Planar tracking support for motion tracking

===========================================

Major list of changes done in tomato branch:

- Add a planar tracking implementation to libmv
  This adds a new planar tracking implementation to libmv. The
  tracker is based on Ceres[1], the new nonlinear minimizer that
  myself and Sameer released from Google as open source. Since
  the motion model is more involved, the interface is
  different than the RegionTracker interface used previously
  in Blender.

  The start of a C API in libmv-capi.{cpp,h} is also included.

- Migrate from pat_{min,max} for markers to 4 corners representation

  Convert markers in the movie clip editor / 2D tracker from using
  pat_min and pat_max notation to using the a more general, 4-corner
  representation.

  There is still considerable porting work to do; in particular
  sliding from preview widget does not work correct for rotated
  markers.

  All other areas should be ported to new representation:

  * Added support of sliding individual corners. LMB slide + Ctrl
    would scale the whole pattern
  * S would scale the whole marker, S-S would scale pattern only
  * Added support of marker's rotation which is currently rotates
    only patterns around their centers or all markers around median,

    Rotation or other non-translation/scaling transformation of search
    area doesn't make sense.

  * Track Preview widget would display transformed pattern which
    libmv actually operates with.

- "Efficient Second-order Minimization" for the planar tracker

  This implements the "Efficient Second-order Minimization"
  scheme, as supported by the existing translation tracker.
  This increases the amount of per-iteration work, but
  decreases the number of iterations required to converge and
  also increases the size of the basin of attraction for the
  optimization.

- Remove the use of the legacy RegionTracker API from Blender,
  and replaces it with the new TrackRegion API. This also
  adds several features to the planar tracker in libmv:

  * Do a brute-force initialization of tracking similar to "Hybrid"
    mode in the stable release, but using all floats. This is slower
    but more accurate. It is still necessary to evaluate if the
    performance loss is worth it. In particular, this change is
    necessary to support high bit depth imagery.

  * Add support for masks over the search window. This is a step
    towards supporting user-defined tracker masks. The tracker masks
    will make it easy for users to make a mask for e.g. a ball.

    Not exposed into interface yet/

  * Add Pearson product moment correlation coefficient checking (aka
    "Correlation" in the UI. This causes tracking failure if the
    tracked patch is not linearly related to the template.

  * Add support for warping a few points in addition to the supplied
    points. This is useful because the tracking code deliberately
    does not expose the underlying warp representation. Instead,
    warps are specified in an aparametric way via the correspondences.

- Replace the old style tracker configuration panel with the
  new planar tracking panel. From a users perspective, this means:

  * The old "tracking algorithm" picker is gone. There is only 1
    algorithm now. We may revisit this later, but I would much
    prefer to have only 1 algorithm. So far no optimization work
    has been done so the speed is not there yet.

  * There is now a dropdown to select the motion model. Choices:

        * Translation
        * Translation, rotation
        * Translation, scale
        * Translation, rotation, scale
        * Affine
        * Perspective

  * The old "Hybrid" mode is gone; instead there is a toggle to
    enable or disable translation-only tracker initialization. This
    is the equivalent of the hyrbid mode before, but rewritten to work
    with the new planar tracking modes.

  * The pyramid levels setting is gone. At a future date, the planar
    tracker will decide to use pyramids or not automatically. The
    pyramid setting was ultimately a mistake; with the brute force
    initialization it is unnecessary.

- Add light-normalized tracking

  Added the ability to normalize patterns by their average value while
  tracking, to make them invariant to global illumination changes.

Additional details could be found at wiki page [2]

  [1] http://code.google.com/p/ceres-solver
  [2] http://wiki.blender.org/index.php/Dev:Ref/Release_Notes/2.64/Motion_Tracker

28 files changed, 3530 insertions, 813 deletions

diff --git a/extern/libmv/CMakeLists.txt b/extern/libmv/CMakeLists.txt
index cf0ad1102e0..60cd84d89d4 100644
--- a/extern/libmv/CMakeLists.txt
+++ b/extern/libmv/CMakeLists.txt
@@ -62,6 +62,7 @@ set(SRC
 	libmv/multiview/fundamental.cc
 	libmv/multiview/projection.cc
 	libmv/multiview/triangulation.cc
+	libmv/multiview/homography.cc
 	libmv/numeric/numeric.cc
 	libmv/numeric/poly.cc
 	libmv/simple_pipeline/bundle.cc
@@ -84,6 +85,7 @@ set(SRC
 	libmv/tracking/pyramid_region_tracker.cc
 	libmv/tracking/retrack_region_tracker.cc
 	libmv/tracking/trklt_region_tracker.cc
+	libmv/tracking/track_region.cc
 
 	third_party/fast/fast_10.c
 	third_party/fast/fast_11.c
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp
index 6c20d76eeac..ffa065f08fe 100644
--- a/extern/libmv/libmv-capi.cpp
+++ b/extern/libmv/libmv-capi.cpp
@@ -28,6 +28,10 @@
    tracking between which failed */
 #undef DUMP_FAILURE
 
+/* define this to generate PNG images with content of search areas
+   on every itteration of tracking */
+#undef DUMP_ALWAYS
+
 #include "libmv-capi.h"
 
 #include "third_party/gflags/gflags/gflags.h"
@@ -45,6 +49,7 @@
 #include "libmv/tracking/trklt_region_tracker.h"
 #include "libmv/tracking/lmicklt_region_tracker.h"
 #include "libmv/tracking/pyramid_region_tracker.h"
+#include "libmv/tracking/track_region.h"
 
 #include "libmv/simple_pipeline/callbacks.h"
 #include "libmv/simple_pipeline/tracks.h"
@@ -59,7 +64,7 @@
 #include <stdlib.h>
 #include <assert.h>
 
-#ifdef DUMP_FAILURE
+#if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS)
 #  include <png.h>
 #endif
 
@@ -97,7 +102,7 @@ void libmv_initLogging(const char *argv0)
 void libmv_startDebugLogging(void)
 {
 	google::SetCommandLineOption("logtostderr", "1");
-	google::SetCommandLineOption("v", "0");
+	google::SetCommandLineOption("v", "2");
 	google::SetCommandLineOption("stderrthreshold", "1");
 	google::SetCommandLineOption("minloglevel", "0");
 	V3D::optimizerVerbosenessLevel = 1;
@@ -158,20 +163,35 @@ libmv_RegionTracker *libmv_bruteRegionTrackerNew(int half_window_size, double mi
 	return (libmv_RegionTracker *)brute_region_tracker;
 }
 
-static void floatBufToImage(const float *buf, int width, int height, libmv::FloatImage *image)
+static void floatBufToImage(const float *buf, int width, int height, int channels, libmv::FloatImage *image)
 {
-	int x, y, a = 0;
+	int x, y, k, a = 0;
 
-	image->resize(height, width);
+	image->Resize(height, width, channels);
 
 	for (y = 0; y < height; y++) {
 		for (x = 0; x < width; x++) {
-			(*image)(y, x, 0) = buf[a++];
+			for (k = 0; k < channels; k++) {
+				(*image)(y, x, k) = buf[a++];
+			}
+		}
+	}
+}
+
+static void imageToFloatBuf(const libmv::FloatImage *image, int channels, float *buf)
+{
+	int x, y, k, a = 0;
+
+	for (y = 0; y < image->Height(); y++) {
+		for (x = 0; x < image->Width(); x++) {
+			for (k = 0; k < channels; k++) {
+				buf[a++] = (*image)(y, x, k);
+			}
 		}
 	}
 }
 
-#ifdef DUMP_FAILURE
+#if defined(DUMP_FAILURE) || defined (DUMP_ALWAYS)
 void savePNGImage(png_bytep *row_pointers, int width, int height, int depth, int color_type, char *file_name)
 {
 	png_infop info_ptr;
@@ -234,14 +254,14 @@ static void saveImage(char *prefix, libmv::FloatImage image, int x0, int y0)
 		row_pointers[y]= (png_bytep)malloc(sizeof(png_byte)*4*image.Width());
 
 		for (x = 0; x < image.Width(); x++) {
-			if (x0 == x && y0 == y) {
+			if (x0 == x && image.Height() - y0 - 1 == y) {
 				row_pointers[y][x*4+0]= 255;
 				row_pointers[y][x*4+1]= 0;
 				row_pointers[y][x*4+2]= 0;
 				row_pointers[y][x*4+3]= 255;
 			}
 			else {
-				float pixel = image(y, x, 0);
+				float pixel = image(image.Height() - y - 1, x, 0);
 				row_pointers[y][x*4+0]= pixel*255;
 				row_pointers[y][x*4+1]= pixel*255;
 				row_pointers[y][x*4+2]= pixel*255;
@@ -302,19 +322,23 @@ int libmv_regionTrackerTrack(libmv_RegionTracker *libmv_tracker, const float *im
 	libmv::RegionTracker *region_tracker = (libmv::RegionTracker *)libmv_tracker;
 	libmv::FloatImage old_patch, new_patch;
 
-	floatBufToImage(ima1, width, height, &old_patch);
-	floatBufToImage(ima2, width, height, &new_patch);
+	floatBufToImage(ima1, width, height, 1, &old_patch);
+	floatBufToImage(ima2, width, height, 1, &new_patch);
 
-#ifndef DUMP_FAILURE
+#if !defined(DUMP_FAILURE) && !defined(DUMP_ALWAYS)
 	return region_tracker->Track(old_patch, new_patch, x1, y1, x2, y2);
 #else
 	{
-		double sx2 = *x2, sy2 = *y2;
+		/* double sx2 = *x2, sy2 = *y2; */
 		int result = region_tracker->Track(old_patch, new_patch, x1, y1, x2, y2);
 
+#if defined(DUMP_ALWAYS)
+		{
+#else
 		if (!result) {
+#endif
 			saveImage("old_patch", old_patch, x1, y1);
-			saveImage("new_patch", new_patch, sx2, sy2);
+			saveImage("new_patch", new_patch, *x2, *y2);
 		}
 
 		return result;
@@ -329,6 +353,103 @@ void libmv_regionTrackerDestroy(libmv_RegionTracker *libmv_tracker)
 	delete region_tracker;
 }
 
+/* ************ Planar tracker ************ */
+
+/* TrackRegion (new planar tracker) */
+int libmv_trackRegion(const struct libmv_trackRegionOptions *options,
+                      const float *image1, const float *image2,
+                      int width, int height, 
+                      const double *x1, const double *y1,
+                      struct libmv_trackRegionResult *result,
+                      double *x2, double *y2)
+{
+	double xx1[5], yy1[5];
+	double xx2[5], yy2[5];
+	bool tracking_result = false;
+
+	/* Convert to doubles for the libmv api. The four corners and the center. */
+	for (int i = 0; i < 5; ++i) {
+		xx1[i] = x1[i];
+		yy1[i] = y1[i];
+		xx2[i] = x2[i];
+		yy2[i] = y2[i];
+	}
+
+	libmv::TrackRegionOptions track_region_options;
+	switch (options->motion_model) {
+#define LIBMV_CONVERT(the_model) \
+    case libmv::TrackRegionOptions::the_model: \
+		track_region_options.mode = libmv::TrackRegionOptions::the_model; \
+		break;
+		LIBMV_CONVERT(TRANSLATION)
+		LIBMV_CONVERT(TRANSLATION_ROTATION)
+		LIBMV_CONVERT(TRANSLATION_SCALE)
+		LIBMV_CONVERT(TRANSLATION_ROTATION_SCALE)
+		LIBMV_CONVERT(AFFINE)
+		LIBMV_CONVERT(HOMOGRAPHY)
+#undef LIBMV_CONVERT
+	}
+
+	track_region_options.minimum_correlation = options->minimum_correlation;
+	track_region_options.max_iterations = options->num_iterations;
+	track_region_options.sigma = options->sigma;
+	track_region_options.num_extra_points = 1;
+	track_region_options.image1_mask = NULL;
+	track_region_options.use_brute_initialization = options->use_brute;
+	track_region_options.use_normalized_intensities = options->use_normalization;
+
+	/* Convert from raw float buffers to libmv's FloatImage. */
+	libmv::FloatImage old_patch, new_patch;
+	floatBufToImage(image1, width, height, 1, &old_patch);
+	floatBufToImage(image2, width, height, 1, &new_patch);
+
+	libmv::TrackRegionResult track_region_result;
+	libmv::TrackRegion(old_patch, new_patch, xx1, yy1, track_region_options, xx2, yy2, &track_region_result);
+
+	/* Convert to floats for the blender api. */
+	for (int i = 0; i < 5; ++i) {
+		x2[i] = xx2[i];
+		y2[i] = yy2[i];
+	}
+
+	/* TODO(keir): Update the termination string with failure details. */
+	if (track_region_result.termination == libmv::TrackRegionResult::PARAMETER_TOLERANCE ||
+	    track_region_result.termination == libmv::TrackRegionResult::FUNCTION_TOLERANCE  ||
+	    track_region_result.termination == libmv::TrackRegionResult::GRADIENT_TOLERANCE  ||
+	    track_region_result.termination == libmv::TrackRegionResult::NO_CONVERGENCE)
+	{
+		tracking_result = true;
+	}
+
+#if defined(DUMP_FAILURE) || defined(DUMP_ALWAYS)
+#if defined(DUMP_ALWAYS)
+	{
+#else
+	if (!tracking_result) {
+#endif
+		saveImage("old_patch", old_patch, x1[4], y1[4]);
+		saveImage("new_patch", new_patch, x2[4], y2[4]);
+	}
+#endif
+
+	return tracking_result;
+}
+
+void libmv_samplePlanarPatch(const float *image, int width, int height,
+                             int channels, const double *xs, const double *ys,
+                             int num_samples_x, int num_samples_y, float *patch,
+                             double *warped_position_x, double *warped_position_y)
+{
+	libmv::FloatImage libmv_image, libmv_patch;
+
+	floatBufToImage(image, width, height, channels, &libmv_image);
+
+	libmv::SamplePlanarPatch(libmv_image, xs, ys, num_samples_x, num_samples_y,
+	                         &libmv_patch, warped_position_x, warped_position_y);
+
+	imageToFloatBuf(&libmv_patch, channels, patch);
+}
+
 /* ************ Tracks ************ */
 
 libmv_Tracks *libmv_tracksNew(void)
diff --git a/extern/libmv/libmv-capi.h b/extern/libmv/libmv-capi.h
index bccc4706832..6f4b5dea384 100644
--- a/extern/libmv/libmv-capi.h
+++ b/extern/libmv/libmv-capi.h
@@ -50,6 +50,32 @@ int libmv_regionTrackerTrack(struct libmv_RegionTracker *libmv_tracker, const fl
 			int width, int height, double  x1, double  y1, double *x2, double *y2);
 void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker);
 
+/* TrackRegion (new planar tracker) */
+struct libmv_trackRegionOptions {
+  int motion_model;
+  int num_iterations;
+  int use_brute;
+  int use_normalization;
+  double minimum_correlation;
+  double sigma;
+};
+struct libmv_trackRegionResult {
+  int termination;
+  const char *termination_reason;
+  double correlation;
+};
+int libmv_trackRegion(const struct libmv_trackRegionOptions *options,
+                      const float *image1, const float *image2,
+                      int width, int height, 
+                      const double *x1, const double *y1,
+                      struct libmv_trackRegionResult *result,
+                      double *x2, double *y2);
+
+void libmv_samplePlanarPatch(const float *image, int width, int height,
+                             int channels, const double *xs, const double *ys,
+                             int num_samples_x, int num_samples_y, float *patch,
+                             double *warped_position_x, double *warped_position_y);
+
 /* Tracks */
 struct libmv_Tracks *libmv_tracksNew(void);
 void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
diff --git a/extern/libmv/libmv/image/sample.h b/extern/libmv/libmv/image/sample.h
index e842747e6d4..a8850effeab 100644
--- a/extern/libmv/libmv/image/sample.h
+++ b/extern/libmv/libmv/image/sample.h
@@ -34,25 +34,22 @@ inline T SampleNearest(const Array3D<T> &image,
   return image(i, j, v);
 }
 
-static inline void LinearInitAxis(float fx, int width,
-                                  int *x1, int *x2,
-                                  float *dx1, float *dx2) {
-  const int ix = int(fx);
+inline void LinearInitAxis(float x, int size,
+                           int *x1, int *x2,
+                           float *dx) {
+  const int ix = static_cast<int>(x);
   if (ix < 0) {
     *x1 = 0;
     *x2 = 0;
-    *dx1 = 1;
-    *dx2 = 0;
-  } else if (ix > width-2) {
-    *x1 = width-1;
-    *x2 = width-1;
-    *dx1 = 1;
-    *dx2 = 0;
+    *dx = 1.0;
+  } else if (ix > size - 2) {
+    *x1 = size - 1;
+    *x2 = size - 1;
+    *dx = 1.0;
   } else {
     *x1 = ix;
-    *x2 = *x1 + 1;
-    *dx1 = *x2 - fx;
-    *dx2 = 1 - *dx1;
+    *x2 = ix + 1;
+    *dx = *x2 - x;
   }
 }
 
