[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [59174] trunk/blender: Add Procrustes PNP ("PPnP") resection algorithm to libmv
Sergey Sharybin
sergey.vfx at gmail.com
Fri Aug 16 10:26:34 CEST 2013
Revision: 59174
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=59174
Author: nazgul
Date: 2013-08-16 08:26:34 +0000 (Fri, 16 Aug 2013)
Log Message:
-----------
Add Procrustes PNP ("PPnP") resection algorithm to libmv
This adds a new Euclidean resection method, used to create the
initial reconstruction in the motion tracker, to libmv. The method
is based on the Procrustes PNP algorithm (aka "PPnP"). Currently
the algorithm is not connected with the motion tracker, but it
will be eventually since it supports initialization.
Having an initial guess when doing resection is important for
ambiguous cases where potentially the user could offer extra
guidance to the solver, in the form of "this point is in front of
that point".
--
svn merge -r58821:58822 ^/branches/soc-2011-tomato
Revision Links:
--------------
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=58821
Modified Paths:
--------------
trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.cc
trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.h
trunk/blender/source/blender/blenkernel/BKE_key.h
Property Changed:
----------------
trunk/blender/
trunk/blender/source/blender/editors/interface/interface.c
trunk/blender/source/blender/editors/space_outliner/
Property changes on: trunk/blender
___________________________________________________________________
Modified: svn:mergeinfo
- /branches/ge_dev:58091-58422
/branches/ge_harmony:42255,42279-42282,42286,42302,42338,42349,42616,42620,42698-42699,42739,42753,42773-42774,42832,44568,44597-44598,44793-44794
/branches/soc-2011-cucumber:37517,38166-38167,38177,38179-38180,38187,38242,38384,38387,38403-38404,38407,38968,38970,38973,39045,40845,42997-42998,43439
/branches/soc-2011-tomato:42376,42378-42379,42383,42385,42395,42397-42400,42407,42411,42418,42443-42444,42446,42467,42472,42486,42650-42652,42654-42655,42709-42710,42733-42734,42801,43872,44130,44141,44147-44149,44151-44152,44229-44230,45623-45625,46037,48089,48092,48551-48552,48679,48790,48792-48793,49076,49087,49292,49294,49466,49894,50052,50126,52854-52856,54573
/branches/soc-2013-depsgraph_mt:57516
/branches/soc-2013-dingto:57424,57487,57507,57525,57599,57670,57918-57919,57981,58091,58245,58253,58587,58772,58774-58775,58828,58835,59032
/tags/blender-2.67b-release/blender:57122
+ /branches/ge_dev:58091-58422
/branches/ge_harmony:42255,42279-42282,42286,42302,42338,42349,42616,42620,42698-42699,42739,42753,42773-42774,42832,44568,44597-44598,44793-44794
/branches/soc-2011-cucumber:37517,38166-38167,38177,38179-38180,38187,38242,38384,38387,38403-38404,38407,38968,38970,38973,39045,40845,42997-42998,43439
/branches/soc-2011-tomato:42376,42378-42379,42383,42385,42395,42397-42400,42407,42411,42418,42443-42444,42446,42467,42472,42486,42650-42652,42654-42655,42709-42710,42733-42734,42801,43872,44130,44141,44147-44149,44151-44152,44229-44230,45623-45625,46037,48089,48092,48551-48552,48679,48790,48792-48793,49076,49087,49292,49294,49466,49894,50052,50126,52854-52856,54573,58822
/branches/soc-2013-depsgraph_mt:57516
/branches/soc-2013-dingto:57424,57487,57507,57525,57599,57670,57918-57919,57981,58091,58245,58253,58587,58772,58774-58775,58828,58835,59032
/tags/blender-2.67b-release/blender:57122
Modified: trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.cc
===================================================================
--- trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.cc 2013-08-16 08:21:05 UTC (rev 59173)
+++ trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.cc 2013-08-16 08:26:34 UTC (rev 59174)
@@ -34,6 +34,11 @@
namespace euclidean_resection {
typedef unsigned int uint;
+
+bool EuclideanResectionPPnP(const Mat2X &x_camera,
+ const Mat3X &X_world,
+ Mat3 *R, Vec3 *t,
+ double tolerance);
bool EuclideanResection(const Mat2X &x_camera,
const Mat3X &X_world,
@@ -47,6 +52,9 @@
case RESECTION_EPNP:
return EuclideanResectionEPnP(x_camera, X_world, R, t, success_threshold);
break;
+ case RESECTION_PPNP:
+ return EuclideanResectionPPnP(x_camera, X_world, R, t, success_threshold);
+ break;
default:
LOG(FATAL) << "Unknown resection method.";
}
@@ -674,6 +682,107 @@
// TODO(julien): Improve the solutions with non-linear refinement.
