[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [45287] trunk/blender: Camera tracking refactoring:
Sergey Sharybin
sergey.vfx at gmail.com
Fri Mar 30 12:37:40 CEST 2012
Revision: 45287
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=45287
Author: nazgul
Date: 2012-03-30 10:37:39 +0000 (Fri, 30 Mar 2012)
Log Message:
-----------
Camera tracking refactoring:
- Deduplicate patetrn sampling used in esm and lmicklt trackers and
move SamplePattern to image/sample.h - Move computation of Pearson
product-moment correlation into own function in new file image/correlation.h
so all trackers can use it to check final correlation.
- Remove SAD tracker. It's almost the same as brute tracker, with only two differences:
1. It does brute search of affine transformation which in some cases helps to track
rotating features 2. It didn't use common tracker api which probably gave some
speed advantage, but lead to a real headache to use it together with other
trackers leading to duplicated code in blender side.
- Switch blenedr to use brute tracker instead of sad tracker which tracking made
source code much more simple to follow.
Modified Paths:
--------------
trunk/blender/extern/libmv/CMakeLists.txt
trunk/blender/extern/libmv/libmv/image/sample.h
trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc
trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.h
trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc
trunk/blender/extern/libmv/libmv/tracking/lmicklt_region_tracker.cc
trunk/blender/extern/libmv/libmv-capi.cpp
trunk/blender/extern/libmv/libmv-capi.h
trunk/blender/source/blender/blenkernel/intern/tracking.c
Added Paths:
-----------
trunk/blender/extern/libmv/libmv/image/correlation.h
Removed Paths:
-------------
trunk/blender/extern/libmv/libmv/tracking/sad.cc
trunk/blender/extern/libmv/libmv/tracking/sad.h
Modified: trunk/blender/extern/libmv/CMakeLists.txt
===================================================================
--- trunk/blender/extern/libmv/CMakeLists.txt 2012-03-30 10:37:20 UTC (rev 45286)
+++ trunk/blender/extern/libmv/CMakeLists.txt 2012-03-30 10:37:39 UTC (rev 45287)
@@ -80,7 +80,6 @@
libmv/tracking/lmicklt_region_tracker.cc
libmv/tracking/pyramid_region_tracker.cc
libmv/tracking/retrack_region_tracker.cc
- libmv/tracking/sad.cc
libmv/tracking/trklt_region_tracker.cc
third_party/fast/fast_10.c
@@ -104,6 +103,7 @@
libmv/image/array_nd.h
libmv/image/convolve.h
libmv/image/image.h
+ libmv/image/correlation.h
libmv/image/sample.h
libmv/image/tuple.h
libmv/logging/logging.h
@@ -137,7 +137,6 @@
libmv/tracking/pyramid_region_tracker.h
libmv/tracking/region_tracker.h
libmv/tracking/retrack_region_tracker.h
- libmv/tracking/sad.h
libmv/tracking/trklt_region_tracker.h
third_party/fast/fast.h
Copied: trunk/blender/extern/libmv/libmv/image/correlation.h (from rev 45286, trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.h)
===================================================================
--- trunk/blender/extern/libmv/libmv/image/correlation.h (rev 0)
+++ trunk/blender/extern/libmv/libmv/image/correlation.h 2012-03-30 10:37:39 UTC (rev 45287)
@@ -0,0 +1,51 @@
+// Copyright (c) 2012 libmv authors.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#ifndef LIBMV_IMAGE_CORRELATION_H
+#define LIBMV_IMAGE_CORRELATION_H
+
+#include "libmv/image/image.h"
+
+namespace libmv {
+
+inline double PearsonProductMomentCorrelation(Array3Df image_and_gradient1_sampled,
+ Array3Df image_and_gradient2_sampled,
+ int width) {
+ double sX=0,sY=0,sXX=0,sYY=0,sXY=0;
+ for (int r = 0; r < width; ++r) {
+ for (int c = 0; c < width; ++c) {
+ double x = image_and_gradient1_sampled(r, c, 0);
+ double y = image_and_gradient2_sampled(r, c, 0);
+ sX += x;
+ sY += y;
+ sXX += x*x;
+ sYY += y*y;
+ sXY += x*y;
+ }
+ }
+ double N = width*width;
+ sX /= N, sY /= N, sXX /= N, sYY /= N, sXY /= N;
+ double correlation = (sXY-sX*sY)/sqrt(double((sXX-sX*sX)*(sYY-sY*sY)));
+ return correlation;
+}
+
+} // namespace libmv
+
+#endif // LIBMV_IMAGE_IMAGE_CORRELATION_H
Modified: trunk/blender/extern/libmv/libmv/image/sample.h
===================================================================
--- trunk/blender/extern/libmv/libmv/image/sample.h 2012-03-30 10:37:20 UTC (rev 45286)
+++ trunk/blender/extern/libmv/libmv/image/sample.h 2012-03-30 10:37:39 UTC (rev 45287)
@@ -98,6 +98,24 @@
}
+// Sample a region centered at x,y in image with size extending by half_width
+// from x,y. Channels specifies the number of channels to sample from.
