[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [60075] branches/soc-2013-motion_track/ extern/libmv/libmv/simple_pipeline/modal_solver.cc: Improve modal solver image iteration
Joseph Mansfield
sftrabbit at gmail.com
Thu Sep 12 16:45:51 CEST 2013
Revision: 60075
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=60075
Author: sftrabbit
Date: 2013-09-12 14:45:50 +0000 (Thu, 12 Sep 2013)
Log Message:
-----------
Improve modal solver image iteration
Instead of iterating over all images and filtering through only those from camera 0, iterate over only camera 0 images. With the current way markers are stored, this is very computationally inefficient, but this should be improved soon.
Modified Paths:
--------------
branches/soc-2013-motion_track/extern/libmv/libmv/simple_pipeline/modal_solver.cc
Modified: branches/soc-2013-motion_track/extern/libmv/libmv/simple_pipeline/modal_solver.cc
===================================================================
--- branches/soc-2013-motion_track/extern/libmv/libmv/simple_pipeline/modal_solver.cc 2013-09-12 14:09:31 UTC (rev 60074)
+++ branches/soc-2013-motion_track/extern/libmv/libmv/simple_pipeline/modal_solver.cc 2013-09-12 14:45:50 UTC (rev 60075)
@@ -100,9 +100,11 @@
EuclideanReconstruction *reconstruction,
ProgressUpdateCallback *update_callback) {
static const int kModalCamera = 0;
- int max_image = tracks.MaxImage();
- int max_track = tracks.MaxTrack();
+ Tracks camera_tracks(tracks.MarkersForCamera(kModalCamera));
+ int max_image = camera_tracks.MaxImage();
+ int max_track = camera_tracks.MaxTrack();
+
LG << "Max image: " << max_image;
LG << "Max track: " << max_track;
@@ -112,133 +114,131 @@
ceres::AngleAxisToQuaternion(&zero_rotation(0), &quaternion(0));
for (int image = 0; image <= max_image; ++image) {
- if (tracks.CameraFromImage(image) == kModalCamera) {
- vector<Marker> all_markers = tracks.MarkersInImage(image);
+ vector<Marker> image_markers = camera_tracks.MarkersInImage(image);
- ModalSolverLogProress(update_callback, (float) image / max_image);
+ ModalSolverLogProress(update_callback, (float) image / max_image);
- // Skip empty images without doing anything.
- if (all_markers.size() == 0) {
- LG << "Skipping image: " << image;
- continue;
- }
+ // Skip empty images without doing anything.
+ if (image_markers.size() == 0) {
+ LG << "Skipping image: " << image;
+ continue;
+ }
- // STEP 1: Estimate rotation analytically.
- Mat3 current_R;
- ceres::QuaternionToRotation(&quaternion(0), ¤t_R(0, 0));
- // Construct point cloud for current and previous images,
- // using markers appear at current image for which we know
- // 3D positions.
- Mat x1, x2;
- for (int i = 0; i < all_markers.size(); ++i) {
- Marker &marker = all_markers[i];
- EuclideanPoint *point = reconstruction->PointForTrack(marker.track);
- if (point) {
- Vec3 X;
- ProjectMarkerOnSphere(marker, X);
+ // STEP 1: Estimate rotation analytically.
+ Mat3 current_R;
+ ceres::QuaternionToRotation(&quaternion(0), ¤t_R(0, 0));
+ // Construct point cloud for current and previous images,
+ // using markers appear at current image for which we know
+ // 3D positions.
+ Mat x1, x2;
+ for (int i = 0; i < image_markers.size(); ++i) {
+ Marker &marker = image_markers[i];
+ EuclideanPoint *point = reconstruction->PointForTrack(marker.track);
+ if (point) {
+ Vec3 X;
+ ProjectMarkerOnSphere(marker, X);
- int last_column = x1.cols();
- x1.conservativeResize(3, last_column + 1);
- x2.conservativeResize(3, last_column + 1);
+ int last_column = x1.cols();
+ x1.conservativeResize(3, last_column + 1);
+ x2.conservativeResize(3, last_column + 1);
- x1.col(last_column) = current_R * point->X;
- x2.col(last_column) = X;
- }
+ x1.col(last_column) = current_R * point->X;
+ x2.col(last_column) = X;
}
+ }
- if (x1.cols() >= 2) {
- Mat3 delta_R;
+ if (x1.cols() >= 2) {
+ Mat3 delta_R;
- // Compute delta rotation matrix for two point clouds.
- // Could be a bit confusing at first glance, but order
- // of clouds is indeed so.
- GetR_FixedCameraCenter(x2, x1, 1.0, &delta_R);
+ // Compute delta rotation matrix for two point clouds.
+ // Could be a bit confusing at first glance, but order
+ // of clouds is indeed so.