@@ -60,18 +57,47 @@ static inline void LinearInitAxis(float fx, int width,
 template<typename T>
 inline T SampleLinear(const Array3D<T> &image, float y, float x, int v = 0) {
   int x1, y1, x2, y2;
-  float dx1, dy1, dx2, dy2;
+  float dx, dy;
 
-  LinearInitAxis(y, image.Height(), &y1, &y2, &dy1, &dy2);
-  LinearInitAxis(x, image.Width(),  &x1, &x2, &dx1, &dx2);
+  // Take the upper left corner as integer pixel positions.
+  x -= 0.5;
+  y -= 0.5;
+
+  LinearInitAxis(y, image.Height(), &y1, &y2, &dy);
+  LinearInitAxis(x, image.Width(),  &x1, &x2, &dx);
 
   const T im11 = image(y1, x1, v);
   const T im12 = image(y1, x2, v);
   const T im21 = image(y2, x1, v);
   const T im22 = image(y2, x2, v);
 
-  return T(dy1 * ( dx1 * im11 + dx2 * im12 ) +
-           dy2 * ( dx1 * im21 + dx2 * im22 ));
+  return T(     dy  * ( dx * im11 + (1.0 - dx) * im12 ) +
+           (1 - dy) * ( dx * im21 + (1.0 - dx) * im22 ));
+}
+
+/// Linear interpolation, of all channels. The sample is assumed to have the
+/// same size as the number of channels in image.
+template<typename T>
+inline void SampleLinear(const Array3D<T> &image, float y, float x, T *sample) {
+  int x1, y1, x2, y2;
+  float dx, dy;
+
+  // Take the upper left corner as integer pixel positions.
+  x -= 0.5;
+  y -= 0.5;
+
+  LinearInitAxis(y, image.Height(), &y1, &y2, &dy);
+  LinearInitAxis(x, image.Width(),  &x1, &x2, &dx);
+
+  for (int i = 0; i < image.Depth(); ++i) {
+    const T im11 = image(y1, x1, i);
+    const T im12 = image(y1, x2, i);
+    const T im21 = image(y2, x1, i);
+    const T im22 = image(y2, x2, i);
+
+    sample[i] = T(     dy  * ( dx * im11 + (1.0 - dx) * im12 ) +
+                  (1 - dy) * ( dx * im21 + (1.0 - dx) * im22 ));
+  }
 }
 
 // Downsample all channels by 2. If the image has odd width or height, the last
diff --git a/extern/libmv/libmv/multiview/homography.cc b/extern/libmv/libmv/multiview/homography.cc
new file mode 100644
index 00000000000..366392f3923
--- /dev/null
+++ b/extern/libmv/libmv/multiview/homography.cc
@@ -0,0 +1,267 @@
+// Copyright (c) 2008, 2009 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.
+
+#include "libmv/logging/logging.h"
+#include "libmv/multiview/homography.h"
+#include "libmv/multiview/homography_parameterization.h"
+
+namespace libmv {
+/** 2D Homography transformation estimation in the case that points are in 
+ * euclidean coordinates.
+ *
+ * x = H y
+ * x and y vector must have the same direction, we could write
+ * crossproduct(|x|, * H * |y| ) = |0|
+ *
+ * | 0 -1  x2|   |a b c|   |y1|    |0|
+ * | 1  0 -x1| * |d e f| * |y2| =  |0|
+ * |-x2  x1 0|   |g h 1|   |1 |    |0|
+ *
+ * That gives :
+ *
+ * (-d+x2*g)*y1    + (-e+x2*h)*y2 + -f+x2          |0|
+ * (a-x1*g)*y1     + (b-x1*h)*y2  + c-x1         = |0|
+ * (-x2*a+x1*d)*y1 + (-x2*b+x1*e)*y2 + -x2*c+x1*f  |0|
+ */
+bool Homography2DFromCorrespondencesLinearEuc(
+    const Mat &x1,
+    const Mat &x2,
+    Mat3 *H,
+    double expected_precision) {
+  assert(2 == x1.rows());
+  assert(4 <= x1.cols());
+  assert(x1.rows() == x2.rows());
+  assert(x1.cols() == x2.cols());
+
+  int n = x1.cols();
+  MatX8 L = Mat::Zero(n * 3, 8);
+  Mat b = Mat::Zero(n * 3, 1);
+  for (int i = 0; i < n; ++i) {
+    int j = 3 * i;
+    L(j, 0) =  x1(0, i);            // a
+    L(j, 1) =  x1(1, i);            // b
+    L(j, 2) =  1.0;                 // c
+    L(j, 6) = -x2(0, i) * x1(0, i); // g
+    L(j, 7) = -x2(0, i) * x1(1, i); // h
+    b(j, 0) =  x2(0, i);            // i
+
+    ++j;
+    L(j, 3) =  x1(0, i);            // d
+    L(j, 4) =  x1(1, i);            // e
+    L(j, 5) =  1.0;                 // f
+    L(j, 6) = -x2(1, i) * x1(0, i); // g
+    L(j, 7) = -x2(1, i) * x1(1, i); // h
+    b(j, 0) =  x2(1, i);            // i
+    
+    // This ensures better stability
+    // TODO(julien) make a lite version without this 3rd set
+    ++j;
+    L(j, 0) =  x2(1, i) * x1(0, i); // a
+    L(j, 1) =  x2(1, i) * x1(1, i); // b
+    L(j, 2) =  x2(1, i);            // c
+    L(j, 3) = -x2(0, i) * x1(0, i); // d
+    L(j, 4) = -x2(0, i) * x1(1, i); // e
+    L(j, 5) = -x2(0, i) ;           // f
+  }
+  // Solve Lx=B
+  Vec h = L.fullPivLu().solve(b);
+  Homography2DNormalizedParameterization<double>::To(h, H);
+  if ((L * h).isApprox(b, expected_precision))  {
+    return true;
+  } else {
+    return false;
+  }
+}
+
+/** 2D Homography transformation estimation in the case that points are in 
+ * homogeneous coordinates.
+ *
+ * | 0 -x3  x2|   |a b c|   |y1|   -x3*d+x2*g -x3*e+x2*h -x3*f+x2*1    |y1|   (-x3*d+x2*g)*y1 (-x3*e+x2*h)*y2 (-x3*f+x2*1)*y3   |0|
+ * | x3  0 -x1| * |d e f| * |y2| =  x3*a-x1*g  x3*b-x1*h  x3*c-x1*1  * |y2| =  (x3*a-x1*g)*y1  (x3*b-x1*h)*y2  (x3*c-x1*1)*y3 = |0|
+ * |-x2  x1  0|   |g h 1|   |y3|   -x2*a+x1*d -x2*b+x1*e -x2*c+x1*f    |y3|   (-x2*a+x1*d)*y1 (-x2*b+x1*e)*y2 (-x2*c+x1*f)*y3   |0|
+ * X = |a b c d e f g h|^t
+ */
+bool Homography2DFromCorrespondencesLinear(const Mat &x1,
+                                           const Mat &x2,
+                                           Mat3 *H,
+                                           double expected_precision) {
+  if (x1.rows() == 2) {
+    return Homography2DFromCorrespondencesLinearEuc(x1, x2, H, 
+                                                    expected_precision);
+  }
+  assert(3 == x1.rows());
+  assert(4 <= x1.cols());
+  assert(x1.rows() == x2.rows());
+  assert(x1.cols() == x2.cols());
+
+  const int x = 0;
+  const int y = 1;
+  const int w = 2;
+  int n = x1.cols();
+  MatX8 L = Mat::Zero(n * 3, 8);
+  Mat b = Mat::Zero(n * 3, 1);
+  for (int i = 0; i < n; ++i) {
+    int j = 3 * i;
+    L(j, 0) =  x2(w, i) * x1(x, i);//a
+    L(j, 1) =  x2(w, i) * x1(y, i);//b
+    L(j, 2) =  x2(w, i) * x1(w, i);//c
+    L(j, 6) = -x2(x, i) * x1(x, i);//g
+    L(j, 7) = -x2(x, i) * x1(y, i);//h
+    b(j, 0) =  x2(x, i) * x1(w, i);
+
+    ++j;
+    L(j, 3) =  x2(w, i) * x1(x, i);//d
+    L(j, 4) =  x2(w, i) * x1(y, i);//e
+    L(j, 5) =  x2(w, i) * x1(w, i);//f
+    L(j, 6) = -x2(y, i) * x1(x, i);//g
+    L(j, 7) = -x2(y, i) * x1(y, i);//h
+    b(j, 0) =  x2(y, i) * x1(w, i);
+
+    // This ensures better stability
+    ++j;
+    L(j, 0) =  x2(y, i) * x1(x, i);//a
+    L(j, 1) =  x2(y, i) * x1(y, i);//b
+    L(j, 2) =  x2(y, i) * x1(w, i);//c
+    L(j, 3) = -x2(x, i) * x1(x, i);//d
+    L(j, 4) = -x2(x, i) * x1(y, i);//e
+    L(j, 5) = -x2(x, i) * x1(w, i);//f
+  }
+  // Solve Lx=B
+  Vec h = L.fullPivLu().solve(b);
+  if ((L * h).isApprox(b, expected_precision))  {
+    Homography2DNormalizedParameterization<double>::To(h, H);
+    return true;
+  } else {
+    return false;
+  }
+}
+/**
+ * x2 ~ A * x1
+ * x2^t * Hi * A *x1 = 0
+ * H1 =              H2 =               H3 = 
+ * | 0 0 0 1|     |-x2w|  |0 0 0 0|      |  0 |  | 0 0 1 0|     |-x2z|
+ * | 0 0 0 0|  -> |  0 |  |0 0 1 0|   -> |-x2z|  | 0 0 0 0|  -> |  0 |
+ * | 0 0 0 0|     |  0 |  |0-1 0 0|      | x2y|  |-1 0 0 0|     | x2x|
+ * |-1 0 0 0|     | x2x|  |0 0 0 0|      |  0 |  | 0 0 0 0|     |  0 |
+ * H4 =              H5 =               H6 = 
+ *  |0 0 0 0|     |  0 |  | 0 1 0 0|     |-x2y|   |0 0 0 0|     |  0 |
+ *  |0 0 0 1|  -> |-x2w|  |-1 0 0 0|  -> | x2x|   |0 0 0 0|  -> |  0 |
+ *  |0 0 0 0|     |  0 |  | 0 0 0 0|     |  0 |   |0 0 0 1|     |-x2w|
+ *  |0-1 0 0|     | x2y|  | 0 0 0 0|     |  0 |   |0 0-1 0|     | x2z|
+ *     |a b c d| 
+ * A = |e f g h| 
+ *     |i j k l|
+ *     |m n o 1| 
+ *     
+ * x2^t * H1 * A *x1 = (-x2w*a +x2x*m )*x1x + (-x2w*b +x2x*n )*x1y + (-x2w*c +x2x*o )*x1z + (-x2w*d +x2x*1 )*x1w = 0
+ * x2^t * H2 * A *x1 = (-x2z*e +x2y*i )*x1x + (-x2z*f +x2y*j )*x1y + (-x2z*g +x2y*k )*x1z + (-x2z*h +x2y*l )*x1w = 0
+ * x2^t * H3 * A *x1 = (-x2z*a +x2x*i )*x1x + (-x2z*b +x2x*j )*x1y + (-x2z*c +x2x*k )*x1z + (-x2z*d +x2x*l )*x1w = 0
+ * x2^t * H4 * A *x1 = (-x2w*e +x2y*m )*x1x + (-x2w*f +x2y*n )*x1y + (-x2w*g +x2y*o )*x1z + (-x2w*h +x2y*1 )*x1w = 0
+ * x2^t * H5 * A *x1 = (-x2y*a +x2x*e )*x1x + (-x2y*b +x2x*f )*x1y + (-x2y*c +x2x*g )*x1z + (-x2y*d +x2x*h )*x1w = 0
+ * x2^t * H6 * A *x1 = (-x2w*i +x2z*m )*x1x + (-x2w*j +x2z*n )*x1y + (-x2w*k +x2z*o )*x1z + (-x2w*l +x2z*1 )*x1w = 0
+ *
+ * X = |a b c d e f g h i j k l m n o|^t
+*/
+bool Homography3DFromCorrespondencesLinear(const Mat &x1,
+                                           const Mat &x2,
+                                           Mat4 *H,
+                                           double expected_precision) {
+  assert(4 == x1.rows());
+  assert(5 <= x1.cols());
+  assert(x1.rows() == x2.rows());
+  assert(x1.cols() == x2.cols());
+  const int x = 0;
+  const int y = 1;
+  const int z = 2;
+  const int w = 3;
+  int n = x1.cols();
+  MatX15 L = Mat::Zero(n * 6, 15);
+  Mat b = Mat::Zero(n * 6, 1);
+  for (int i = 0; i < n; ++i) {
+    int j = 6 * i;
+    L(j, 0) = -x2(w, i) * x1(x, i);//a
+    L(j, 1) = -x2(w, i) * x1(y, i);//b
+    L(j, 2) = -x2(w, i) * x1(z, i);//c
+    L(j, 3) = -x2(w, i) * x1(w, i);//d
+    L(j,12) =  x2(x, i) * x1(x, i);//m
+    L(j,13) =  x2(x, i) * x1(y, i);//n
+    L(j,14) =  x2(x, i) * x1(z, i);//o
+    b(j, 0) = -x2(x, i) * x1(w, i);
+    
+    ++j;
+    L(j, 4) = -x2(z, i) * x1(x, i);//e
+    L(j, 5) = -x2(z, i) * x1(y, i);//f
+    L(j, 6) = -x2(z, i) * x1(z, i);//g
+    L(j, 7) = -x2(z, i) * x1(w, i);//h
+    L(j, 8) =  x2(y, i) * x1(x, i);//i
+    L(j, 9) =  x2(y, i) * x1(y, i);//j
+    L(j,10) =  x2(y, i) * x1(z, i);//k
+    L(j,11) =  x2(y, i) * x1(w, i);//l
+    
+    ++j;
+    L(j, 0) = -x2(z, i) * x1(x, i);//a
+    L(j, 1) = -x2(z, i) * x1(y, i);//b
+    L(j, 2) = -x2(z, i) * x1(z, i);//c
+    L(j, 3) = -x2(z, i) * x1(w, i);//d
+    L(j, 8) =  x2(x, i) * x1(x, i);//i
+    L(j, 9) =  x2(x, i) * x1(y, i);//j
+    L(j,10) =  x2(x, i) * x1(z, i);//k
+    L(j,11) =  x2(x, i) * x1(w, i);//l
+    
+    ++j;
+    L(j, 4) = -x2(w, i) * x1(x, i);//e
+    L(j, 5) = -x2(w, i) * x1(y, i);//f
+    L(j, 6) = -x2(w, i) * x1(z, i);//g
+    L(j, 7) = -x2(w, i) * x1(w, i);//h
+    L(j,12) =  x2(y, i) * x1(x, i);//m
+    L(j,13) =  x2(y, i) * x1(y, i);//n
+    L(j,14) =  x2(y, i) * x1(z, i);//o
+    b(j, 0) = -x2(y, i) * x1(w, i);
+    
+    ++j;
+    L(j, 0) = -x2(y, i) * x1(x, i);//a
+    L(j, 1) = -x2(y, i) * x1(y, i);//b
+    L(j, 2) = -x2(y, i) * x1(z, i);//c
+    L(j, 3) = -x2(y, i) * x1(w, i);//d
+    L(j, 4) =  x2(x, i) * x1(x, i);//e
+    L(j, 5) =  x2(x, i) * x1(y, i);//f
+    L(j, 6) =  x2(x, i) * x1(z, i);//g
+    L(j, 7) =  x2(x, i) * x1(w, i);//h
+    
+    ++j;
+    L(j, 8) = -x2(w, i) * x1(x, i);//i
+    L(j, 9) = -x2(w, i) * x1(y, i);//j
+    L(j,10) = -x2(w, i) * x1(z, i);//k
+    L(j,11) = -x2(w, i) * x1(w, i);//l
+    L(j,12) =  x2(z, i) * x1(x, i);//m
+    L(j,13) =  x2(z, i) * x1(y, i);//n
+    L(j,14) =  x2(z, i) * x1(z, i);//o
+    b(j, 0) = -x2(z, i) * x1(w, i);
+  }
+  // Solve Lx=B
+  Vec h = L.fullPivLu().solve(b);
+  if ((L * h).isApprox(b, expected_precision))  {
+    Homography3DNormalizedParameterization<double>::To(h, H);
+    return true;
+  } else {
+    return false;
+  }
+}
+}  // namespace libmv
diff --git a/extern/libmv/libmv/multiview/homography.h b/extern/libmv/libmv/multiview/homography.h
new file mode 100644
index 00000000000..786fd3df8ca
--- /dev/null
+++ b/extern/libmv/libmv/multiview/homography.h
@@ -0,0 +1,84 @@
+// Copyright (c) 2011 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_MULTIVIEW_HOMOGRAPHY_H_
+#define LIBMV_MULTIVIEW_HOMOGRAPHY_H_
+
+#include "libmv/numeric/numeric.h"
+
+namespace libmv {
+
+/**
+ * 2D homography transformation estimation.
+ * 
+ * This function estimates the homography transformation from a list of 2D
+ * correspondences which represents either:
+ *
+ * - 3D points on a plane, with a general moving camera.
+ * - 3D points with a rotating camera (pure rotation).
+ * - 3D points + different planar projections
+ * 
+ * \param x1 The first 2xN or 3xN matrix of euclidean or homogeneous points.
+ * \param x2 The second 2xN or 3xN matrix of euclidean or homogeneous points.
+ * \param  H The 3x3 homography transformation matrix (8 dof) such that
+ *               x2 = H * x1   with       |a b c| 
+ *                                    H = |d e f|
+ *                                        |g h 1| 
+ * \param expected_precision The expected precision in order for instance 
+ *                           to accept almost homography matrices.
+ *
+ * \return True if the transformation estimation has succeeded.
+ * \note There must be at least 4 non-colinear points.
+ */
+bool Homography2DFromCorrespondencesLinear(const Mat &x1,
+                                           const Mat &x2,
+                                           Mat3 *H,
+                                           double expected_precision = 
+                                             EigenDouble::dummy_precision());
+
+/**
+ * 3D Homography transformation estimation.
+ * 
+ * This function can be used in order to estimate the homography transformation
+ * from a list of 3D correspondences.
+ *
+ * \param[in] x1 The first 4xN matrix of homogeneous points
+ * \param[in] x2 The second 4xN matrix of homogeneous points
+ * \param[out] H The 4x4 homography transformation matrix (15 dof) such that
+ *               x2 = H * x1   with       |a b c d| 
+ *                                    H = |e f g h|
+ *                                        |i j k l|
+ *                                        |m n o 1| 
+ * \param[in] expected_precision The expected precision in order for instance 
+ *        to accept almost homography matrices.
+ * 
+ * \return true if the transformation estimation has succeeded
+ * 
+ * \note Need at least 5 non coplanar points 
+ * \note Points coordinates must be in homogeneous coordinates
+ */
+bool Homography3DFromCorrespondencesLinear(const Mat &x1,
+                                           const Mat &x2,
+                                           Mat4 *H,
+                                           double expected_precision = 
+                                             EigenDouble::dummy_precision());
+} // namespace libmv
+
+#endif  // LIBMV_MULTIVIEW_HOMOGRAPHY_H_
diff --git a/extern/libmv/libmv/multiview/homography_parameterization.h b/extern/libmv/libmv/multiview/homography_parameterization.h
new file mode 100644
index 00000000000..b31642eea15
--- /dev/null
+++ b/extern/libmv/libmv/multiview/homography_parameterization.h
@@ -0,0 +1,91 @@
+// Copyright (c) 2011 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_MULTIVIEW_HOMOGRAPHY_PARAMETERIZATION_H_
+#define LIBMV_MULTIVIEW_HOMOGRAPHY_PARAMETERIZATION_H_
+
+#include "libmv/numeric/numeric.h"
+
+namespace libmv {
+
+/** A parameterization of the 2D homography matrix that uses 8 parameters so 
+ * that the matrix is normalized (H(2,2) == 1).
+ * The homography matrix H is built from a list of 8 parameters (a, b,...g, h)
+ * as follows
+ *         |a b c| 
+ *     H = |d e f|
+ *         |g h 1| 
+ */
+template<typename T = double>
+class Homography2DNormalizedParameterization {
+ public:
+  typedef Eigen::Matrix<T, 8, 1> Parameters;     // a, b, ... g, h
+  typedef Eigen::Matrix<T, 3, 3> Parameterized;  // H
+
+  /// Convert from the 8 parameters to a H matrix.
+  static void To(const Parameters &p, Parameterized *h) {    
+    *h << p(0), p(1), p(2),
+          p(3), p(4), p(5),
+          p(6), p(7), 1.0;
+  }
+
+  /// Convert from a H matrix to the 8 parameters.
+  static void From(const Parameterized &h, Parameters *p) {
+    *p << h(0, 0), h(0, 1), h(0, 2),
+          h(1, 0), h(1, 1), h(1, 2),
+          h(2, 0), h(2, 1);
+  }
+};
+
+/** A parameterization of the 2D homography matrix that uses 15 parameters so 
+ * that the matrix is normalized (H(3,3) == 1).
+ * The homography matrix H is built from a list of 15 parameters (a, b,...n, o)
+ * as follows
+ *          |a b c d| 
+ *      H = |e f g h|
+ *          |i j k l|
+ *          |m n o 1| 
+ */
+template<typename T = double>
+class Homography3DNormalizedParameterization {
+ public:
+  typedef Eigen::Matrix<T, 15, 1> Parameters;     // a, b, ... n, o
+  typedef Eigen::Matrix<T, 4, 4>  Parameterized;  // H
+
+  /// Convert from the 15 parameters to a H matrix.
+  static void To(const Parameters &p, Parameterized *h) {   
+    *h << p(0), p(1), p(2), p(3),
+          p(4), p(5), p(6), p(7),
+          p(8), p(9), p(10), p(11),
+          p(12), p(13), p(14), 1.0;
+  }
+
+  /// Convert from a H matrix to the 15 parameters.
+  static void From(const Parameterized &h, Parameters *p) {
+    *p << h(0, 0), h(0, 1), h(0, 2), h(0, 3),
+          h(1, 0), h(1, 1), h(1, 2), h(1, 3),
+          h(2, 0), h(2, 1), h(2, 2), h(2, 3),
+          h(3, 0), h(3, 1), h(3, 2);
+  }
+};
+
+} // namespace libmv
+
+#endif  // LIBMV_MULTIVIEW_HOMOGRAPHY_PARAMETERIZATION_H_
diff --git a/extern/libmv/libmv/tracking/esm_region_tracker.cc b/extern/libmv/libmv/tracking/esm_region_tracker.cc
index 221fa4d081b..a8dc46d439b 100644
--- a/extern/libmv/libmv/tracking/esm_region_tracker.cc
+++ b/extern/libmv/libmv/tracking/esm_region_tracker.cc
@@ -29,6 +29,7 @@
 #include "libmv/image/correlation.h"
 #include "libmv/image/sample.h"
 #include "libmv/numeric/numeric.h"
+#include "libmv/tracking/track_region.h"
 
