[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [46441] trunk/blender/extern/libmv/libmv: Enhance logging in libmv's trackers.
Keir Mierle
mierle at gmail.com
Wed May 9 01:13:54 CEST 2012
Revision: 46441
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=46441
Author: keir
Date: 2012-05-08 23:13:53 +0000 (Tue, 08 May 2012)
Log Message:
-----------
Enhance logging in libmv's trackers.
Cleanups in brute_region_tracker.cc.
Modified Paths:
--------------
trunk/blender/extern/libmv/libmv/image/correlation.h
trunk/blender/extern/libmv/libmv/image/sample.h
trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc
trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc
Modified: trunk/blender/extern/libmv/libmv/image/correlation.h
===================================================================
--- trunk/blender/extern/libmv/libmv/image/correlation.h 2012-05-08 22:20:14 UTC (rev 46440)
+++ trunk/blender/extern/libmv/libmv/image/correlation.h 2012-05-08 23:13:53 UTC (rev 46441)
@@ -21,6 +21,7 @@
#ifndef LIBMV_IMAGE_CORRELATION_H
#define LIBMV_IMAGE_CORRELATION_H
+#include "libmv/logging/logging.h"
#include "libmv/image/image.h"
namespace libmv {
@@ -28,7 +29,8 @@
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;
+ 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);
@@ -40,9 +42,23 @@
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)));
+
+ // Normalize.
+ double N = width * width;
+ sX /= N;
+ sY /= N;
+ sXX /= N;
+ sYY /= N;
+ sXY /= N;
+
+ double var_x = sXX - sX*sX;
+ double var_y = sYY - sY*sY;
+ double covariance_xy = sXY - sX*sY;
+
+ double correlation = covariance_xy / sqrt(var_x * var_y);
+ LG << "Covariance xy: " << covariance_xy
+ << ", var 1: " << var_x << ", var 2: " << var_y
+ << ", correlation: " << correlation;
return correlation;
}
Modified: trunk/blender/extern/libmv/libmv/image/sample.h
===================================================================
--- trunk/blender/extern/libmv/libmv/image/sample.h 2012-05-08 22:20:14 UTC (rev 46440)
+++ trunk/blender/extern/libmv/libmv/image/sample.h 2012-05-08 23:13:53 UTC (rev 46441)
@@ -95,7 +95,6 @@
}
}
}
-
}
// Sample a region centered at x,y in image with size extending by half_width
Modified: trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc 2012-05-08 22:20:14 UTC (rev 46440)
+++ trunk/blender/extern/libmv/libmv/tracking/brute_region_tracker.cc 2012-05-08 23:13:53 UTC (rev 46441)
@@ -310,7 +310,7 @@
FloatArrayToByteArrayWithPadding(image_and_gradient2, &search_area, &search_area_stride);
// Try all possible locations inside the search area. Yes, everywhere.
- int best_i, best_j, best_sad = INT_MAX;
+ int best_i = -1, best_j = -1, best_sad = INT_MAX;
for (int i = 0; i < image2.Height() - pattern_width; ++i) {
for (int j = 0; j < image2.Width() - pattern_width; ++j) {
int sad = SumOfAbsoluteDifferencesContiguousImage(pattern,
@@ -327,38 +327,51 @@
}
}
+ CHECK_NE(best_i, -1);
+ CHECK_NE(best_j, -1);
+
aligned_free(pattern);
aligned_free(search_area);
- if (best_sad != INT_MAX) {
- *x2 = best_j + half_window_size;
- *y2 = best_i + half_window_size;
+ if (best_sad == INT_MAX) {
+ LG << "Hit INT_MAX in SAD; failing.";
+ return false;
+ }
- if (minimum_correlation > 0) {
- Array3Df image_and_gradient1_sampled, image_and_gradient2_sampled;
+ *x2 = best_j + half_window_size;
+ *y2 = best_i + half_window_size;
- 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);
+ // Calculate the shift done by the fine tracker.