+inline void SamplePattern(const FloatImage &image,
+ double x, double y,
+ int half_width,
+ int channels,
+ FloatImage *sampled) {
+ sampled->Resize(2 * half_width + 1, 2 * half_width + 1, channels);
+ for (int r = -half_width; r <= half_width; ++r) {
+ for (int c = -half_width; c <= half_width; ++c) {
+ for (int i = 0; i < channels; ++i) {
+ (*sampled)(r + half_width, c + half_width, i) =
+ SampleLinear(image, y + r, x + c, i);
+ }
+ }
+ }
+}
+
} // namespace libmv
#endif // LIBMV_IMAGE_SAMPLE_H_
Modified: trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc 2012-03-30 10:37:20 UTC (rev 45286)
+++ trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc 2012-03-30 10:37:39 UTC (rev 45287)
@@ -44,6 +44,7 @@
#include "libmv/image/image.h"
#include "libmv/image/convolve.h"
+#include "libmv/image/correlation.h"
#include "libmv/image/sample.h"
#include "libmv/logging/logging.h"
@@ -332,6 +333,29 @@
if (best_sad != INT_MAX) {
*x2 = best_j + half_window_size;
*y2 = best_i + half_window_size;
+
+ if (minimum_correlation > 0) {
+ Array3Df image_and_gradient1_sampled, image_and_gradient2_sampled;
+
+ SamplePattern(image_and_gradient1, x1, y1, half_window_size, 3,
+ &image_and_gradient1_sampled);
+ SamplePattern(image_and_gradient2, *x2, *y2, half_window_size, 3,
+ &image_and_gradient2_sampled);
+
+ // Compute the Pearson product-moment correlation coefficient to check
+ // for sanity.
+ double correlation = PearsonProductMomentCorrelation(image_and_gradient1_sampled,
+ image_and_gradient2_sampled,
+ pattern_width);
+ LG << "Final correlation: " << correlation;
+
+ if (correlation < minimum_correlation) {
+ LG << "Correlation " << correlation << " greater than "
+ << minimum_correlation << "; bailing.";
+ return false;
+ }
+ }
+
return true;
}
return false;
Modified: trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.h
===================================================================
--- trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.h 2012-03-30 10:37:20 UTC (rev 45286)
+++ trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.h 2012-03-30 10:37:39 UTC (rev 45287)
@@ -27,7 +27,9 @@
namespace libmv {
struct BruteRegionTracker : public RegionTracker {
- BruteRegionTracker() : half_window_size(4) {}
+ BruteRegionTracker()
+ : half_window_size(4),
+ minimum_correlation(0.78) {}
virtual ~BruteRegionTracker() {}
@@ -39,6 +41,7 @@
// No point in creating getters or setters.
int half_window_size;
+ double minimum_correlation;
};
} // namespace libmv
Modified: trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc 2012-03-30 10:37:20 UTC (rev 45286)
+++ trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc 2012-03-30 10:37:39 UTC (rev 45287)
@@ -26,6 +26,7 @@
#include "libmv/logging/logging.h"
#include "libmv/image/image.h"
#include "libmv/image/convolve.h"
+#include "libmv/image/correlation.h"
#include "libmv/image/sample.h"
#include "libmv/numeric/numeric.h"
@@ -55,24 +56,6 @@
return true;
}
-// Sample a region centered at x,y in image with size extending by half_width
-// from x,y. Channels specifies the number of channels to sample from.
-static void SamplePattern(const FloatImage &image,
- double x, double y,
- int half_width,
- int channels,
- FloatImage *sampled) {
- sampled->Resize(2 * half_width + 1, 2 * half_width + 1, channels);
- for (int r = -half_width; r <= half_width; ++r) {
- for (int c = -half_width; c <= half_width; ++c) {
- for (int i = 0; i < channels; ++i) {
- (*sampled)(r + half_width, c + half_width, i) =
- SampleLinear(image, y + r, x + c, i);
- }
- }
- }
-}
-
// Estimate "reasonable" error by computing autocorrelation for a small shift.
// TODO(keir): Add a facility for
static double EstimateReasonableError(const FloatImage &image,
@@ -276,22 +259,9 @@
if (d.squaredNorm() < min_update_squared_distance) {
// Compute the Pearson product-moment correlation coefficient to check
// for sanity.
- // TODO(keir): Put this somewhere smarter.
- double sX=0,sY=0,sXX=0,sYY=0,sXY=0;
- for (int r = 0; r < width; ++r) {
- for (int c = 0; c < width; ++c) {
- double x = image_and_gradient1_sampled(r, c, 0);
- double y = image_and_gradient2_sampled[new_image](r, c, 0);
- sX += x;
- sY += y;
- sXX += x*x;
- sYY += y*y;
- sXY += x*y;
- }
- }
- double N = width*width;
- sX /= N, sY /= N, sXX /= N, sYY /= N, sXY /= N;
- double correlation = (sXY-sX*sY)/sqrt(double((sXX-sX*sX)*(sYY-sY*sY)));
+ double correlation = PearsonProductMomentCorrelation(image_and_gradient1_sampled,
+ image_and_gradient2_sampled[new_image],
+ width);
LG << "Final correlation: " << correlation;
if (correlation < minimum_correlation) {
Modified: trunk/blender/extern/libmv/libmv/tracking/lmicklt_region_tracker.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/tracking/lmicklt_region_tracker.cc 2012-03-30 10:37:20 UTC (rev 45286)
+++ trunk/blender/extern/libmv/libmv/tracking/lmicklt_region_tracker.cc 2012-03-30 10:37:39 UTC (rev 45287)
@@ -52,24 +52,6 @@
return true;
}
-// Sample a region centered at x,y in image with size extending by half_width
-// from x,y. Channels specifies the number of channels to sample from.
-static void SamplePattern(const FloatImage &image,
- double x, double y,
- int half_width,
- int channels,
- FloatImage *sampled) {
- sampled->Resize(2 * half_width + 1, 2 * half_width + 1, channels);
@@ Diff output truncated at 10240 characters. @@
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