 namespace libmv {
 
@@ -72,6 +73,44 @@ bool EsmRegionTracker::Track(const FloatImage &image1,
     return false;
   }
   
+  // XXX
+  // TODO(keir): Delete the block between the XXX's once the planar tracker is
+  // integrated into blender.
+  //
+  // For now, to test, replace the ESM tracker with the Ceres tracker in
+  // translation mode. In the future, this should get removed and alloed to
+  // co-exist, since Ceres is not as fast as the ESM implementation since it
+  // specializes for translation.
+  double xx1[4], yy1[4];
+  double xx2[4], yy2[4];
+  // Clockwise winding, starting from the "origin" (top-left).
+  xx1[0] = xx2[0] = x1 - half_window_size;
+  yy1[0] = yy2[0] = y1 - half_window_size;
+
+  xx1[1] = xx2[1] = x1 + half_window_size;
+  yy1[1] = yy2[1] = y1 - half_window_size;
+
+  xx1[2] = xx2[2] = x1 + half_window_size;
+  yy1[2] = yy2[2] = y1 + half_window_size;
+
+  xx1[3] = xx2[3] = x1 - half_window_size;
+  yy1[3] = yy2[3] = y1 + half_window_size;
+
+  TrackRegionOptions options;
+  options.mode = TrackRegionOptions::TRANSLATION;
+  options.max_iterations = 20;
+  options.sigma = sigma;
+  options.use_esm = true;
+  
+  TrackRegionResult result;
+  TrackRegion(image1, image2, xx1, yy1, options, xx2, yy2, &result);
+
+  *x2 = xx2[0] + half_window_size;
+  *y2 = yy2[0] + half_window_size;
+
+  return true;
+
+  // XXX
   int width = 2 * half_window_size + 1;
 