+ GetR_FixedCameraCenter(x2, x1, 1.0, &delta_R);
- // Convert delta rotation form matrix to final image
- // rotation stored in a quaternion
- Vec3 delta_angle_axis;
- ceres::RotationMatrixToAngleAxis(&delta_R(0, 0), &delta_angle_axis(0));
+ // Convert delta rotation form matrix to final image
+ // rotation stored in a quaternion
+ Vec3 delta_angle_axis;
+ ceres::RotationMatrixToAngleAxis(&delta_R(0, 0), &delta_angle_axis(0));
- Vec3 current_angle_axis;
- ceres::QuaternionToAngleAxis(&quaternion(0), ¤t_angle_axis(0));
+ Vec3 current_angle_axis;
+ ceres::QuaternionToAngleAxis(&quaternion(0), ¤t_angle_axis(0));
- Vec3 angle_axis = current_angle_axis + delta_angle_axis;
+ Vec3 angle_axis = current_angle_axis + delta_angle_axis;
- ceres::AngleAxisToQuaternion(&angle_axis(0), &quaternion(0));
+ ceres::AngleAxisToQuaternion(&angle_axis(0), &quaternion(0));
- LG << "Analytically computed quaternion "
- << quaternion.transpose();
- }
+ LG << "Analytically computed quaternion "
+ << quaternion.transpose();
+ }
- // STEP 2: Refine rotation with Ceres.
- ceres::Problem problem;
+ // STEP 2: Refine rotation with Ceres.
+ ceres::Problem problem;
- ceres::LocalParameterization* quaternion_parameterization =
- new ceres::QuaternionParameterization;
+ ceres::LocalParameterization* quaternion_parameterization =
+ new ceres::QuaternionParameterization;
- int num_residuals = 0;
- for (int i = 0; i < all_markers.size(); ++i) {
- Marker &marker = all_markers[i];
- EuclideanPoint *point = reconstruction->PointForTrack(marker.track);
+ int num_residuals = 0;
+ for (int i = 0; i < image_markers.size(); ++i) {
+ Marker &marker = image_markers[i];
+ EuclideanPoint *point = reconstruction->PointForTrack(marker.track);
- if (point) {
- problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
- ModalReprojectionError,
- 2, /* num_residuals */
- 4>(new ModalReprojectionError(marker.x, marker.y,
- point->X)),
- NULL,
- &quaternion(0));
- num_residuals++;
+ if (point) {
+ problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
+ ModalReprojectionError,
+ 2, /* num_residuals */
+ 4>(new ModalReprojectionError(marker.x, marker.y,
+ point->X)),
+ NULL,
+ &quaternion(0));
+ num_residuals++;
- problem.SetParameterization(&quaternion(0),
- quaternion_parameterization);
- }
+ problem.SetParameterization(&quaternion(0),
+ quaternion_parameterization);
}
+ }
- LG << "Number of residuals: " << num_residuals;
+ LG << "Number of residuals: " << num_residuals;
- if (num_residuals) {
- // Configure the solve.
- ceres::Solver::Options solver_options;
- solver_options.linear_solver_type = ceres::DENSE_QR;
- solver_options.max_num_iterations = 50;
- solver_options.update_state_every_iteration = true;
- solver_options.gradient_tolerance = 1e-36;
- solver_options.parameter_tolerance = 1e-36;
- solver_options.function_tolerance = 1e-36;
+ if (num_residuals) {
+ // Configure the solve.
+ ceres::Solver::Options solver_options;
+ solver_options.linear_solver_type = ceres::DENSE_QR;
+ solver_options.max_num_iterations = 50;
+ solver_options.update_state_every_iteration = true;
+ solver_options.gradient_tolerance = 1e-36;
+ solver_options.parameter_tolerance = 1e-36;
+ solver_options.function_tolerance = 1e-36;
- // Run the solve.
- ceres::Solver::Summary summary;
- ceres::Solve(solver_options, &problem, &summary);
+ // Run the solve.
+ ceres::Solver::Summary summary;
+ ceres::Solve(solver_options, &problem, &summary);
- LG << "Summary:\n" << summary.FullReport();
- LG << "Refined quaternion " << quaternion.transpose();
- }
+ LG << "Summary:\n" << summary.FullReport();
+ LG << "Refined quaternion " << quaternion.transpose();
+ }
- // Convert quaternion to rotation matrix.
- Mat3 R;
- ceres::QuaternionToRotation(&quaternion(0), &R(0, 0));
- reconstruction->InsertView(image, R, Vec3::Zero(), kModalCamera);
+ // Convert quaternion to rotation matrix.
+ Mat3 R;
+ ceres::QuaternionToRotation(&quaternion(0), &R(0, 0));
+ reconstruction->InsertView(image, R, Vec3::Zero(), kModalCamera);
- // STEP 3: reproject all new markers appeared at image
+ // STEP 3: reproject all new markers appeared at image
- // Check if there're new markers appeared on current image
- // and reproject them on sphere to obtain 3D position/
- for (int track = 0; track <= max_track; ++track) {
- if (!reconstruction->PointForTrack(track)) {
- Marker marker = tracks.MarkerInImageForTrack(image, track);
+ // Check if there're new markers appeared on current image
+ // and reproject them on sphere to obtain 3D position/
+ for (int track = 0; track <= max_track; ++track) {
+ if (!reconstruction->PointForTrack(track)) {
+ Marker marker = camera_tracks.MarkerInImageForTrack(image, track);
- if (marker.image == image) {
- // New track appeared on this image,
- // project it's position onto sphere.
+ if (marker.image == image) {
+ // New track appeared on this image,
+ // project it's position onto sphere.
- LG << "Projecting track " << track << " at image " << image;
+ LG << "Projecting track " << track << " at image " << image;
- Vec3 X;
- ProjectMarkerOnSphere(marker, X);
- reconstruction->InsertPoint(track, R.inverse() * X);
- }
+ Vec3 X;
+ ProjectMarkerOnSphere(marker, X);
+ reconstruction->InsertPoint(track, R.inverse() * X);
}
}
}
More information about the Bf-blender-cvs
mailing list