+ double dx2 = *x2 - x1;
+ double dy2 = *y2 - y1;
+ double fine_shift = sqrt(dx2 * dx2 + dy2 * dy2);
+ LG << "Brute shift: dx=" << dx2 << " dy=" << dy2 << ", d=" << fine_shift;
- // 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 (minimum_correlation <= 0) {
+ // No correlation checking requested; nothing else to do.
+ LG << "No correlation checking; returning success. best_sad: " << best_sad;
+ return true;
+ }
- if (correlation < minimum_correlation) {
- LG << "Correlation " << correlation << " greater than "
- << minimum_correlation << "; bailing.";
- return false;
- }
- }
+ 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);
- return true;
+ // 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 false;
+ return true;
}
} // namespace libmv
Modified: trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc 2012-05-08 22:20:14 UTC (rev 46440)
+++ trunk/blender/extern/libmv/libmv/tracking/esm_region_tracker.cc 2012-05-08 23:13:53 UTC (rev 46441)
@@ -41,6 +41,7 @@
int min_y = floor(y) - half_window_size - 1;
if (min_x < 0.0 ||
min_y < 0.0) {
+ LG << "Out of bounds; min_x: " << min_x << ", min_y: " << min_y;
return false;
}
@@ -49,6 +50,9 @@
int max_y = ceil(y) + half_window_size + 1;
if (max_x > image1.cols() ||
max_y > image1.rows()) {
+ LG << "Out of bounds; max_x: " << max_x << ", max_y: " << max_y
+ << ", image1.cols(): " << image1.cols()
+ << ", image1.rows(): " << image1.rows();
return false;
}
@@ -56,24 +60,6 @@
return true;
}
-// Estimate "reasonable" error by computing autocorrelation for a small shift.
-// TODO(keir): Add a facility for
-static double EstimateReasonableError(const FloatImage &image,
- double x, double y,
- int half_width) {
- double error = 0.0;
- for (int r = -half_width; r <= half_width; ++r) {
- for (int c = -half_width; c <= half_width; ++c) {
- double s = SampleLinear(image, y + r, x + c, 0);
- double e1 = SampleLinear(image, y + r + 0.5, x + c, 0) - s;
- double e2 = SampleLinear(image, y + r, x + c + 0.5, 0) - s;
- error += e1*e1 + e2*e2;
- }
- }
- // XXX hack
- return error / 2.0 * 16.0;
-}
-
// This is implemented from "Lukas and Kanade 20 years on: Part 1. Page 42,
// figure 14: the Levenberg-Marquardt-Inverse Compositional Algorithm".
bool EsmRegionTracker::Track(const FloatImage &image1,
@@ -107,9 +93,6 @@
//
// Ignored for my "normal" LM loop.
- double reasonable_error =
- EstimateReasonableError(image1, x1, y1, half_window_size);
-
// Step 1: Warp I with W(x, p) to compute I(W(x; p).
//
// Use two images for accepting / rejecting updates.
@@ -228,7 +211,7 @@
new_error += e*e;
}
}
- //LG << "Old error: " << error << ", new error: " << new_error;
+ LG << "Old error: " << error << ", new error: " << new_error;
double rho = (error - new_error) / (d.transpose() * (mu * d + z));
@@ -253,6 +236,7 @@
mu *= std::max(1/3., 1 - pow(2*rho - 1, 3));
nu = M_E; // See above for why to use e.
+ LG << "Error decreased, so accept update.";
}
// If the step was accepted, then check for termination.
@@ -264,13 +248,15 @@
width);
LG << "Final correlation: " << correlation;
- if (correlation < minimum_correlation) {
- LG << "Correlation " << correlation << " greater than "
- << minimum_correlation << "; bailing.";
- return false;
+ // Note: Do the comparison here to handle nan's correctly (since all
+ // comparisons with nan are false).
+ if (minimum_correlation < correlation) {
+ LG << "Successful track in " << (i + 1) << " iterations.";
+ return true;
}
- LG << "Successful track in " << (i + 1) << " iterations.";
- return true;
+ LG << "Correlation " << correlation << " greater than "
+ << minimum_correlation << " or is nan; bailing.";
+ return false;
}
}
// Getting here means we hit max iterations, so tracking failed.
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