   // TODO(keir): Avoid recomputing gradients for e.g. the pyramid tracker.
diff --git a/extern/libmv/libmv/tracking/track_region.cc b/extern/libmv/libmv/tracking/track_region.cc
new file mode 100644
index 00000000000..e65ead50c80
--- /dev/null
+++ b/extern/libmv/libmv/tracking/track_region.cc
@@ -0,0 +1,1391 @@
+// 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.
+//
+// Author: mierle@google.com (Keir Mierle)
+//
+// TODO(keir): While this tracking code works rather well, it has some
+// outragous inefficiencies. There is probably a 5-10x speedup to be had if a
+// smart coder went through the TODO's and made the suggested performance
+// enhancements.
+
+// Necessary for M_E when building with MSVC.
+#define _USE_MATH_DEFINES
+
+#include "libmv/tracking/track_region.h"
+
+#include <Eigen/SVD>
+#include <Eigen/QR>
+#include <iostream>
+#include "ceres/ceres.h"
+#include "libmv/logging/logging.h"
+#include "libmv/image/image.h"
+#include "libmv/image/sample.h"
+#include "libmv/image/convolve.h"
+#include "libmv/multiview/homography.h"
+#include "libmv/numeric/numeric.h"
+
+namespace libmv {
+
+using ceres::Jet;
+using ceres::JetOps;
+using ceres::Chain;
+
+TrackRegionOptions::TrackRegionOptions()
+    : mode(TRANSLATION),
+      minimum_correlation(0),
+      max_iterations(20),
+      use_esm(true),
+      use_brute_initialization(true),
+      use_normalized_intensities(false),
+      sigma(0.9),
+      num_extra_points(0),
+      regularization_coefficient(0.0),
+      image1_mask(NULL) {
+}
+
+namespace {
+
+// TODO(keir): Consider adding padding.
+template<typename T>
+bool InBounds(const FloatImage &image,
+              const T &x,
+              const T &y) {
+  return 0.0 <= x && x < image.Width() &&
+         0.0 <= y && y < image.Height();
+}
+
+bool AllInBounds(const FloatImage &image,
+                 const double *x,
+                 const double *y) {
+  for (int i = 0; i < 4; ++i) {
+    if (!InBounds(image, x[i], y[i])) {
+      return false;
+    }
+  }
+  return true;
+}
+
+// Sample the image at position (x, y) but use the gradient, if present, to
+// propagate derivatives from x and y. This is needed to integrate the numeric
+// image gradients with Ceres's autodiff framework.
+template<typename T>
+static T SampleWithDerivative(const FloatImage &image_and_gradient,
+                              const T &x,
+                              const T &y) {
+  float scalar_x = JetOps<T>::GetScalar(x);
+  float scalar_y = JetOps<T>::GetScalar(y);
+
+  // Note that sample[1] and sample[2] will be uninitialized in the scalar
+  // case, but that is not an issue because the Chain::Rule below will not read
+  // the uninitialized values.
+  float sample[3];
+  if (JetOps<T>::IsScalar()) {
+    // For the scalar case, only sample the image.
+    sample[0] = SampleLinear(image_and_gradient, scalar_y, scalar_x, 0);
+  } else {
+    // For the derivative case, sample the gradient as well.
+    SampleLinear(image_and_gradient, scalar_y, scalar_x, sample);
+  }
+  T xy[2] = { x, y };
+  return Chain<float, 2, T>::Rule(sample[0], sample + 1, xy);
+}
+
+template<typename Warp>
+class BoundaryCheckingCallback : public ceres::IterationCallback {
+ public:
+  BoundaryCheckingCallback(const FloatImage& image2,
+                           const Warp &warp,
+                           const double *x1, const double *y1)
+      : image2_(image2), warp_(warp), x1_(x1), y1_(y1) {}
+
+  virtual ceres::CallbackReturnType operator()(
+      const ceres::IterationSummary& summary) {
+    // Warp the original 4 points with the current warp into image2.
+    double x2[4];
+    double y2[4];
+    for (int i = 0; i < 4; ++i) {
+      warp_.Forward(warp_.parameters, x1_[i], y1_[i], x2 + i, y2 + i);
+    }
+    // Enusre they are all in bounds.
+    if (!AllInBounds(image2_, x2, y2)) {
+      return ceres::SOLVER_ABORT;
+    }
+    return ceres::SOLVER_CONTINUE;
+  }
+
+ private:
+  const FloatImage &image2_;
+  const Warp &warp_;
+  const double *x1_;
+  const double *y1_;
+};
+
+template<typename Warp>
+class PixelDifferenceCostFunctor {
+ public:
+  PixelDifferenceCostFunctor(const TrackRegionOptions &options,
+                  const FloatImage &image_and_gradient1,
+                  const FloatImage &image_and_gradient2,
+                  const Mat3 &canonical_to_image1,
+                  int num_samples_x,
+                  int num_samples_y,
+                  const Warp &warp)
+      : options_(options),
+        image_and_gradient1_(image_and_gradient1),       
+        image_and_gradient2_(image_and_gradient2),       
+        canonical_to_image1_(canonical_to_image1),
+        num_samples_x_(num_samples_x),
+        num_samples_y_(num_samples_y),
+        warp_(warp),
+        pattern_and_gradient_(num_samples_y_, num_samples_x_, 3),
+        pattern_positions_(num_samples_y_, num_samples_x_, 2),
+        pattern_mask_(num_samples_y_, num_samples_x_, 1) {
+    ComputeCanonicalPatchAndNormalizer();
+  }
+
+  void ComputeCanonicalPatchAndNormalizer() {
+    src_mean_ = 0.0;
+    double num_samples = 0.0;
+    for (int r = 0; r < num_samples_y_; ++r) {
+      for (int c = 0; c < num_samples_x_; ++c) {
+        // Compute the position; cache it.
+        Vec3 image_position = canonical_to_image1_ * Vec3(c, r, 1);
+        image_position /= image_position(2);
+        pattern_positions_(r, c, 0) = image_position(0);
+        pattern_positions_(r, c, 1) = image_position(1);
+
+        // Sample the pattern and gradients.
+        SampleLinear(image_and_gradient1_,
+                     image_position(1),  // SampleLinear is r, c.
+                     image_position(0),
+                     &pattern_and_gradient_(r, c, 0));
+
+        // Sample sample the mask.
+        double mask_value = 1.0;
+        if (options_.image1_mask != NULL) {
+          SampleLinear(*options_.image1_mask,
+                       image_position(1),  // SampleLinear is r, c.
+                       image_position(0),
+                       &pattern_mask_(r, c, 0));
+          mask_value = pattern_mask_(r, c);
+        }
+        src_mean_ += pattern_and_gradient_(r, c, 0) * mask_value;
+        num_samples += mask_value;
+      }
+    }
+    src_mean_ /= num_samples;
+  }
+
+  template<typename T>
+  bool operator()(const T *warp_parameters, T *residuals) const {
+    if (options_.image1_mask != NULL) {
+      VLOG(2) << "Using a mask.";
+    }
+    for (int i = 0; i < Warp::NUM_PARAMETERS; ++i) {
+      VLOG(2) << "warp_parameters[" << i << "]: " << warp_parameters[i];
+    }
+
+    T dst_mean = T(1.0);
+    if (options_.use_normalized_intensities) {
+      ComputeNormalizingCoefficient(warp_parameters,
+                                    &dst_mean);
+    }
+
+    int cursor = 0;
+    for (int r = 0; r < num_samples_y_; ++r) {
+      for (int c = 0; c < num_samples_x_; ++c) {
+        // Use the pre-computed image1 position.
+        Vec2 image1_position(pattern_positions_(r, c, 0),
+                             pattern_positions_(r, c, 1));
+
+        // Sample the mask early; if it's zero, this pixel has no effect. This
+        // allows early bailout from the expensive sampling that happens below.
+        //
+        // Note that partial masks are not short circuited. To see why short
+        // circuiting produces bitwise-exact same results, consider that the
+        // residual for each pixel is 
+        //
+        //    residual = mask * (src - dst)  ,
+        //
+        // and for jets, multiplying by a scalar multiplies the derivative
+        // components by the scalar as well. Therefore, if the mask is exactly
+        // zero, then so too will the final residual and derivatives.
+        double mask_value = 1.0;
+        if (options_.image1_mask != NULL) {
+          mask_value = pattern_mask_(r, c);
+          if (mask_value == 0.0) {
+            residuals[cursor++] = T(0.0);
+            continue;
+          }
+        }
+
+        // Compute the location of the destination pixel.
+        T image2_position[2];
+        warp_.Forward(warp_parameters,
+                      T(image1_position[0]),
+                      T(image1_position[1]),
+                      &image2_position[0],
+                      &image2_position[1]);
+
+        // Sample the destination, propagating derivatives.
+        T dst_sample = SampleWithDerivative(image_and_gradient2_,
+                                            image2_position[0],
+                                            image2_position[1]);
+
+        // Sample the source. This is made complicated by ESM mode.
+        T src_sample;
+        if (options_.use_esm && !JetOps<T>::IsScalar()) {
+          // In ESM mode, the derivative of the source is also taken into
+          // account. This changes the linearization in a way that causes
+          // better convergence. Copy the derivative of the warp parameters
+          // onto the jets for the image1 position. This is the ESM hack.
+          T image1_position_jet[2] = {
+            image2_position[0],  // Order is x, y. This matches the
+            image2_position[1]   // derivative order in the patch.
+          };
+          JetOps<T>::SetScalar(image1_position[0], image1_position_jet + 0);
+          JetOps<T>::SetScalar(image1_position[1], image1_position_jet + 1);
+
+          // Now that the image1 positions have the jets applied from the
+          // image2 position (the ESM hack), chain the image gradients to
+          // obtain a sample with the derivative with respect to the warp
+          // parameters attached.
+          src_sample = Chain<float, 2, T>::Rule(pattern_and_gradient_(r, c),
+                                                &pattern_and_gradient_(r, c, 1),
+                                                image1_position_jet);
+
+          // The jacobians for these should be averaged. Due to the subtraction
+          // below, flip the sign of the src derivative so that the effect
+          // after subtraction of the jets is that they are averaged.
+          JetOps<T>::ScaleDerivative(-0.5, &src_sample);
+          JetOps<T>::ScaleDerivative(0.5, &dst_sample);
+        } else {
+          // This is the traditional, forward-mode KLT solution.
+          src_sample = T(pattern_and_gradient_(r, c));
+        }
+
+        // Normalize the samples by the mean values of each signal. The typical
+        // light model assumes multiplicative intensity changes with changing
+        // light, so this is a reasonable choice. Note that dst_mean has
+        // derivative information attached thanks to autodiff.
+        if (options_.use_normalized_intensities) {
+          src_sample /= T(src_mean_);
+          dst_sample /= dst_mean;
+        }
+
+        // The difference is the error.
+        T error = src_sample - dst_sample;
+
+        // Weight the error by the mask, if one is present.
+        if (options_.image1_mask != NULL) {
+          error *= T(mask_value);
+        }
+        residuals[cursor++] = error;
+      }
+    }
+    return true;
+  }
+
+  // For normalized matching, the average and 
+  template<typename T>
+  void ComputeNormalizingCoefficient(const T *warp_parameters,
+                                     T *dst_mean) const {
+
+    *dst_mean = T(0.0);
+    double num_samples = 0.0;
+    for (int r = 0; r < num_samples_y_; ++r) {
+      for (int c = 0; c < num_samples_x_; ++c) {
+        // Use the pre-computed image1 position.
+        Vec2 image1_position(pattern_positions_(r, c, 0),
+                             pattern_positions_(r, c, 1));
+        
+        // Sample the mask early; if it's zero, this pixel has no effect. This
+        // allows early bailout from the expensive sampling that happens below.
+        double mask_value = 1.0;
+        if (options_.image1_mask != NULL) {
+          mask_value = pattern_mask_(r, c);
+          if (mask_value == 0.0) {
+            continue;
+          }
+        }
+
+        // Compute the location of the destination pixel.
+        T image2_position[2];
+        warp_.Forward(warp_parameters,
+                      T(image1_position[0]),
+                      T(image1_position[1]),
+                      &image2_position[0],
+                      &image2_position[1]);
+
+
+        // Sample the destination, propagating derivatives.
+        // TODO(keir): This accumulation can, surprisingly, be done as a
+        // pre-pass by using integral images. This is complicated by the need
+        // to store the jets in the integral image, but it is possible.
+        T dst_sample = SampleWithDerivative(image_and_gradient2_,
+                                            image2_position[0],
+                                            image2_position[1]);
+
+        // Weight the sample by the mask, if one is present.
+        if (options_.image1_mask != NULL) {
+          dst_sample *= T(mask_value);
+        }
+
+        *dst_mean += dst_sample;
+        num_samples += mask_value;
+      }
+    }
+    *dst_mean /= T(num_samples);
+    LG << "Normalization for dst:" << *dst_mean;
+  }
+
+ // TODO(keir): Consider also computing the cost here.
+ double PearsonProductMomentCorrelationCoefficient(
+     const double *warp_parameters) const {
+   for (int i = 0; i < Warp::NUM_PARAMETERS; ++i) {
+     VLOG(2) << "Correlation warp_parameters[" << i << "]: "
+             << warp_parameters[i];
+   }
+
+   // The single-pass PMCC computation is somewhat numerically unstable, but
+   // it's sufficient for the tracker.
+   double sX = 0, sY = 0, sXX = 0, sYY = 0, sXY = 0;
+
+   // Due to masking, it's important to account for fractional samples.
+   // For example, samples with a 50% mask are counted as a half sample.
+   double num_samples = 0;
+
+   for (int r = 0; r < num_samples_y_; ++r) {
+     for (int c = 0; c < num_samples_x_; ++c) {
+        // Use the pre-computed image1 position.
+        Vec2 image1_position(pattern_positions_(r, c, 0),
+                             pattern_positions_(r, c, 1));
+        
+        double mask_value = 1.0;
+        if (options_.image1_mask != NULL) {
+          mask_value = pattern_mask_(r, c);
+          if (mask_value == 0.0) {
+            continue;
+          }
+        }
+
+        // Compute the location of the destination pixel.
+        double image2_position[2];
+        warp_.Forward(warp_parameters,
+                      image1_position[0],
+                      image1_position[1],
+                      &image2_position[0],
+                      &image2_position[1]);
+
+        double x = pattern_and_gradient_(r, c);
+        double y = SampleLinear(image_and_gradient2_,
+                                image2_position[1],  // SampleLinear is r, c.
+                                image2_position[0]);
+
+        // Weight the signals by the mask, if one is present.
+        if (options_.image1_mask != NULL) {
+          x *= mask_value;
+          y *= mask_value;
+          num_samples += mask_value;
+        } else {
+          num_samples++;
+        }
+        sX += x;
+        sY += y;
+        sXX += x*x;
+        sYY += y*y;
+        sXY += x*y;
+      }
+    }
+    // Normalize.
+    sX /= num_samples;
+    sY /= num_samples;
+    sXX /= num_samples;
+    sYY /= num_samples;
+    sXY /= num_samples;
+
+    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;
+  }
+
+ private:
+  const TrackRegionOptions &options_;
+  const FloatImage &image_and_gradient1_;
+  const FloatImage &image_and_gradient2_;
+  const Mat3 &canonical_to_image1_;
+  int num_samples_x_;
+  int num_samples_y_;
+  const Warp &warp_;
+  double src_mean_;
+  FloatImage pattern_and_gradient_;
+
+  // This contains the position from where the cached pattern samples were
+  // taken from. This is also used to warp from src to dest without going from
+  // canonical pixels to src first.
+  FloatImage pattern_positions_;
+
+  FloatImage pattern_mask_;
+};
+
+template<typename Warp>
+class WarpRegularizingCostFunctor {
+ public:
+  WarpRegularizingCostFunctor(const TrackRegionOptions &options,
+                              const double *x1,
+                              const double *y1,
+                              const double *x2_original,
+                              const double *y2_original,
+                              const Warp &warp)
+      : options_(options),
+        x1_(x1),
+        y1_(y1),
+        x2_original_(x2_original),
+        y2_original_(y2_original),
+        warp_(warp) {
+    // Compute the centroid of the first guess quad.
+    // TODO(keir): Use Quad class here.
+    original_centroid_[0] = 0.0;
+    original_centroid_[1] = 0.0;
+    for (int i = 0; i < 4; ++i) {
+      original_centroid_[0] += x2_original[i];
+      original_centroid_[1] += y2_original[i];
+    }
+    original_centroid_[0] /= 4;
+    original_centroid_[1] /= 4;
+  }
+
+  template<typename T>
+  bool operator()(const T *warp_parameters, T *residuals) const {
+    T dst_centroid[2] = { T(0.0), T(0.0) };
+    for (int i = 0; i < 4; ++i) {
+      T image1_position[2] = { T(x1_[i]), T(y1_[i]) };
+      T image2_position[2];
+      warp_.Forward(warp_parameters,
+                    T(x1_[i]),
+                    T(y1_[i]),
+                    &image2_position[0],
+                    &image2_position[1]);
+
+      // Subtract the positions. Note that this ignores the centroids.
+      residuals[2 * i + 0] = image2_position[0] - image1_position[0];
+      residuals[2 * i + 1] = image2_position[1] - image1_position[1];
+
+      // Accumulate the dst centroid.
+      dst_centroid[0] += image2_position[0];
+      dst_centroid[1] += image2_position[1];
+    }
+    dst_centroid[0] /= T(4.0);
+    dst_centroid[1] /= T(4.0);
+
+    // Adjust for the centroids.
+    for (int i = 0; i < 4; ++i) {
+      residuals[2 * i + 0] += T(original_centroid_[0]) - dst_centroid[0];
+      residuals[2 * i + 1] += T(original_centroid_[1]) - dst_centroid[1];
+    }
+
+    // Reweight the residuals.
+    for (int i = 0; i < 8; ++i) {
+      residuals[i] *= T(options_.regularization_coefficient);
+    }
+
+    return true;
+  }
+
+  const TrackRegionOptions &options_;
+  const double *x1_;
+  const double *y1_;
+  const double *x2_original_;
+  const double *y2_original_;
+  double original_centroid_[2];
+  const Warp &warp_;
+};
+
+// Compute the warp from rectangular coordinates, where one corner is the
+// origin, and the opposite corner is at (num_samples_x, num_samples_y).
+Mat3 ComputeCanonicalHomography(const double *x1,
+                                const double *y1,
+                                int num_samples_x,
+                                int num_samples_y) {
