[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [40573] branches/soc-2011-tomato: Camera tracking integration
Sergey Sharybin
g.ulairi at gmail.com
Mon Sep 26 17:07:06 CEST 2011
Revision: 40573
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=40573
Author: nazgul
Date: 2011-09-26 15:07:06 +0000 (Mon, 26 Sep 2011)
Log Message:
-----------
Camera tracking integration
===========================
- If render size is set to "Full Render" and undistorted render
is enabled, do on-fly undistortion so distortion coefficients
can be visually verifed before baking.
- Made slight change in libmv-side to survive with large distortion
coefficients. Hope this change is fine.
Modified Paths:
--------------
branches/soc-2011-tomato/extern/libmv/bundle.sh
branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
branches/soc-2011-tomato/extern/libmv/patches/series
branches/soc-2011-tomato/intern/guardedalloc/intern/mallocn.c
branches/soc-2011-tomato/release/scripts/startup/bl_ui/space_clip.py
branches/soc-2011-tomato/source/blender/blenkernel/intern/movieclip.c
Added Paths:
-----------
branches/soc-2011-tomato/extern/libmv/patches/function_derivative.patch
branches/soc-2011-tomato/extern/libmv/patches/high_distortion_crash_fix.patch
branches/soc-2011-tomato/extern/libmv/patches/levenberg_marquardt.patch
Modified: branches/soc-2011-tomato/extern/libmv/bundle.sh
===================================================================
--- branches/soc-2011-tomato/extern/libmv/bundle.sh 2011-09-26 15:00:23 UTC (rev 40572)
+++ branches/soc-2011-tomato/extern/libmv/bundle.sh 2011-09-26 15:07:06 UTC (rev 40573)
@@ -176,8 +176,6 @@
string(REPLACE "${FLAG}" "Od" CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELWITHDEBINFO}")
endforeach()
ENDIF(MSVC)
-
- add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY)
ELSE(WIN32)
list(APPEND SRC
${third_glog_sources}
@@ -234,8 +232,6 @@
cflags_libmv = Split(env['REL_CFLAGS'])
ccflags_libmv = Split(env['REL_CCFLAGS'])
cxxflags_libmv = Split(env['REL_CXXFLAGS'])
-
- defs.append('EIGEN_DONT_ALIGN_STATICALLY')
else:
src += env.Glob("third_party/glog/src/*.cc")
incs += ' ./third_party/glog/src'
Modified: branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc
===================================================================
--- branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc 2011-09-26 15:00:23 UTC (rev 40572)
+++ branches/soc-2011-tomato/extern/libmv/libmv/simple_pipeline/camera_intrinsics.cc 2011-09-26 15:07:06 UTC (rev 40573)
@@ -160,9 +160,13 @@
if( iy < 0 ) { iy = 0, fy = 0; }
if( ix >= width-2 ) ix = width-2;
if( iy >= height-2 ) iy = height-2;
- //assert( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 );
- Offset offset = { ix-x, iy-y, fx, fy };
- grid[y*width+x] = offset;
+ if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) {
+ Offset offset = { ix-x, iy-y, fx, fy };
+ grid[y*width+x] = offset;
+ } else {
+ Offset offset = { 0, 0, 0, 0 };
+ grid[y*width+x] = offset;
+ }
}
}
}
Added: branches/soc-2011-tomato/extern/libmv/patches/function_derivative.patch
===================================================================
--- branches/soc-2011-tomato/extern/libmv/patches/function_derivative.patch (rev 0)
+++ branches/soc-2011-tomato/extern/libmv/patches/function_derivative.patch 2011-09-26 15:07:06 UTC (rev 40573)
@@ -0,0 +1,21 @@
+diff --git a/src/libmv/numeric/function_derivative.h b/src/libmv/numeric/function_derivative.h
+index 0075d23..d7bc437 100644
+--- a/src/libmv/numeric/function_derivative.h
++++ b/src/libmv/numeric/function_derivative.h
+@@ -24,6 +24,7 @@
+ #include <cmath>
+
+ #include "libmv/numeric/numeric.h"
++#include "libmv/logging/logging.h"
+
+ namespace libmv {
+
