ sXY += x*y;
+ }
+ }
+ const int N = size*size;
+ sX /= N, sY /= N, sXX /= N, sYY /= N, sXY /= N;
+ return (sXY-sX*sY)/sqrt((sXX-sX*sX)*(sYY-sY*sY));
}
} // namespace libmv
Modified: branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.h
===================================================================
--- branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.h 2011-08-18 20:35:37 UTC (rev 39536)
+++ branches/soc-2011-tomato/extern/libmv/libmv/tracking/sad.h 2011-08-18 21:20:12 UTC (rev 39537)
@@ -30,17 +30,28 @@
#endif
typedef unsigned char ubyte;
-typedef float mat3[9];
+typedef unsigned int uint;
+/// Affine transformation matrix in column major order.
+struct mat32 {
+ float data[3*2];
+#ifdef __cplusplus
+ inline mat32(int d=1) { for(int i=0;i<3*2;i++) data[i]=0; if(d!=0) for(int i=0;i<2;i++) m(i,i)=d; }
+ inline float m(int i, int j) const { return data[j*2+i]; }
+ inline float& m(int i, int j) { return data[j*2+i]; }
+ inline float operator()(int i, int j) const { return m(i,j); }
+ inline float& operator()(int i, int j) { return m(i,j); }
+ inline operator bool() const { for (int i=0; i<3*2; i++) if(data[i]!=0) return true; return false; }
+#endif
+};
+
+
/*!
@@ Diff output truncated at 10240 characters. @@
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