return true;
}
+
+/*
+
+ Straight from the paper:
+ http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf
+
+ function [R T] = ppnp(P,S,tol)
+ % input
+ % P : matrix (nx3) image coordinates in camera reference [u v 1]
+ % S : matrix (nx3) coordinates in world reference [X Y Z]
+ % tol: exit threshold
+ %
+ % output
+ % R : matrix (3x3) rotation (world-to-camera)
+ % T : vector (3x1) translation (world-to-camera)
+ %
+ n = size(P,1);
+ Z = zeros(n);
+ e = ones(n,1);
+ A = eye(n)-((e*e’)./n);
+ II = e./n;
+ err = +Inf;
+ E_old = 1000*ones(n,3);
+ while err>tol
+ [U,˜,V] = svd(P’*Z*A*S);
+ VT = V’;
+ R=U*[1 0 0; 0 1 0; 0 0 det(U*VT)]*VT;
+ PR = P*R;
+ c = (S-Z*PR)’*II;
+ Y = S-e*c’;
+ Zmindiag = diag(PR*Y’)./(sum(P.*P,2));
+ Zmindiag(Zmindiag<0)=0;
+ Z = diag(Zmindiag);
+ E = Y-Z*PR;
+ err = norm(E-E_old,’fro’);
+ E_old = E;
+ end
+ T = -R*c;
+ end
+
+ */
+// TODO(keir): Re-do all the variable names and add comments matching the paper.
+// This implementation has too much of the terseness of the original. On the
+// other hand, it did work on the first try.
+bool EuclideanResectionPPnP(const Mat2X &x_camera,
+ const Mat3X &X_world,
+ Mat3 *R, Vec3 *t,
+ double tolerance) {
+ int n = x_camera.cols();
+ Mat Z = Mat::Zero(n, n);
+ Vec e = Vec::Ones(n);
+ Mat A = Mat::Identity(n, n) - (e * e.transpose() / n);
+ Vec II = e / n;
+
+ Mat P(n, 3);
+ P.col(0) = x_camera.row(0);
+ P.col(1) = x_camera.row(1);
+ P.col(2).setConstant(1.0);
+
+ Mat S = X_world.transpose();
+
+ double error = std::numeric_limits<double>::infinity();
+ Mat E_old = 1000 * Mat::Ones(n, 3);
+
+ Vec3 c;
+ Mat E(n, 3);
+
+ int iteration = 0;
+ tolerance = 1e-5;
+ // TODO(keir): The limit of 100 can probably be reduced, but this will require
+ // some investigation.
+ while (error > tolerance && iteration < 100) {
+ Mat3 tmp = P.transpose() * Z * A * S;
+ Eigen::JacobiSVD<Mat3> svd(tmp, Eigen::ComputeFullU | Eigen::ComputeFullV);
+ Mat3 U = svd.matrixU();
+ Mat3 VT = svd.matrixV().transpose();
+ Vec3 s;
+ s << 1, 1, (U * VT).determinant();
+ *R = U * s.asDiagonal() * VT;
+ Mat PR = P * *R; // n x 3
+ c = (S - Z*PR).transpose() * II;
+ Mat Y = S - e*c.transpose(); // n x 3
+ Vec Zmindiag = (PR * Y.transpose()).diagonal()
+ .cwiseQuotient(P.rowwise().squaredNorm());
+ for (int i = 0; i < n; ++i) {
+ Zmindiag[i] = std::max(Zmindiag[i], 0.0);
+ }
+ Z = Zmindiag.asDiagonal();
+ E = Y - Z*PR;
+ error = (E - E_old).norm();
+ LOG(INFO) << "PPnP error(" << (iteration++) << "): " << error;
+ E_old = E;
+ }
+ *t = -*R*c;
+ // TODO(keir): Figure out what the failure cases are. Is it too many
+ // iterations? Spend some time going through the math figuring out if there
+ // is some way to detect that the algorithm is going crazy, and return false.
+ return true;
+}
+
+
} // namespace resection
} // namespace libmv
Modified: trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.h
===================================================================
--- trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.h 2013-08-16 08:21:05 UTC (rev 59173)
+++ trunk/blender/extern/libmv/libmv/multiview/euclidean_resection.h 2013-08-16 08:26:34 UTC (rev 59174)
@@ -33,6 +33,10 @@
// The "EPnP" algorithm by Lepetit et al.