+@@ -97,7 +98,7 @@ bool CheckJacobian(const Function &f, const typename Function::XMatrixType &x) {
+
+ typename NumericJacobian<Function>::JMatrixType J_numeric = j_numeric(x);
+ typename NumericJacobian<Function>::JMatrixType J_analytic = j_analytic(x);
+- //LG << J_numeric - J_analytic;
++ LG << J_numeric - J_analytic;
+ return true;
+ }
+
Added: branches/soc-2011-tomato/extern/libmv/patches/high_distortion_crash_fix.patch
===================================================================
--- branches/soc-2011-tomato/extern/libmv/patches/high_distortion_crash_fix.patch (rev 0)
+++ branches/soc-2011-tomato/extern/libmv/patches/high_distortion_crash_fix.patch 2011-09-26 15:07:06 UTC (rev 40573)
@@ -0,0 +1,21 @@
+diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc
+index 4e88e1f..f9888ff 100644
+--- a/src/libmv/simple_pipeline/camera_intrinsics.cc
++++ b/src/libmv/simple_pipeline/camera_intrinsics.cc
+@@ -160,9 +160,13 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) {
+ if( iy < 0 ) { iy = 0, fy = 0; }
+ if( ix >= width-2 ) ix = width-2;
+ if( iy >= height-2 ) iy = height-2;
+- //assert( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 );
+- Offset offset = { ix-x, iy-y, fx, fy };
+- grid[y*width+x] = offset;
++ if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) {
++ Offset offset = { ix-x, iy-y, fx, fy };
++ grid[y*width+x] = offset;
++ } else {
++ Offset offset = { 0, 0, 0, 0 };
++ grid[y*width+x] = offset;
++ }
+ }
+ }
+ }
Added: branches/soc-2011-tomato/extern/libmv/patches/levenberg_marquardt.patch
===================================================================
--- branches/soc-2011-tomato/extern/libmv/patches/levenberg_marquardt.patch (rev 0)
+++ branches/soc-2011-tomato/extern/libmv/patches/levenberg_marquardt.patch 2011-09-26 15:07:06 UTC (rev 40573)
@@ -0,0 +1,71 @@
+diff --git a/src/libmv/numeric/levenberg_marquardt.h b/src/libmv/numeric/levenberg_marquardt.h
+index 6a54f66..4473b72 100644
+--- a/src/libmv/numeric/levenberg_marquardt.h
++++ b/src/libmv/numeric/levenberg_marquardt.h
+@@ -33,6 +33,7 @@
+
+ #include "libmv/numeric/numeric.h"
+ #include "libmv/numeric/function_derivative.h"
++#include "libmv/logging/logging.h"
+
+ namespace libmv {
+
+@@ -123,26 +124,40 @@ class LevenbergMarquardt {
+ Parameters dx, x_new;
+ int i;
+ for (i = 0; results.status == RUNNING && i < params.max_iterations; ++i) {
+- if (dx.norm() <= params.relative_step_threshold * x.norm()) {
++ VLOG(1) << "iteration: " << i;
++ VLOG(1) << "||f(x)||: " << f_(x).norm();
++ VLOG(1) << "max(g): " << g.array().abs().maxCoeff();
++ VLOG(1) << "u: " << u;
++ VLOG(1) << "v: " << v;
++
++ AMatrixType A_augmented = A + u*AMatrixType::Identity(J.cols(), J.cols());
++ Solver solver(A_augmented);
++ dx = solver.solve(g);
++ bool solved = (A_augmented * dx).isApprox(g);
++ if (!solved) {
++ LOG(ERROR) << "Failed to solve";
++ }
++ if (solved && dx.norm() <= params.relative_step_threshold * x.norm()) {
+ results.status = RELATIVE_STEP_SIZE_TOO_SMALL;
+ break;
+- }
+- x_new = x + dx;
+- // Rho is the ratio of the actual reduction in error to the reduction
+- // in error that would be obtained if the problem was linear.
+- // See [1] for details.
+- Scalar rho((error.squaredNorm() - f_(x_new).squaredNorm())
+- / dx.dot(u*dx + g));
+- if (rho > 0) {
+- // Accept the Gauss-Newton step because the linear model fits well.
+- x = x_new;
+- results.status = Update(x, params, &J, &A, &error, &g);
+- Scalar tmp = Scalar(2*rho-1);
+- u = u*std::max(1/3., 1 - (tmp*tmp*tmp));
+- v = 2;
+- continue;
+- }
+-
++ }
++ if (solved) {
++ x_new = x + dx;
++ // Rho is the ratio of the actual reduction in error to the reduction
++ // in error that would be obtained if the problem was linear.