+  Mat canonical(2, 4);
+  canonical << 0, num_samples_x, num_samples_x, 0,
+               0, 0,             num_samples_y, num_samples_y;
+
+  Mat xy1(2, 4);
+  xy1 << x1[0], x1[1], x1[2], x1[3],
+         y1[0], y1[1], y1[2], y1[3];
+
+  Mat3 H;
+  if (!Homography2DFromCorrespondencesLinear(canonical, xy1, &H, 1e-12)) {
+    LG << "Couldn't construct homography.";
+  }
+  return H;
+}
+
+class Quad {
+ public:
+  Quad(const double *x, const double *y) : x_(x), y_(y) {
+    // Compute the centroid and store it.
+    centroid_ = Vec2(0.0, 0.0);
+    for (int i = 0; i < 4; ++i) {
+      centroid_ += Vec2(x_[i], y_[i]);
+    }
+    centroid_ /= 4.0;
+  }
+
+  // The centroid of the four points representing the quad.
+  const Vec2& Centroid() const {
+    return centroid_;
+  }
+
+  // The average magnitude of the four points relative to the centroid.
+  double Scale() const {
+    double scale = 0.0;
+    for (int i = 0; i < 4; ++i) {
+      scale += (Vec2(x_[i], y_[i]) - Centroid()).norm();
+    }
+    return scale / 4.0;
+  }
+
+  Vec2 CornerRelativeToCentroid(int i) const {
+    return Vec2(x_[i], y_[i]) - centroid_;
+  }
+
+ private:
+  const double *x_;
+  const double *y_;
+  Vec2 centroid_;
+};
+
+struct TranslationWarp {
+  TranslationWarp(const double *x1, const double *y1,
+                  const double *x2, const double *y2) {
+    Vec2 t = Quad(x2, y2).Centroid() - Quad(x1, y1).Centroid();
+    parameters[0] = t[0];
+    parameters[1] = t[1];
+  }
+
+  template<typename T>
+  void Forward(const T *warp_parameters,
+               const T &x1, const T& y1, T *x2, T* y2) const {
+    *x2 = x1 + warp_parameters[0];
+    *y2 = y1 + warp_parameters[1];
+  }
+
+  // Translation x, translation y.
+  enum { NUM_PARAMETERS = 2 };
+  double parameters[NUM_PARAMETERS];
+};
+
+struct TranslationScaleWarp {
+  TranslationScaleWarp(const double *x1, const double *y1,
+                       const double *x2, const double *y2)
+      : q1(x1, y1) {
+    Quad q2(x2, y2);
+
+    // The difference in centroids is the best guess for translation.
+    Vec2 t = q2.Centroid() - q1.Centroid();
+    parameters[0] = t[0];
+    parameters[1] = t[1];
+
+    // The difference in scales is the estimate for the scale.
+    parameters[2] = 1.0 - q2.Scale() / q1.Scale();
+  }
+
+  // The strange way of parameterizing the translation and scaling is to make
+  // the knobs that the optimizer sees easy to adjust. This is less important
+  // for the scaling case than the rotation case.
+  template<typename T>
+  void Forward(const T *warp_parameters,
+               const T &x1, const T& y1, T *x2, T* y2) const {
+    // Make the centroid of Q1 the origin.
+    const T x1_origin = x1 - q1.Centroid()(0);
+    const T y1_origin = y1 - q1.Centroid()(1);
+
+    // Scale uniformly about the origin.
+    const T scale = 1.0 + warp_parameters[2];
+    const T x1_origin_scaled = scale * x1_origin;
+    const T y1_origin_scaled = scale * y1_origin;
+
+    // Translate back into the space of Q1 (but scaled).
+    const T x1_scaled = x1_origin_scaled + q1.Centroid()(0);
+    const T y1_scaled = y1_origin_scaled + q1.Centroid()(1);
+
+    // Translate into the space of Q2.
+    *x2 = x1_scaled + warp_parameters[0];
+    *y2 = y1_scaled + warp_parameters[1];
+  }
+
+  // Translation x, translation y, scale.
+  enum { NUM_PARAMETERS = 3 };
+  double parameters[NUM_PARAMETERS];
+
+  Quad q1;
+};
+
+// Assumes the given points are already zero-centroid and the same size.
+Mat2 OrthogonalProcrustes(const Mat2 &correlation_matrix) {
+  Eigen::JacobiSVD<Mat2> svd(correlation_matrix,
+                             Eigen::ComputeFullU | Eigen::ComputeFullV);
+  return svd.matrixV() * svd.matrixU().transpose();
+}
+
+struct TranslationRotationWarp {
+  TranslationRotationWarp(const double *x1, const double *y1,
+                          const double *x2, const double *y2)
+      : q1(x1, y1) {
+    Quad q2(x2, y2);
+
+    // The difference in centroids is the best guess for translation.
+    Vec2 t = q2.Centroid() - q1.Centroid();
+    parameters[0] = t[0];
+    parameters[1] = t[1];
+
+    // Obtain the rotation via orthorgonal procrustes.
+    Mat2 correlation_matrix;
+    for (int i = 0; i < 4; ++i) {
+      correlation_matrix += q1.CornerRelativeToCentroid(i) * 
+                            q2.CornerRelativeToCentroid(i).transpose();
+    }
+    Mat2 R = OrthogonalProcrustes(correlation_matrix);
+    parameters[2] = atan2(R(1, 0), R(0, 0));
+
+    LG << "Correlation_matrix:\n" << correlation_matrix;
+    LG << "R:\n" << R;
+    LG << "Theta:" << parameters[2];
+  }
+
+  // The strange way of parameterizing the translation and rotation is to make
+  // the knobs that the optimizer sees easy to adjust. The reason is that while
+  // it is always the case that it is possible to express composed rotations
+  // and translations as a single translation and rotation, the numerical
+  // values needed for the composition are often large in magnitude. This is
+  // enough to throw off any minimizer, since it must do the equivalent of
+  // compose rotations and translations.
+  //
+  // Instead, use the parameterization below that offers a parameterization
+  // that exposes the degrees of freedom in a way amenable to optimization.
+  template<typename T>
+  void Forward(const T *warp_parameters,
+                      const T &x1, const T& y1, T *x2, T* y2) const {
+    // Make the centroid of Q1 the origin.
+    const T x1_origin = x1 - q1.Centroid()(0);
+    const T y1_origin = y1 - q1.Centroid()(1);
+
+    // Rotate about the origin (i.e. centroid of Q1).
+    const T theta = warp_parameters[2];
+    const T costheta = cos(theta);
+    const T sintheta = sin(theta);
+    const T x1_origin_rotated = costheta * x1_origin - sintheta * y1_origin;
+    const T y1_origin_rotated = sintheta * x1_origin + costheta * y1_origin;
+
+    // Translate back into the space of Q1 (but scaled).
+    const T x1_rotated = x1_origin_rotated + q1.Centroid()(0);
+    const T y1_rotated = y1_origin_rotated + q1.Centroid()(1);
+
+    // Translate into the space of Q2.
+    *x2 = x1_rotated + warp_parameters[0];
+    *y2 = y1_rotated + warp_parameters[1];
+  }
+
+  // Translation x, translation y, rotation about the center of Q1 degrees.
+  enum { NUM_PARAMETERS = 3 };
+  double parameters[NUM_PARAMETERS];
+
+  Quad q1;
+};
+
+struct TranslationRotationScaleWarp {
+  TranslationRotationScaleWarp(const double *x1, const double *y1,
+                               const double *x2, const double *y2)
+      : q1(x1, y1) {
+    Quad q2(x2, y2);
+
+    // The difference in centroids is the best guess for translation.
+    Vec2 t = q2.Centroid() - q1.Centroid();
+    parameters[0] = t[0];
+    parameters[1] = t[1];
+
+    // The difference in scales is the estimate for the scale.
+    parameters[2] = 1.0 - q2.Scale() / q1.Scale();
+
+    // Obtain the rotation via orthorgonal procrustes.
+    Mat2 correlation_matrix;
+    for (int i = 0; i < 4; ++i) {
+      correlation_matrix += q1.CornerRelativeToCentroid(i) * 
+                            q2.CornerRelativeToCentroid(i).transpose();
+    }
+    Mat2 R = OrthogonalProcrustes(correlation_matrix);
+    parameters[3] = atan2(R(1, 0), R(0, 0));
+
+    LG << "Correlation_matrix:\n" << correlation_matrix;
+    LG << "R:\n" << R;
+    LG << "Theta:" << parameters[3];
+  }
+
+  // The strange way of parameterizing the translation and rotation is to make
+  // the knobs that the optimizer sees easy to adjust. The reason is that while
+  // it is always the case that it is possible to express composed rotations
+  // and translations as a single translation and rotation, the numerical
+  // values needed for the composition are often large in magnitude. This is
+  // enough to throw off any minimizer, since it must do the equivalent of
+  // compose rotations and translations.
+  //
+  // Instead, use the parameterization below that offers a parameterization
+  // that exposes the degrees of freedom in a way amenable to optimization.
+  template<typename T>
+  void Forward(const T *warp_parameters,
+                      const T &x1, const T& y1, T *x2, T* y2) const {
+    // Make the centroid of Q1 the origin.
+    const T x1_origin = x1 - q1.Centroid()(0);
+    const T y1_origin = y1 - q1.Centroid()(1);
+
+    // Rotate about the origin (i.e. centroid of Q1).
+    const T theta = warp_parameters[3];
+    const T costheta = cos(theta);
+    const T sintheta = sin(theta);
+    const T x1_origin_rotated = costheta * x1_origin - sintheta * y1_origin;
+    const T y1_origin_rotated = sintheta * x1_origin + costheta * y1_origin;
+
+    // Scale uniformly about the origin.
+    const T scale = 1.0 + warp_parameters[2];
+    const T x1_origin_rotated_scaled = scale * x1_origin_rotated;
+    const T y1_origin_rotated_scaled = scale * y1_origin_rotated;
+
+    // Translate back into the space of Q1 (but scaled and rotated).
+    const T x1_rotated_scaled = x1_origin_rotated_scaled + q1.Centroid()(0);
+    const T y1_rotated_scaled = y1_origin_rotated_scaled + q1.Centroid()(1);
+
+    // Translate into the space of Q2.
+    *x2 = x1_rotated_scaled + warp_parameters[0];
+    *y2 = y1_rotated_scaled + warp_parameters[1];
+  }
+
+  // Translation x, translation y, rotation about the center of Q1 degrees,
+  // scale.
+  enum { NUM_PARAMETERS = 4 };
+  double parameters[NUM_PARAMETERS];
+
+  Quad q1;
+};
+
+struct AffineWarp {
+  AffineWarp(const double *x1, const double *y1,
+             const double *x2, const double *y2)
+      : q1(x1, y1) {
+    Quad q2(x2, y2);
+
+    // The difference in centroids is the best guess for translation.
+    Vec2 t = q2.Centroid() - q1.Centroid();
+    parameters[0] = t[0];
+    parameters[1] = t[1];
+
+    // Estimate the four affine parameters with the usual least squares.
+    Mat Q1(8, 4);
+    Vec Q2(8);
+    for (int i = 0; i < 4; ++i) {
+      Vec2 v1 = q1.CornerRelativeToCentroid(i);
+      Vec2 v2 = q2.CornerRelativeToCentroid(i);
+
+      Q1.row(2 * i + 0) << v1[0], v1[1],   0,     0  ;
+      Q1.row(2 * i + 1) <<   0,     0,   v1[0], v1[1];
+
+      Q2(2 * i + 0) = v2[0];
+      Q2(2 * i + 1) = v2[1];
+    }
+
+    // TODO(keir): Check solution quality.
+    Vec4 a = Q1.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(Q2);
+    parameters[2] = a[0];
+    parameters[3] = a[1];
+    parameters[4] = a[2];
+    parameters[5] = a[3];
+
+    LG << "a:" << a.transpose();
+    LG << "t:" << t.transpose();
+  }
+
+  // See comments in other parameterizations about why the centroid is used.
+  template<typename T>
+  void Forward(const T *p, const T &x1, const T& y1, T *x2, T* y2) const {
+    // Make the centroid of Q1 the origin.
+    const T x1_origin = x1 - q1.Centroid()(0);
+    const T y1_origin = y1 - q1.Centroid()(1);
+
+    // Apply the affine transformation.
+    const T x1_origin_affine = p[2] * x1_origin + p[3] * y1_origin;
+    const T y1_origin_affine = p[4] * x1_origin + p[5] * y1_origin;
+
+    // Translate back into the space of Q1 (but affine transformed).
+    const T x1_affine = x1_origin_affine + q1.Centroid()(0);
+    const T y1_affine = y1_origin_affine + q1.Centroid()(1);
+
+    // Translate into the space of Q2.
+    *x2 = x1_affine + p[0];
+    *y2 = y1_affine + p[1];
+  }
+
+  // Translation x, translation y, rotation about the center of Q1 degrees,
+  // scale.
+  enum { NUM_PARAMETERS = 6 };
+  double parameters[NUM_PARAMETERS];
+
+  Quad q1;
+};
+
+struct HomographyWarp {
+  HomographyWarp(const double *x1, const double *y1,
+                 const double *x2, const double *y2) {
+    Mat quad1(2, 4);
+    quad1 << x1[0], x1[1], x1[2], x1[3],
+             y1[0], y1[1], y1[2], y1[3];
+
+    Mat quad2(2, 4);
+    quad2 << x2[0], x2[1], x2[2], x2[3],
+             y2[0], y2[1], y2[2], y2[3];
+
+    Mat3 H;
+    if (!Homography2DFromCorrespondencesLinear(quad1, quad2, &H, 1e-12)) {
+      LG << "Couldn't construct homography.";
+    }
+
+    // Assume H(2, 2) != 0, and fix scale at H(2, 2) == 1.0.
+    H /= H(2, 2);
+
+    // Assume H is close to identity, so subtract out the diagonal.
+    H(0, 0) -= 1.0;
+    H(1, 1) -= 1.0;
+
+    CHECK_NE(H(2, 2), 0.0) << H;
+    for (int i = 0; i < 8; ++i) {
+      parameters[i] = H(i / 3, i % 3);
+      LG << "Parameters[" << i << "]: " << parameters[i];
+    }
+  }
+
+  template<typename T>
+  static void Forward(const T *p,
+                      const T &x1, const T& y1, T *x2, T* y2) {
+    // Homography warp with manual 3x3 matrix multiply.
+    const T xx2 = (1.0 + p[0]) * x1 +     p[1]     * y1 + p[2];
+    const T yy2 =     p[3]     * x1 + (1.0 + p[4]) * y1 + p[5];
+    const T zz2 =     p[6]     * x1 +     p[7]     * y1 + 1.0;
+    *x2 = xx2 / zz2;
+    *y2 = yy2 / zz2;
+  }
+
+  enum { NUM_PARAMETERS = 8 };
+  double parameters[NUM_PARAMETERS];
+};
+
+// Determine the number of samples to use for x and y. Quad winding goes:
+//
+//    0 1
+//    3 2
+//
+// The idea is to take the maximum x or y distance. This may be oversampling.
+// TODO(keir): Investigate the various choices; perhaps average is better?
+void PickSampling(const double *x1, const double *y1,
+                  const double *x2, const double *y2,
+                  int *num_samples_x, int *num_samples_y) {
+  Vec2 a0(x1[0], y1[0]);
+  Vec2 a1(x1[1], y1[1]);
+  Vec2 a2(x1[2], y1[2]);
+  Vec2 a3(x1[3], y1[3]);
+
+  Vec2 b0(x1[0], y1[0]);
+  Vec2 b1(x1[1], y1[1]);
+  Vec2 b2(x1[2], y1[2]);
+  Vec2 b3(x1[3], y1[3]);
+
+  double x_dimensions[4] = {
+    (a1 - a0).norm(),
+    (a3 - a2).norm(),
+    (b1 - b0).norm(),
+    (b3 - b2).norm()
+  };
+
+  double y_dimensions[4] = {
+    (a3 - a0).norm(),
+    (a1 - a2).norm(),
+    (b3 - b0).norm(),
+    (b1 - b2).norm()
+  };
+  const double kScaleFactor = 1.0;
+  *num_samples_x = static_cast<int>(
+      kScaleFactor * *std::max_element(x_dimensions, x_dimensions + 4));
+  *num_samples_y = static_cast<int>(
+      kScaleFactor * *std::max_element(y_dimensions, y_dimensions + 4));
+  LG << "Automatic num_samples_x: " << *num_samples_x
+     << ", num_samples_y: " << *num_samples_y;
+}
+
+bool SearchAreaTooBigForDescent(const FloatImage &image2,
+                                const double *x2, const double *y2) {
+  // TODO(keir): Check the bounds and enable only when it makes sense.
+  return true;
+}
+
+bool PointOnRightHalfPlane(const Vec2 &a, const Vec2 &b, double x, double y) {
+  Vec2 ba = b - a;
+  return ((Vec2(x, y) - b).transpose() * Vec2(-ba.y(), ba.x())) > 0;
+}
+
+// Determine if a point is in a quad. The quad is arranged as:
+//
+//    +-------> x
+//    |
+//    |  a0------a1
+//    |   |       |
+//    |   |       |
+//    |   |       |
+//    |  a3------a2
+//    v
+//    y
+//
+// The implementation does up to four half-plane comparisons.
+bool PointInQuad(const double *xs, const double *ys, double x, double y) {
+  Vec2 a0(xs[0], ys[0]);
+  Vec2 a1(xs[1], ys[1]);
+  Vec2 a2(xs[2], ys[2]);
+  Vec2 a3(xs[3], ys[3]);
+
+  return PointOnRightHalfPlane(a0, a1, x, y) &&
+         PointOnRightHalfPlane(a1, a2, x, y) &&
+         PointOnRightHalfPlane(a2, a3, x, y) &&
+         PointOnRightHalfPlane(a3, a0, x, y);
+}
+
+// This makes it possible to map between Eigen float arrays and FloatImage
+// without using comparisons.
+typedef Eigen::Array<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> FloatArray;
+
+// This creates a pattern in the frame of image2, from the pixel is image1,
+// based on the initial guess represented by the two quads x1, y1, and x2, y2.
+template<typename Warp>
+void CreateBrutePattern(const double *x1, const double *y1,
+                        const double *x2, const double *y2,
+                        const FloatImage &image1,
+                        const FloatImage *image1_mask,
+                        FloatArray *pattern,
+                        FloatArray *mask,
+                        int *origin_x,
+                        int *origin_y) {
+  // Get integer bounding box of quad2 in image2.
+  int min_x = static_cast<int>(floor(*std::min_element(x2, x2 + 4)));
+  int min_y = static_cast<int>(floor(*std::min_element(y2, y2 + 4)));
+  int max_x = static_cast<int>(ceil (*std::max_element(x2, x2 + 4)));
+  int max_y = static_cast<int>(ceil (*std::max_element(y2, y2 + 4)));
+
+  int w = max_x - min_x;
+  int h = max_y - min_y;
+
+  pattern->resize(h, w);
+  mask->resize(h, w);
+
+  Warp inverse_warp(x2, y2, x1, y1);
+
+  // r,c are in the coordinate frame of image2.
+  for (int r = min_y; r < max_y; ++r) {
+    for (int c = min_x; c < max_x; ++c) {
+      // i and j are in the coordinate frame of the pattern in image2.
+      int i = r - min_y;
+      int j = c - min_x;
+
+      double dst_x = c;
+      double dst_y = r;
+      double src_x;
+      double src_y;
+      inverse_warp.Forward(inverse_warp.parameters,
+                           dst_x, dst_y,
+                           &src_x, &src_y);
+      
+      if (PointInQuad(x1, y1, src_x, src_y)) {
+        (*pattern)(i, j) = SampleLinear(image1, src_y, src_x);
+        (*mask)(i, j) = 1.0;
+        if (image1_mask) {
+          (*mask)(i, j) = SampleLinear(*image1_mask, src_y, src_x);;
+        }
+      } else {
+        (*pattern)(i, j) = 0.0;
+        (*mask)(i, j) = 0.0;
+      }
+    }
+  }
+  *origin_x = min_x;
+  *origin_y = min_y;
+}
+
+// Compute a translation-only estimate of the warp, using brute force search. A
+// smarter implementation would use the FFT to compute the normalized cross
+// correlation. Instead, this is a dumb implementation. Surprisingly, it is
+// fast enough in practice.
+//
+// TODO(keir): The normalization is less effective for the brute force search
+// than it is with the Ceres solver. It's unclear if this is a bug or due to
+// the original frame being too different from the reprojected reference in the
+// destination frame.
+//
+// The likely solution is to use the previous frame, instead of the original
+// pattern, when doing brute initialization. Unfortunately that implies a
+// totally different warping interface, since access to more than a the source
+// and current destination frame is necessary.
+template<typename Warp>
+void BruteTranslationOnlyInitialize(const FloatImage &image1,
+                                    const FloatImage *image1_mask,
+                                    const FloatImage &image2,
+                                    const int num_extra_points,
+                                    const bool use_normalized_intensities,
+                                    const double *x1, const double *y1,
+                                    double *x2, double *y2) {