// http://cvlab.epfl.ch/~lepetit/papers/lepetit_ijcv08.pdf
RESECTION_EPNP,
+
+ // The Procrustes PNP algorithm ("PPnP")
+ // http://www.diegm.uniud.it/fusiello/papers/3dimpvt12-b.pdf
+ RESECTION_PPNP
};
/**
Modified: trunk/blender/source/blender/blenkernel/BKE_key.h
===================================================================
--- trunk/blender/source/blender/blenkernel/BKE_key.h 2013-08-16 08:21:05 UTC (rev 59173)
+++ trunk/blender/source/blender/blenkernel/BKE_key.h 2013-08-16 08:26:34 UTC (rev 59174)
@@ -74,7 +74,8 @@
void BKE_keyblock_copy_settings(struct KeyBlock *kb_dst, const struct KeyBlock *kb_src);
char *BKE_keyblock_curval_rnapath_get(struct Key *key, struct KeyBlock *kb);
// needed for the GE
-void BKE_key_evaluate_relative(const int start, int end, const int tot, char *basispoin, struct Key *key, struct KeyBlock *actkb, const int mode);
+void BKE_key_evaluate_relative(const int start, int end, const int tot, char *basispoin, struct Key *key, struct KeyBlock *actkb,
+ float **all_keyblock_weights, const int mode);
/* conversion functions */
void BKE_key_convert_to_mesh(struct KeyBlock *kb, struct Mesh *me);
Property changes on: trunk/blender/source/blender/editors/interface/interface.c
___________________________________________________________________
Modified: svn:mergeinfo
- /branches/ge_candy/source/blender/editors/interface/interface.c:45070-46163
/branches/ge_harmony/source/blender/editors/interface/interface.c:42255,42279-42282,42286,42302,42338,42349,42616,42620,42698-42699,42739,42753,42773-42774,42832,44568,44597-44598,44793-44794
/branches/soc-2011-cucumber/source/blender/editors/interface/interface.c:37517,38166-38167,38177,38179-38180,38187,38242,38384,38387,38403-38404,38407,38968,38970,38973,39045,40845,42997-42998,43439
/branches/soc-2011-tomato/source/blender/editors/interface/interface.c:42376,42378-42379,42383,42385,42395,42397-42400,42407,42411,42418,42443-42444,42446,42467,42472,42486,42650-42652,42654-42655,42709-42710,42733-42734,42801,43872,44130,44141,44147-44149,44151-44152,44229-44230,45623-45625,46037,48089,48092,48551-48552,48679,48790,48792-48793,49076,49087,49292,49294,49466,49894,50052,50126,52854-52856,54573
/branches/soc-2013-depsgraph_mt/source/blender/editors/interface/interface.c:57516
+ /branches/ge_candy/source/blender/editors/interface/interface.c:45070-46163
/branches/ge_harmony/source/blender/editors/interface/interface.c:42255,42279-42282,42286,42302,42338,42349,42616,42620,42698-42699,42739,42753,42773-42774,42832,44568,44597-44598,44793-44794
/branches/soc-2011-cucumber/source/blender/editors/interface/interface.c:37517,38166-38167,38177,38179-38180,38187,38242,38384,38387,38403-38404,38407,38968,38970,38973,39045,40845,42997-42998,43439
/branches/soc-2011-tomato/source/blender/editors/interface/interface.c:42376,42378-42379,42383,42385,42395,42397-42400,42407,42411,42418,42443-42444,42446,42467,42472,42486,42650-42652,42654-42655,42709-42710,42733-42734,42801,43872,44130,44141,44147-44149,44151-44152,44229-44230,45623-45625,46037,48089,48092,48551-48552,48679,48790,48792-48793,49076,49087,49292,49294,49466,49894,50052,50126,52854-52856,54573,58822
/branches/soc-2013-depsgraph_mt/source/blender/editors/interface/interface.c:57516
Property changes on: trunk/blender/source/blender/editors/space_outliner
___________________________________________________________________
Modified: svn:mergeinfo
- /branches/soc-2011-cucumber/source/blender/editors/space_outliner:38968,38970,38973,39045,40845
/branches/soc-2011-pepper/source/blender/editors/space_outliner:36831-38987
@@ Diff output truncated at 10240 characters. @@
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