++ // See [1] for details.
++ Scalar rho((error.squaredNorm() - f_(x_new).squaredNorm())
++ / dx.dot(u*dx + g));
++ if (rho > 0) {
++ // Accept the Gauss-Newton step because the linear model fits well.
++ x = x_new;
++ results.status = Update(x, params, &J, &A, &error, &g);
++ Scalar tmp = Scalar(2*rho-1);
++ u = u*std::max(1/3., 1 - (tmp*tmp*tmp));
++ v = 2;
++ continue;
++ }
++ }
+ // Reject the update because either the normal equations failed to solve
+ // or the local linear model was not good (rho < 0). Instead, increase u
+ // to move closer to gradient descent.
Modified: branches/soc-2011-tomato/extern/libmv/patches/series
===================================================================
--- branches/soc-2011-tomato/extern/libmv/patches/series 2011-09-26 15:00:23 UTC (rev 40572)
+++ branches/soc-2011-tomato/extern/libmv/patches/series 2011-09-26 15:07:06 UTC (rev 40573)
@@ -3,3 +3,6 @@
bundle_tweaks.patch
fast.patch
config_mac.patch
+levenberg_marquardt.patch
+function_derivative.patch
+high_distortion_crash_fix.patch
Modified: branches/soc-2011-tomato/intern/guardedalloc/intern/mallocn.c
===================================================================
--- branches/soc-2011-tomato/intern/guardedalloc/intern/mallocn.c 2011-09-26 15:00:23 UTC (rev 40572)
+++ branches/soc-2011-tomato/intern/guardedalloc/intern/mallocn.c 2011-09-26 15:07:06 UTC (rev 40573)
@@ -636,7 +636,7 @@
} else{
error = -1;
name = check_memlist(memh);
- if (name == NULL)
+ if (name == NULL)
MemorY_ErroR("free","pointer not in memlist");
else
MemorY_ErroR(name,"error in header");
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 2011-09-26 15:00:23 UTC (rev 40572)
+++ branches/soc-2011-tomato/release/scripts/startup/bl_ui/space_clip.py 2011-09-26 15:07:06 UTC (rev 40573)
@@ -592,9 +592,7 @@
col.label(text="Proxy render size:")
col.prop(sc.clip_user, "proxy_render_size", text="")
- row = col.row()
- row.active = sc.clip_user.proxy_render_size != 'FULL'
- row.prop(sc.clip_user, "use_render_undistorted")
+ col.prop(sc.clip_user, "use_render_undistorted")
class CLIP_PT_footage(Panel):
Modified: branches/soc-2011-tomato/source/blender/blenkernel/intern/movieclip.c
===================================================================
--- branches/soc-2011-tomato/source/blender/blenkernel/intern/movieclip.c 2011-09-26 15:00:23 UTC (rev 40572)
+++ branches/soc-2011-tomato/source/blender/blenkernel/intern/movieclip.c 2011-09-26 15:07:06 UTC (rev 40573)
@@ -271,6 +271,12 @@
ImBuf *stableibuf;
int proxy;
short render_flag;
+
+ /* cache for undistorted shot */
+ int undist_framenr;
+ float principal[2];
+ float k1, k2, k3;
+ ImBuf *undistibuf;
} MovieClipCache;
typedef struct MovieClipImBufCacheKey {
@@ -477,18 +483,120 @@
}
}
+static int need_undistorted_cache(MovieClipUser *user, int flag)
+{
+ if (!user)
+ return 0;
+
+ /* only full undistorted render can be used as on-fly undistorting image */
+ if(flag&MCLIP_USE_PROXY)
+ if(user->render_size != MCLIP_PROXY_RENDER_SIZE_FULL || (user->render_flag&MCLIP_PROXY_RENDER_UNDISTORT)==0)
+ return 0;
+
+ return 1;
+}
+
+static ImBuf *get_undistorted_cache(MovieClip *clip, MovieClipUser *user)
+{
+ MovieClipCache *cache= clip->cache;
+ MovieTrackingCamera *camera= &clip->tracking.camera;
@@ Diff output truncated at 10240 characters. @@
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