+  // Create the pattern to match in the space of image2, assuming our inital
+  // guess isn't too far from the template in image1. If there is no image1
+  // mask, then the resulting mask is binary.
+  FloatArray pattern;
+  FloatArray mask;
+  int origin_x = -1, origin_y = -1;
+  CreateBrutePattern<Warp>(x1, y1, x2, y2,
+                           image1, image1_mask,
+                           &pattern, &mask,
+                           &origin_x, &origin_y);
+
+  // For normalization, premultiply the pattern by the inverse pattern mean.
+  double mask_sum = 1.0;
+  if (use_normalized_intensities) {
+    mask_sum = mask.sum();
+    double inverse_pattern_mean = mask_sum / ((mask * pattern).sum());
+    pattern *= inverse_pattern_mean;
+  }
+
+  // Use Eigen on the images via maps for strong vectorization.
+  Map<const FloatArray> search(image2.Data(), image2.Height(), image2.Width());
+
+  // Try all possible locations inside the search area. Yes, everywhere.
+  //
+  // TODO(keir): There are a number of possible optimizations here. One choice
+  // is to make a grid and only try one out of every N possible samples.
+  // 
+  // Another, slightly more clever idea, is to compute some sort of spatial
+  // frequency distribution of the pattern patch. If the spatial resolution is
+  // high (e.g. a grating pattern or fine lines) then checking every possible
+  // translation is necessary, since a 1-pixel shift may induce a massive
+  // change in the cost function. If the image is a blob or splotch with blurry
+  // edges, then fewer samples are necessary since a few pixels offset won't
+  // change the cost function much.
+  double best_sad = std::numeric_limits<double>::max();
+  int best_r = -1;
+  int best_c = -1;
+  int w = pattern.cols();
+  int h = pattern.rows();
+  for (int r = 0; r < (image2.Height() - h); ++r) {
+    for (int c = 0; c < (image2.Width() - w); ++c) {
+      // Compute the weighted sum of absolute differences, Eigen style. Note
+      // that the block from the search image is never stored in a variable, to
+      // avoid copying overhead and permit inlining.
+      double sad;
+      if (use_normalized_intensities) {
+        // TODO(keir): It's really dumb to recompute the search mean for every
+        // shift. A smarter implementation would use summed area tables
+        // instead, reducing the mean calculation to an O(1) operation.
+        double inverse_search_mean =
+            mask_sum / ((mask * search.block(r, c, h, w)).sum());
+        sad = (mask * (pattern - (search.block(r, c, h, w) *
+                                  inverse_search_mean))).abs().sum();
+      } else {
+        sad = (mask * (pattern - search.block(r, c, h, w))).abs().sum();
+      }
+      if (sad < best_sad) {
+        best_r = r;
+        best_c = c;
+        best_sad = sad;
+      }
+    }
+  }
+  CHECK_NE(best_r, -1);
+  CHECK_NE(best_c, -1);
+
+  LG << "Brute force translation found a shift. "
+     << "best_c: " << best_c << ", best_r: " << best_r << ", "
+     << "origin_x: " << origin_x << ", origin_y: " << origin_y << ", "
+     << "dc: " << (best_c - origin_x) << ", "
+     << "dr: " << (best_r - origin_y)
+     << ", tried " << ((image2.Height() - h) * (image2.Width() - w))
+     << " shifts.";
+
+  // Apply the shift.
+  for (int i = 0; i < 4 + num_extra_points; ++i) {
+    x2[i] += best_c - origin_x;
+    y2[i] += best_r - origin_y;
+  }
+}
+
+}  // namespace
+
+template<typename Warp>
+void TemplatedTrackRegion(const FloatImage &image1,
+                          const FloatImage &image2,
+                          const double *x1, const double *y1,
+                          const TrackRegionOptions &options,
+                          double *x2, double *y2,
+                          TrackRegionResult *result) {
+  for (int i = 0; i < 4; ++i) {
+    LG << "P" << i << ": (" << x1[i] << ", " << y1[i] << "); guess ("
+       << x2[i] << ", " << y2[i] << "); (dx, dy): (" << (x2[i] - x1[i]) << ", "
+       << (y2[i] - y1[i]) << ").";
+  }
+  if (options.use_normalized_intensities) {
+    LG << "Using normalized intensities.";
+  }
+
+  // Bail early if the points are already outside.
+  if (!AllInBounds(image1, x1, y1)) {
+    result->termination = TrackRegionResult::SOURCE_OUT_OF_BOUNDS;
+    return;
+  }
+  if (!AllInBounds(image2, x2, y2)) {
+    result->termination = TrackRegionResult::DESTINATION_OUT_OF_BOUNDS;
+    return;
+  }
+  // TODO(keir): Check quads to ensure there is some area.
+
+  // Keep a copy of the "original" guess for regularization.
+  double x2_original[4];
+  double y2_original[4];
+  for (int i = 0; i < 4; ++i) {
+    x2_original[i] = x2[i];
+    y2_original[i] = y2[i];
+  }
+
+  // Prepare the image and gradient.
+  Array3Df image_and_gradient1;
+  Array3Df image_and_gradient2;
+  BlurredImageAndDerivativesChannels(image1, options.sigma,
+                                     &image_and_gradient1);
+  BlurredImageAndDerivativesChannels(image2, options.sigma,
+                                     &image_and_gradient2);
+
+  // Possibly do a brute-force translation-only initialization.
+  if (SearchAreaTooBigForDescent(image2, x2, y2) &&
+      options.use_brute_initialization) {
+    LG << "Running brute initialization...";
+    BruteTranslationOnlyInitialize<Warp>(image_and_gradient1,
+                                         options.image1_mask,
+                                         image2,
+                                         options.num_extra_points,
+                                         options.use_normalized_intensities,
+                                         x1, y1, x2, y2);
+    for (int i = 0; i < 4; ++i) {
+      LG << "P" << i << ": (" << x1[i] << ", " << y1[i] << "); brute ("
+         << x2[i] << ", " << y2[i] << "); (dx, dy): (" << (x2[i] - x1[i])
+         << ", " << (y2[i] - y1[i]) << ").";
+    }
+  }
+
+  // Prepare the initial warp parameters from the four correspondences.
+  // Note: This must happen after the brute initialization runs, since the
+  // brute initialization mutates x2 and y2 in place.
+  Warp warp(x1, y1, x2, y2);
+
+  // Decide how many samples to use in the x and y dimensions.
+  int num_samples_x;
+  int num_samples_y;
+  PickSampling(x1, y1, x2, y2, &num_samples_x, &num_samples_y);
+
+
+  // Compute the warp from rectangular coordinates.
+  Mat3 canonical_homography = ComputeCanonicalHomography(x1, y1,
+                                                         num_samples_x,
+                                                         num_samples_y);
+
+  ceres::Problem problem;
+
+  // Construct the warp cost function. AutoDiffCostFunction takes ownership.
+  PixelDifferenceCostFunctor<Warp> *pixel_difference_cost_function =
+      new PixelDifferenceCostFunctor<Warp>(options,
+                                           image_and_gradient1,
+                                           image_and_gradient2,
+                                           canonical_homography,
+                                           num_samples_x,
+                                           num_samples_y,
+                                           warp);
+   problem.AddResidualBlock(
+       new ceres::AutoDiffCostFunction<
+           PixelDifferenceCostFunctor<Warp>,
+           ceres::DYNAMIC,
+           Warp::NUM_PARAMETERS>(pixel_difference_cost_function,
+                                 num_samples_x * num_samples_y),
+       NULL,
+       warp.parameters);
+
+  // Construct the regularizing cost function
+  if (options.regularization_coefficient != 0.0) {
+    WarpRegularizingCostFunctor<Warp> *regularizing_warp_cost_function =
+        new WarpRegularizingCostFunctor<Warp>(options,
+                                              x1, y2,
+                                              x2_original,
+                                              y2_original,
+                                              warp);
+
+    problem.AddResidualBlock(
+        new ceres::AutoDiffCostFunction<
+            WarpRegularizingCostFunctor<Warp>,
+            8 /* num_residuals */,
+            Warp::NUM_PARAMETERS>(regularizing_warp_cost_function),
+        NULL,
+        warp.parameters);
+  }
+
+  // Configure the solve.
+  ceres::Solver::Options solver_options;
+  solver_options.linear_solver_type = ceres::DENSE_QR;
+  solver_options.max_num_iterations = options.max_iterations;
+  solver_options.update_state_every_iteration = true;
+  solver_options.parameter_tolerance = 1e-16;
+  solver_options.function_tolerance = 1e-16;
+
+  // Prevent the corners from going outside the destination image.
+  BoundaryCheckingCallback<Warp> callback(image2, warp, x1, y1);
+  solver_options.callbacks.push_back(&callback);
+
+  // Run the solve.
+  ceres::Solver::Summary summary;
+  ceres::Solve(solver_options, &problem, &summary);
+
+  LG << "Summary:\n" << summary.FullReport();
+
+  // Update the four points with the found solution; if the solver failed, then
+  // the warp parameters are the identity (so ignore failure).
+  //
+  // Also warp any extra points on the end of the array.
+  for (int i = 0; i < 4 + options.num_extra_points; ++i) {
+    warp.Forward(warp.parameters, x1[i], y1[i], x2 + i, y2 + i);
+    LG << "Warped point " << i << ": (" << x1[i] << ", " << y1[i] << ") -> ("
+       << x2[i] << ", " << y2[i] << "); (dx, dy): (" << (x2[i] - x1[i]) << ", "
+       << (y2[i] - y1[i]) << ").";
+  }
+
+  // TODO(keir): Update the result statistics.
+  // TODO(keir): Add a normalize-cross-correlation variant.
+
+  CHECK_NE(summary.termination_type, ceres::USER_ABORT) << "Libmv bug.";
+  if (summary.termination_type == ceres::USER_ABORT) {
+    result->termination = TrackRegionResult::FELL_OUT_OF_BOUNDS;
+    return;
+  }
+#define HANDLE_TERMINATION(termination_enum) \
+  if (summary.termination_type == ceres::termination_enum) { \
+    result->termination = TrackRegionResult::termination_enum; \
+    return; \
+  }
+
+  // Avoid computing correlation for tracking failures.
+  HANDLE_TERMINATION(DID_NOT_RUN);
+  HANDLE_TERMINATION(NUMERICAL_FAILURE);
+
+  // Otherwise, run a final correlation check.
+  if (options.minimum_correlation > 0.0) {
+    result->correlation = pixel_difference_cost_function->
+        PearsonProductMomentCorrelationCoefficient(warp.parameters);
+    if (result->correlation < options.minimum_correlation) {
+      LG << "Failing with insufficient correlation.";
+      result->termination = TrackRegionResult::INSUFFICIENT_CORRELATION;
+      return;
+    }
+  }
+
+  HANDLE_TERMINATION(PARAMETER_TOLERANCE);
+  HANDLE_TERMINATION(FUNCTION_TOLERANCE);
+  HANDLE_TERMINATION(GRADIENT_TOLERANCE);
+  HANDLE_TERMINATION(NO_CONVERGENCE);
+#undef HANDLE_TERMINATION
+};
+
+void TrackRegion(const FloatImage &image1,
+                 const FloatImage &image2,
+                 const double *x1, const double *y1,
+                 const TrackRegionOptions &options,
+                 double *x2, double *y2,
+                 TrackRegionResult *result) {
+  // Enum is necessary due to templated nature of autodiff.
+#define HANDLE_MODE(mode_enum, mode_type) \
+  if (options.mode == TrackRegionOptions::mode_enum) { \
+    TemplatedTrackRegion<mode_type>(image1, image2, \
+                                    x1, y1, \
+                                    options, \
+                                    x2, y2, \
+                                    result); \
+    return; \
+  }
+  HANDLE_MODE(TRANSLATION,                TranslationWarp);
+  HANDLE_MODE(TRANSLATION_SCALE,          TranslationScaleWarp);
+  HANDLE_MODE(TRANSLATION_ROTATION,       TranslationRotationWarp);
+  HANDLE_MODE(TRANSLATION_ROTATION_SCALE, TranslationRotationScaleWarp);
+  HANDLE_MODE(AFFINE,                     AffineWarp);
+  HANDLE_MODE(HOMOGRAPHY,                 HomographyWarp);
+#undef HANDLE_MODE
+}
+
+bool SamplePlanarPatch(const FloatImage &image,
+                       const double *xs, const double *ys,
+                       int num_samples_x, int num_samples_y,
+                       FloatImage *patch,
+                       double *warped_position_x, double *warped_position_y) {
+  // Bail early if the points are outside the image.
+  if (!AllInBounds(image, xs, ys)) {
+    LG << "Can't sample patch: out of bounds.";
+    return false;
+  }
+
+  // Make the patch have the appropriate size, and match the depth of image.
+  patch->Resize(num_samples_y, num_samples_x, image.Depth());
+
+  // Compute the warp from rectangular coordinates.
+  Mat3 canonical_homography = ComputeCanonicalHomography(xs, ys,
+                                                         num_samples_x,
+                                                         num_samples_y);
+
+  // Walk over the coordinates in the canonical space, sampling from the image
+  // in the original space and copying the result into the patch.
+  for (int r = 0; r < num_samples_y; ++r) {
+    for (int c = 0; c < num_samples_x; ++c) {
+      Vec3 image_position = canonical_homography * Vec3(c, r, 1);
+      image_position /= image_position(2);
+      SampleLinear(image, image_position(1),
+                   image_position(0),
+                   &(*patch)(r, c, 0));
+    }
+  }
+
+  Vec3 warped_position = canonical_homography.inverse() * Vec3(xs[4], ys[4], 1);
+  warped_position /= warped_position(2);
+
+  *warped_position_x = warped_position(0);
+  *warped_position_y = warped_position(1);
+
+  return true;
+}
+
+}  // namespace libmv
diff --git a/extern/libmv/libmv/tracking/track_region.h b/extern/libmv/libmv/tracking/track_region.h
new file mode 100644
index 00000000000..0de11239da6
--- /dev/null
+++ b/extern/libmv/libmv/tracking/track_region.h
@@ -0,0 +1,146 @@
+// 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_TRACKING_TRACK_REGION_H_
+
+// Necessary for M_E when building with MSVC.
+#define _USE_MATH_DEFINES
+
+#include "libmv/tracking/esm_region_tracker.h"
+
+#include "libmv/image/image.h"
+#include "libmv/image/sample.h"
+#include "libmv/numeric/numeric.h"
+
+namespace libmv {
+
+struct TrackRegionOptions {
+  TrackRegionOptions();
+
+  enum Mode {
+    TRANSLATION,
+    TRANSLATION_ROTATION,
+    TRANSLATION_SCALE,
+    TRANSLATION_ROTATION_SCALE,
+    AFFINE,
+    HOMOGRAPHY,
+  };
+  Mode mode;
+
+  double minimum_correlation;
+  int max_iterations;
+
+  // Use the "Efficient Second-order Minimization" scheme. This increases
+  // convergence speed at the cost of more per-iteration work.
+  bool use_esm;
+
+  // If true, apply a brute-force translation-only search before attempting the
+  // full search. This is not enabled if the destination image ("image2") is
+  // too small; in that case eithen the basin of attraction is close enough
+  // that the nearby minima is correct, or the search area is too small.
+  bool use_brute_initialization;
+
+  // If true, normalize the image patches by their mean before doing the sum of
+  // squared error calculation. This is reasonable since the effect of
+  // increasing light intensity is multiplicative on the pixel intensities.
+  //
+  // Note: This does nearly double the solving time, so it is not advised to
+  // turn this on all the time.
+  bool use_normalized_intensities;
+
+  // The size in pixels of the blur kernel used to both smooth the image and
+  // take the image derivative.
+  double sigma;
+
+  // Extra points that should get transformed by the warp. This is useful
+  // because the actual warp parameters are not exposed.
+  int num_extra_points;
+
+  // For motion models other than translation, the optimizer sometimes has
+  // trouble deciding what to do around flat areas in the cost function. This
+  // leads to the optimizer picking poor solutions near the minimum. Visually,
+  // the effect is that the quad corners jiggle around, even though the center
+  // of the patch is well estimated. regularization_coefficient controls a term
+  // in the sum of squared error cost that makes it expensive for the optimizer
+  // to pick a warp that changes the shape of the patch dramatically (e.g.
+  // rotating, scaling, skewing, etc).
+  //
+  // In particular it adds an 8-residual cost function to the optimization,
+  // where each corner induces 2 residuals: the difference between the warped
+  // and the initial guess. However, the patch centroids are subtracted so that
+  // only patch distortions are penalized.
+  //
+  // If zero, no regularization is used.
+  double regularization_coefficient;
+
+  // If non-null, this is used as the pattern mask. It should match the size of
+  // image1, even though only values inside the image1 quad are examined. The
+  // values must be in the range 0.0 to 0.1.
+  FloatImage *image1_mask;
+};
+
+struct TrackRegionResult {
+  enum Termination {
+    // Ceres termination types, duplicated; though, not the int values.
+    PARAMETER_TOLERANCE,
+    FUNCTION_TOLERANCE,
+    GRADIENT_TOLERANCE,
+    NO_CONVERGENCE,
+    DID_NOT_RUN,
+    NUMERICAL_FAILURE,
+
+    // Libmv specific errors.
+    SOURCE_OUT_OF_BOUNDS,
+    DESTINATION_OUT_OF_BOUNDS,
+    FELL_OUT_OF_BOUNDS,
+    INSUFFICIENT_CORRELATION,
+    CONFIGURATION_ERROR,
+  };
+  Termination termination;
+
+  int num_iterations;
+  double correlation;
+
+  // Final parameters?
+  bool used_brute_translation_initialization;
+};
+
+// Always needs 4 correspondences.
+void TrackRegion(const FloatImage &image1,
+                 const FloatImage &image2,
+                 const double *x1, const double *y1,
+                 const TrackRegionOptions &options,
+                 double *x2, double *y2,
+                 TrackRegionResult *result);
+
+// Sample a "canonical" version of the passed planar patch, using bilinear
+// sampling. The passed corners must be within the image, and have at least two
+// pixels of border around them. (so e.g. a corner of the patch cannot lie
+// directly on the edge of the image). Four corners are always required. All
+// channels are interpolated.
+bool SamplePlanarPatch(const FloatImage &image,
+                       const double *xs, const double *ys,
+                       int num_samples_x, int num_samples_y,
+                       FloatImage *patch,
+                       double *warped_position_x, double *warped_position_y);
+
+}  // namespace libmv
+
+#endif  // LIBMV_TRACKING_TRACK_REGION_H_
diff --git a/release/scripts/startup/bl_ui/space_clip.py b/release/scripts/startup/bl_ui/space_clip.py
index d0f0f3de276..1cef4624a04 100644
--- a/release/scripts/startup/bl_ui/space_clip.py
+++ b/release/scripts/startup/bl_ui/space_clip.py
@@ -230,10 +230,9 @@ class CLIP_PT_tools_marker(CLIP_PT_tracking_panel, Panel):
             sub.prop(settings, "default_search_size")
 
             col.label(text="Tracker:")
-            col.prop(settings, "default_tracker", text="")
-
-            if settings.default_tracker == 'KLT':
-                col.prop(settings, "default_pyramid_levels")
+            col.prop(settings, "default_motion_model")
+            col.prop(settings, "default_use_brute")
+            col.prop(settings, "default_use_normalization")
             col.prop(settings, "default_correlation_min")
 
             col.separator()
@@ -575,10 +574,9 @@ class CLIP_PT_track_settings(CLIP_PT_tracking_panel, Panel):
 
         active = clip.tracking.tracks.active
         if active:
-            col.prop(active, "tracker")
-
-            if active.tracker == 'KLT':
-                col.prop(active, "pyramid_levels")
+            col.prop(active, "motion_model")
+            col.prop(active, "use_brute")
+            col.prop(active, "use_normalization")
             col.prop(active, "correlation_min")
 
             col.separator()
diff --git a/source/blender/blenkernel/BKE_tracking.h b/source/blender/blenkernel/BKE_tracking.h
index 4d9a5746c87..8c28dd93a5e 100644
--- a/source/blender/blenkernel/BKE_tracking.h
+++ b/source/blender/blenkernel/BKE_tracking.h
@@ -48,7 +48,7 @@ struct Object;
 struct Scene;
 
 void BKE_tracking_init_settings(struct MovieTracking *tracking);
-void BKE_tracking_clamp_track(struct MovieTrackingTrack *track, int event);
+void BKE_tracking_clamp_marker(struct MovieTrackingMarker *marker, int event);
 void BKE_tracking_track_flag(struct MovieTrackingTrack *track, int area, int flag, int clear);
 
 struct MovieTrackingTrack *BKE_tracking_add_track(struct MovieTracking *tracking, struct ListBase *tracksbase,
@@ -57,6 +57,7 @@ struct MovieTrackingMarker *BKE_tracking_insert_marker(struct MovieTrackingTrack
                                                        struct MovieTrackingMarker *marker);
 void BKE_tracking_delete_marker(struct MovieTrackingTrack *track, int framenr);
 
+void BKE_tracking_marker_pattern_minmax(struct MovieTrackingMarker *marker, float min[2], float max[2]);
 struct MovieTrackingMarker *BKE_tracking_get_marker(struct MovieTrackingTrack *track, int framenr);
 struct MovieTrackingMarker *BKE_tracking_ensure_marker(struct MovieTrackingTrack *track, int framenr);
 struct MovieTrackingMarker *BKE_tracking_exact_marker(struct MovieTrackingTrack *track, int framenr);
@@ -70,12 +71,15 @@ void BKE_tracking_clear_path(struct MovieTrackingTrack *track, int ref_frame, in
 void BKE_tracking_join_tracks(struct MovieTrackingTrack *dst_track, struct MovieTrackingTrack *src_track);
 void BKE_tracking_free(struct MovieTracking *tracking);
 
+struct ImBuf *BKE_tracking_sample_pattern_imbuf(int frame_width, int frame_height,
+                                                struct ImBuf *struct_ibuf, struct MovieTrackingMarker *marker,
+                                                int num_samples_x, int num_samples_y, float pos[2]);
 struct ImBuf *BKE_tracking_get_pattern_imbuf(struct ImBuf *ibuf, struct MovieTrackingTrack *track,
-                                             struct MovieTrackingMarker *marker, int margin, int anchored,
-                                             float pos[2], int origin[2]);
+                                             struct MovieTrackingMarker *marker, int anchored, int disable_channels);
 struct ImBuf *BKE_tracking_get_search_imbuf(struct ImBuf *ibuf, struct MovieTrackingTrack *track,
-                                            struct MovieTrackingMarker *marker, int margin, int anchored,
-                                            float pos[2], int origin[2]);
+                                            struct MovieTrackingMarker *marker, int anchored, int disable_channels);
+struct ImBuf *BKE_tracking_track_mask_get(struct MovieTracking *tracking, struct MovieTrackingTrack *track,
+                                          struct MovieTrackingMarker *marker, int width, int height);
 
 void BKE_track_unique_name(struct ListBase *tracksbase, struct MovieTrackingTrack *track);
 
@@ -189,7 +193,6 @@ void BKE_tracking_dopesheet_update(struct MovieTracking *tracking, int sort_meth
 #define CLAMP_PAT_POS		2
 #define CLAMP_SEARCH_DIM	3
 #define CLAMP_SEARCH_POS	4
-#define CLAMP_PYRAMID_LEVELS	5
 
 #define TRACK_AREA_NONE		-1
 #define TRACK_AREA_POINT	1
diff --git a/source/blender/blenkernel/intern/movieclip.c b/source/blender/blenkernel/intern/movieclip.c
index abdc8835d43..8b91ee29c59 100644
--- a/source/blender/blenkernel/intern/movieclip.c
+++ b/source/blender/blenkernel/intern/movieclip.c
@@ -1032,6 +1032,11 @@ void BKE_movieclip_update_scopes(MovieClip *clip, MovieClipUser *user, MovieClip
 		scopes->track_preview = NULL;
 	}
 
+	if (scopes->track_search) {
+		IMB_freeImBuf(scopes->track_search);
+		scopes->track_search = NULL;
+	}
+
 	scopes->marker = NULL;
 	scopes->track = NULL;
 
@@ -1052,7 +1057,7 @@ void BKE_movieclip_update_scopes(MovieClip *clip, MovieClipUser *user, MovieClip
 				scopes->track_disabled = FALSE;
 
 				if (ibuf && (ibuf->rect || ibuf->rect_float)) {
-					ImBuf *tmpibuf;
+					ImBuf *search_ibuf;
 					MovieTrackingMarker undist_marker = *marker;
 
 					if (user->render_flag & MCLIP_PROXY_RENDER_UNDISTORT) {
@@ -1070,27 +1075,36 @@ void BKE_movieclip_update_scopes(MovieClip *clip, MovieClipUser *user, MovieClip
 						undist_marker.pos[1] /= height * aspy;
 					}
 
-					/* NOTE: margin should be kept in sync with value from ui_draw_but_TRACKPREVIEW */
-					tmpibuf = BKE_tracking_get_pattern_imbuf(ibuf, track, &undist_marker, 3 /* margin */,
-					                                         1 /* anchor */, scopes->track_pos, NULL);
+					search_ibuf = BKE_tracking_get_search_imbuf(ibuf, track, &undist_marker, TRUE, TRUE);
+
+					if (!search_ibuf->rect_float) {
+						/* sampling happens in float buffer */
+						IMB_float_from_rect(search_ibuf);
+					}
 
-					if (tmpibuf->rect_float)
-						IMB_rect_from_float(tmpibuf);
+					scopes->undist_marker = undist_marker;
+					scopes->track_search = search_ibuf;
 
-					if (tmpibuf->rect)
-						scopes->track_preview = tmpibuf;
-					else
-						IMB_freeImBuf(tmpibuf);
+					scopes->frame_width = ibuf->x;
+					scopes->frame_height = ibuf->y;
 				}
 
 				IMB_freeImBuf(ibuf);
 			}
 
 			if ((track->flag & TRACK_LOCKED) == 0) {
+				float pat_min[2], pat_max[2];
+
 				scopes->marker = marker;
 				scopes->track = track;
-				scopes->slide_scale[0] = track->pat_max[0] - track->pat_min[0];
-				scopes->slide_scale[1] = track->pat_max[1] - track->pat_min[1];
+
+				/* XXX: would work fine with non-transformed patterns, but would likely fail
+				 *      with transformed patterns, but that would be easier to debug when
+				 *      we'll have real pattern sampling (at least to test) */
+				BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
+
+				scopes->slide_scale[0] = pat_max[0] - pat_min[0];
+				scopes->slide_scale[1] = pat_max[1] - pat_min[1];
 			}
 		}
 	}
diff --git a/source/blender/blenkernel/intern/tracking.c b/source/blender/blenkernel/intern/tracking.c
index fb78e89cc30..938bff81470 100644
--- a/source/blender/blenkernel/intern/tracking.c
+++ b/source/blender/blenkernel/intern/tracking.c
@@ -20,6 +20,7 @@
  *
  * Contributor(s): Blender Foundation,
  *                 Sergey Sharybin
+ *                 Keir Mierle
  *
  * ***** END GPL LICENSE BLOCK *****
  */
@@ -59,6 +60,8 @@
 #include "IMB_imbuf_types.h"
 #include "IMB_imbuf.h"
 
+#include "raskter.h"
+
 #ifdef WITH_LIBMV
 #  include "libmv-capi.h"
 #else
@@ -73,6 +76,141 @@ static struct {
 	ListBase tracks;
 } tracking_clipboard;
 
+/*********************** space transformation functions  *************************/
+
+/* Three coordinate frames: Frame, Search, and Marker
+ * Two units: Pixels, Unified
+ * Notation: {coordinate frame}_{unit}; for example, "search_pixel" are search
+ * window relative coordinates in pixels, and "frame_unified" are unified 0..1
+ * coordinates relative to the entire frame.
+ */
+static void unified_to_pixel(int frame_width, int frame_height,
+                             const float unified_coords[2], float pixel_coords[2])
+{
+	pixel_coords[0] = unified_coords[0] * frame_width;
+	pixel_coords[1] = unified_coords[1] * frame_height;
+}
+
+static void marker_to_frame_unified(const MovieTrackingMarker *marker, const float marker_unified_coords[2],
+                                    float frame_unified_coords[2])
+{
+	frame_unified_coords[0] = marker_unified_coords[0] + marker->pos[0];
+	frame_unified_coords[1] = marker_unified_coords[1] + marker->pos[1];
+}
+
+static void marker_unified_to_frame_pixel_coordinates(int frame_width, int frame_height,
+                                                      const MovieTrackingMarker *marker,
+                                                      const float marker_unified_coords[2], float frame_pixel_coords[2])
+{
+	marker_to_frame_unified(marker, marker_unified_coords, frame_pixel_coords);
+	unified_to_pixel(frame_width, frame_height, frame_pixel_coords, frame_pixel_coords);
+}
+
+static void get_search_origin_frame_pixel(int frame_width, int frame_height,
+                                          const MovieTrackingMarker *marker, float frame_pixel[2])
+{
+	/* Get the lower left coordinate of the search window and snap to pixel coordinates */
+	marker_unified_to_frame_pixel_coordinates(frame_width, frame_height, marker, marker->search_min, frame_pixel);
+	frame_pixel[0] = (int)frame_pixel[0];
+	frame_pixel[1] = (int)frame_pixel[1];
+}
+
+#ifdef WITH_LIBMV
+static void pixel_to_unified(int frame_width, int frame_height, const float pixel_coords[2], float unified_coords[2])
+{
+	unified_coords[0] = pixel_coords[0] / frame_width;
+	unified_coords[1] = pixel_coords[1] / frame_height;
+}
+
+static void marker_unified_to_search_pixel(int frame_width, int frame_height,
+                                           const MovieTrackingMarker *marker,
+                                           const float marker_unified[2], float search_pixel[2])
+{
+	float frame_pixel[2];
+	float search_origin_frame_pixel[2];
+
+	marker_unified_to_frame_pixel_coordinates(frame_width, frame_height, marker, marker_unified, frame_pixel);
+	get_search_origin_frame_pixel(frame_width, frame_height, marker, search_origin_frame_pixel);
+	sub_v2_v2v2(search_pixel, frame_pixel, search_origin_frame_pixel);
+}
+
+static void search_pixel_to_marker_unified(int frame_width, int frame_height,
+                                           const MovieTrackingMarker *marker,
+                                           const float search_pixel[2], float marker_unified[2])
+{
+	float frame_unified[2];
+	float search_origin_frame_pixel[2];
+
+	get_search_origin_frame_pixel(frame_width, frame_height, marker, search_origin_frame_pixel);
+	add_v2_v2v2(frame_unified, search_pixel, search_origin_frame_pixel);
+	pixel_to_unified(frame_width, frame_height, frame_unified, frame_unified);
+
+	/* marker pos is in frame unified */
+	sub_v2_v2v2(marker_unified, frame_unified, marker->pos);
+}
+
+/* Each marker has 5 coordinates associated with it that get warped with
+ * tracking: the four corners ("pattern_corners"), and the cernter ("pos").
+ * This function puts those 5 points into the appropriate frame for tracking
+ * (the "search" coordinate frame).
+ */
+static void get_marker_coords_for_tracking(int frame_width, int frame_height,
+                                           const MovieTrackingMarker *marker,
+                                           double search_pixel_x[5], double search_pixel_y[5])
+{
+	int i;
+	float unified_coords[2];
+	float pixel_coords[2];
+
+	/* Convert the corners into search space coordinates. */
+	for (i = 0; i < 4; i++) {
+		marker_unified_to_search_pixel(frame_width, frame_height, marker, marker->pattern_corners[i], pixel_coords);
+		search_pixel_x[i] = pixel_coords[0];
+		search_pixel_y[i] = pixel_coords[1];
+	}
+	/* Convert the center position (aka "pos"); this is the origin */
+	unified_coords[0] = 0.0;
+	unified_coords[1] = 0.0;
+	marker_unified_to_search_pixel(frame_width, frame_height, marker, unified_coords, pixel_coords);
+
+	search_pixel_x[4] = pixel_coords[0];
+	search_pixel_y[4] = pixel_coords[1];
+}
+
+/* Inverse of above. */
+static void set_marker_coords_from_tracking(int frame_width, int frame_height, MovieTrackingMarker *marker,
+                                            const double search_pixel_x[5], const double search_pixel_y[5])
+{
+	int i;
+	float marker_unified[2];
+	float search_pixel[2];
+
+	/* Convert the corners into search space coordinates. */
+	for (i = 0; i < 4; i++) {
+		search_pixel[0] = search_pixel_x[i];
+		search_pixel[1] = search_pixel_y[i];
+		search_pixel_to_marker_unified(frame_width, frame_height, marker, search_pixel, marker->pattern_corners[i]);
+	}
+
+	/* Convert the center position (aka "pos"); this is the origin */
+	search_pixel[0] = search_pixel_x[4];
+	search_pixel[1] = search_pixel_y[4];
+	search_pixel_to_marker_unified(frame_width, frame_height, marker, search_pixel, marker_unified);
+
+	/* If the tracker tracked nothing, then "marker_unified" would be zero.
+	 * Otherwise, the entire patch shifted, and that delta should be applied to
+	 * all the coordinates.
+	 */
+	for (i = 0; i < 4; i++) {
+		marker->pattern_corners[i][0] -= marker_unified[0];
+		marker->pattern_corners[i][1] -= marker_unified[1];
+	}
+
+	marker->pos[0] += marker_unified[0];
+	marker->pos[1] += marker_unified[1];
+}
+#endif
+
 /*********************** common functions *************************/
 
 void BKE_tracking_init_settings(MovieTracking *tracking)
@@ -81,11 +219,10 @@ void BKE_tracking_init_settings(MovieTracking *tracking)
 	tracking->camera.pixel_aspect = 1.0f;
 	tracking->camera.units = CAMERA_UNITS_MM;
 
-	tracking->settings.default_tracker = TRACKER_HYBRID;
+	tracking->settings.default_motion_model = TRACK_MOTION_MODEL_TRANSLATION;
 	tracking->settings.default_minimum_correlation = 0.75;
 	tracking->settings.default_pattern_size = 11;
 	tracking->settings.default_search_size = 61;
-	tracking->settings.default_pyramid_levels = 2;
 	tracking->settings.keyframe1 = 1;
 	tracking->settings.keyframe2 = 30;
 	tracking->settings.dist = 1;
@@ -99,105 +236,68 @@ void BKE_tracking_init_settings(MovieTracking *tracking)
 	BKE_tracking_new_object(tracking, "Camera");
 }
 
-void BKE_tracking_clamp_track(MovieTrackingTrack *track, int event)
+void BKE_tracking_clamp_marker(MovieTrackingMarker *marker, int event)
 {
 	int a;
-	float pat_min[2];
-	float pat_max[2];
-	float max_pyramid_level_factor = 1.0;
-
-	if (track->tracker == TRACKER_KLT) {
-		max_pyramid_level_factor = 1 << (track->pyramid_levels - 1);
-	}
-
-	/* sort */
-	for (a = 0; a < 2; a++) {
-		if (track->pat_min[a] > track->pat_max[a])
-			SWAP(float, track->pat_min[a], track->pat_max[a]);
-
-		if (track->search_min[a] > track->search_max[a])
-			SWAP(float, track->search_min[a], track->search_max[a]);
-	}
+	float pat_min[2], pat_max[2];
 
-	/* compute the effective pattern size, which differs from the fine resolution
-	 * pattern size for the pyramid KLT tracker */
-	for (a = 0; a < 2; a++) {
-		pat_min[a] = max_pyramid_level_factor * track->pat_min[a];
-		pat_max[a] = max_pyramid_level_factor * track->pat_max[a];
-	}
+	BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
 
 	if (event == CLAMP_PAT_DIM) {
 		for (a = 0; a < 2; a++) {
 			/* search shouldn't be resized smaller than pattern */
-			track->search_min[a] = MIN2(pat_min[a], track->search_min[a]);
-			track->search_max[a] = MAX2(pat_max[a], track->search_max[a]);
+			marker->search_min[a] = MIN2(pat_min[a], marker->search_min[a]);
+			marker->search_max[a] = MAX2(pat_max[a], marker->search_max[a]);
 		}
 	}
 	else if (event == CLAMP_PAT_POS) {
 		float dim[2];
 
-		sub_v2_v2v2(dim, track->pat_max, track->pat_min);
+		sub_v2_v2v2(dim, pat_max, pat_min);
 
 		for (a = 0; a < 2; a++) {
+			int b;
 			/* pattern shouldn't be moved outside of search */
-			if (pat_min[a] < track->search_min[a]) {
-				track->pat_min[a] = track->search_min[a] - (pat_min[a] - track->pat_min[a]);
-				track->pat_max[a] = track->pat_min[a] + dim[a];
+			if (pat_min[a] < marker->search_min[a]) {
+				for (b = 0; b < 4; b++)
+					marker->pattern_corners[b][a] += marker->search_min[a] - pat_min[a];
 			}
-			if (track->pat_max[a] > track->search_max[a]) {
-				track->pat_max[a] = track->search_max[a] - (pat_max[a] - track->pat_max[a]);
-				track->pat_min[a] = track->pat_max[a] - dim[a];
+			if (pat_max[a] > marker->search_max[a]) {
+				for (b = 0; b < 4; b++)
+					marker->pattern_corners[b][a] -= pat_max[a] - marker->search_max[a];
 			}
 		}
 	}
 	else if (event == CLAMP_SEARCH_DIM) {
 		for (a = 0; a < 2; a++) {
 			/* search shouldn't be resized smaller than pattern */
-			track->search_min[a] = MIN2(pat_min[a], track->search_min[a]);
-			track->search_max[a] = MAX2(pat_max[a], track->search_max[a]);
+			marker->search_min[a] = MIN2(pat_min[a], marker->search_min[a]);
+			marker->search_max[a] = MAX2(pat_max[a], marker->search_max[a]);
 		}
 	}
 	else if (event == CLAMP_SEARCH_POS) {
 		float dim[2];
 
-		sub_v2_v2v2(dim, track->search_max, track->search_min);
+		sub_v2_v2v2(dim, marker->search_max, marker->search_min);
 
 		for (a = 0; a < 2; a++) {
 			/* search shouldn't be moved inside pattern */
-			if (track->search_min[a] > pat_min[a]) {
-				track->search_min[a] = pat_min[a];
-				track->search_max[a] = track->search_min[a] + dim[a];
-			}
-			if (track->search_max[a] < pat_max[a]) {
-				track->search_max[a] = pat_max[a];
-				track->search_min[a] = track->search_max[a] - dim[a];
+			if (marker->search_min[a] > pat_min[a]) {
+				marker->search_min[a] = pat_min[a];
+				marker->search_max[a] = marker->search_min[a] + dim[a];
 			}
-		}
-	}
-	else if (event == CLAMP_PYRAMID_LEVELS || (event == CLAMP_SEARCH_DIM && track->tracker == TRACKER_KLT)) {
-		float dim[2];
-		sub_v2_v2v2(dim, track->pat_max, track->pat_min);
-		{
-			float search_ratio = 2.3f * max_pyramid_level_factor;
-
-			/* resize the search area to something sensible based
-			 * on the number of pyramid levels */
-			for (a = 0; a < 2; a++) {
-				track->search_min[a] = search_ratio * track->pat_min[a];
-				track->search_max[a] = search_ratio * track->pat_max[a];
+			if (marker->search_max[a] < pat_max[a]) {
+				marker->search_max[a] = pat_max[a];
+				marker->search_min[a] = marker->search_max[a] - dim[a];
 			}
 		}
 	}
-
-	/* marker's center should be in center of pattern */
-	if (event == CLAMP_PAT_DIM || event == CLAMP_PAT_POS) {
+	else if (event == CLAMP_SEARCH_DIM) {
 		float dim[2];
-
-		sub_v2_v2v2(dim, track->pat_max, track->pat_min);
-
+		sub_v2_v2v2(dim, pat_max, pat_min);
 		for (a = 0; a < 2; a++) {
-			track->pat_min[a] = -dim[a] / 2.0f;
-			track->pat_max[a] = dim[a] / 2.0f;
+			marker->search_min[a] = pat_min[a];
+			marker->search_max[a] = pat_max[a];
 		}
 	}
 }
@@ -245,29 +345,32 @@ MovieTrackingTrack *BKE_tracking_add_track(MovieTracking *tracking, ListBase *tr
 	track = MEM_callocN(sizeof(MovieTrackingTrack), "add_marker_exec track");
 	strcpy(track->name, "Track");
 
-	track->tracker = settings->default_tracker;
-	track->pyramid_levels = settings->default_pyramid_levels;
+	track->motion_model = settings->default_motion_model;
 	track->minimum_correlation = settings->default_minimum_correlation;
 	track->margin = settings->default_margin;
 	track->pattern_match = settings->default_pattern_match;
 	track->frames_limit = settings->default_frames_limit;
 	track->flag = settings->default_flag;
+	track->algorithm_flag = settings->default_algorithm_flag;
 
 	memset(&marker, 0, sizeof(marker));
 	marker.pos[0] = x;
 	marker.pos[1] = y;
 	marker.framenr = framenr;
 
-	copy_v2_v2(track->pat_max, pat);
-	negate_v2_v2(track->pat_min, pat);
+	marker.pattern_corners[0][0] = -pat[0];
+	marker.pattern_corners[0][1] = -pat[1];
 
-	copy_v2_v2(track->search_max, search);
-	negate_v2_v2(track->search_min, search);
+	marker.pattern_corners[1][0] = pat[0];
+	marker.pattern_corners[1][1] = -pat[1];
 
-	BKE_tracking_insert_marker(track, &marker);
+	negate_v2_v2(marker.pattern_corners[2], marker.pattern_corners[0]);
+	negate_v2_v2(marker.pattern_corners[3], marker.pattern_corners[1]);
 
-	if (track->tracker == TRACKER_KLT)
-		BKE_tracking_clamp_track(track, CLAMP_PYRAMID_LEVELS);
+	copy_v2_v2(marker.search_max, search);
+	negate_v2_v2(marker.search_min, search);
+
+	BKE_tracking_insert_marker(track, &marker);
 
 	BLI_addtail(tracksbase, track);
 	BKE_track_unique_name(tracksbase, track);
@@ -337,6 +440,16 @@ void BKE_tracking_delete_marker(MovieTrackingTrack *track, int framenr)
 	}
 }
 
+void BKE_tracking_marker_pattern_minmax(MovieTrackingMarker *marker, float min[2], float max[2])
+{
+	INIT_MINMAX2(min, max);
+
+	DO_MINMAX2(marker->pattern_corners[0], min, max);
+	DO_MINMAX2(marker->pattern_corners[1], min, max);
+	DO_MINMAX2(marker->pattern_corners[2], min, max);
+	DO_MINMAX2(marker->pattern_corners[3], min, max);
+}
+
 MovieTrackingMarker *BKE_tracking_get_marker(MovieTrackingTrack *track, int framenr)
 {
 	int a = track->markersnr - 1;
@@ -527,7 +640,8 @@ void BKE_tracking_join_tracks(MovieTrackingTrack *dst_track, MovieTrackingTrack
 				if ((dst_track->markers[b].flag & MARKER_DISABLED) == 0) {
 					/* both tracks are enabled on this frame, so find the whole segment
 					 * on which tracks are intersecting and blend tracks using linear
-					 * interpolation to prevent jumps */
+					 * interpolation to prevent jumps
+					 */
 
 					MovieTrackingMarker *marker_a, *marker_b;
 					int start_a = a, start_b = b, len = 0, frame = src_track->markers[a].framenr;
@@ -827,7 +941,8 @@ static void tracks_map_merge(TracksMap *map, MovieTracking *tracking)
 
 	/* duplicate currently operating tracks to temporary list.
 	 * this is needed to keep names in unique state and it's faster to change names
-	 * of currently operating tracks (if needed) */
+	 * of currently operating tracks (if needed)
+	 */
 	for (a = 0; a < map->num_tracks; a++) {
 		int replace_sel = 0, replace_rot = 0;
 		MovieTrackingTrack *new_track, *old;
@@ -929,10 +1044,14 @@ static void tracks_map_free(TracksMap *map, void (*customdata_free) (void *custo
 
 typedef struct TrackContext {
 #ifdef WITH_LIBMV
-	float keyframed_pos[2];
+	/* the reference marker and cutout search area */
+	MovieTrackingMarker marker;
 
-	struct libmv_RegionTracker *region_tracker;
-	float *patch;			/* keyframed patch */
+	/* keyframed patch. This is the search area */
+	float *search_area;
+	int search_area_height;
+	int search_area_width;
+	int framenr;
 #else
 	int pad;
 #endif
@@ -999,49 +1118,7 @@ MovieTrackingContext *BKE_tracking_context_new(MovieClip *clip, MovieClipUser *u
 
 				if ((marker->flag & MARKER_DISABLED) == 0) {
 					TrackContext track_context;
-
 					memset(&track_context, 0, sizeof(TrackContext));
-
-#ifdef WITH_LIBMV
-					{
-						float patx = (int)((track->pat_max[0] - track->pat_min[0]) * width),
-						      paty = (int)((track->pat_max[1] - track->pat_min[1]) * height);
-
-						float search_size_x = (track->search_max[0] - track->search_min[0]) * width;
-						float search_size_y = (track->search_max[1] - track->search_min[1]) * height;
-						float pattern_size_x = (track->pat_max[0] - track->pat_min[0]) * width;
-						float pattern_size_y = (track->pat_max[1] - track->pat_min[1]) * height;
-						int wndx = (int)patx / 2, wndy = (int)paty / 2;
-						int half_wnd = MAX2(wndx, wndy);
-
-							/* compute the maximum pyramid size */
-						float search_to_pattern_ratio = MIN2(search_size_x,  search_size_y)
-							/ MAX2(pattern_size_x, pattern_size_y);
-						float log2_search_to_pattern_ratio = log(floor(search_to_pattern_ratio)) / M_LN2;
-						int max_pyramid_levels = floor(log2_search_to_pattern_ratio + 1);
-
-						/* try to accommodate the user's choice of pyramid level in a way
-						 * that doesn't cause the coarsest pyramid pattern to be larger
-						 * than the search size */
-						int level = MIN2(track->pyramid_levels, max_pyramid_levels);
-
-						struct libmv_RegionTracker *region_tracker;
-
-						if (track->tracker == TRACKER_KLT) {
-							region_tracker = libmv_pyramidRegionTrackerNew(100, level, half_wnd,
-							                                               track->minimum_correlation);
-						}
-						else if (track->tracker == TRACKER_HYBRID) {
-							region_tracker = libmv_hybridRegionTrackerNew(100, half_wnd, track->minimum_correlation);
-						}
-						else if (track->tracker == TRACKER_SAD) {
-							region_tracker = libmv_bruteRegionTrackerNew(MAX2(wndx, wndy), track->minimum_correlation);
-						}
-
-						track_context.region_tracker = region_tracker;
-					}
-#endif
-
 					tracks_map_insert(context->tracks_map, track, &track_context);
 				}
 			}
@@ -1059,7 +1136,8 @@ MovieTrackingContext *BKE_tracking_context_new(MovieClip *clip, MovieClipUser *u
 	 *   would be used for images
 	 * - MCLIP_USE_PROXY_CUSTOM_DIR is needed because proxy/timecode files might
 	 *   be stored in a different location
-	 * ignore all the rest possible flags for now */
+	 * ignore all the rest possible flags for now
+	 */
 	context->clip_flag = clip->flag & MCLIP_TIMECODE_FLAGS;
 
 	context->user = *user;
@@ -1077,11 +1155,8 @@ static void track_context_free(void *customdata)
 	TrackContext *track_context = (TrackContext *)customdata;
 
 #if WITH_LIBMV
-	if (track_context->region_tracker)
-		libmv_regionTrackerDestroy(track_context->region_tracker);
-
-	if (track_context->patch)
-		MEM_freeN(track_context->patch);
+	if (track_context->search_area)
+		MEM_freeN(track_context->search_area);
 
 #else
 		(void) track_context;
@@ -1100,7 +1175,8 @@ void BKE_tracking_context_free(MovieTrackingContext *context)
 
 /* zap channels from the imbuf that are disabled by the user. this can lead to
  * better tracks sometimes. however, instead of simply zeroing the channels
- * out, do a partial grayscale conversion so the display is better. */
+ * out, do a partial grayscale conversion so the display is better.
+ */
 void BKE_tracking_disable_imbuf_channels(ImBuf *ibuf, int disable_red, int disable_green, int disable_blue,
                                          int grayscale)
 {
@@ -1111,7 +1187,8 @@ void BKE_tracking_disable_imbuf_channels(ImBuf *ibuf, int disable_red, int disab
 		return;
 
 	/* If only some components are selected, it's important to rescale the result
-	 * appropriately so that e.g. if only blue is selected, it's not zeroed out. */
+	 * appropriately so that e.g. if only blue is selected, it's not zeroed out.
+	 */
 	scale = (disable_red   ? 0.0f : 0.2126f) +
 	        (disable_green ? 0.0f : 0.7152f) +
 	        (disable_blue  ? 0.0f : 0.0722f);
@@ -1167,116 +1244,249 @@ static void disable_imbuf_channels(ImBuf *ibuf, MovieTrackingTrack *track, int g
 			track->flag & TRACK_DISABLE_GREEN, track->flag & TRACK_DISABLE_BLUE, grayscale);
 }
 
-static ImBuf *get_area_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
-                             float min[2], float max[2], int margin, int anchored, float pos[2], int origin[2])
+ImBuf *BKE_tracking_sample_pattern_imbuf(int frame_width, int frame_height,
+                                         ImBuf *search_ibuf, MovieTrackingMarker *marker,
+                                         int num_samples_x, int num_samples_y, float pos[2])
 {
-	ImBuf *tmpibuf;
-	int x, y;
-	int x1, y1, w, h;
-	float mpos[2];
+	ImBuf *pattern_ibuf;
+	double src_pixel_x[5], src_pixel_y[5];
+	double warped_position_x, warped_position_y;
 
-	copy_v2_v2(mpos, marker->pos);
-	if (anchored)
-		add_v2_v2(mpos, track->offset);
+	pattern_ibuf = IMB_allocImBuf(num_samples_x, num_samples_y, 32, IB_rectfloat);
+	pattern_ibuf->profile = IB_PROFILE_LINEAR_RGB;
 
-	if (pos)
-		zero_v2(pos);
+	if (!search_ibuf->rect_float) {
+		IMB_float_from_rect(search_ibuf);
+	}
 
-	x = mpos[0]*ibuf->x;
-	y = mpos[1]*ibuf->y;
+	get_marker_coords_for_tracking(frame_width, frame_height, marker, src_pixel_x, src_pixel_y);
 
-	w = (max[0] - min[0]) * ibuf->x;
-	h = (max[1] - min[1]) * ibuf->y;
+	libmv_samplePlanarPatch(search_ibuf->rect_float, search_ibuf->x, search_ibuf->y, 4,
+	                        src_pixel_x, src_pixel_y, num_samples_x,
+	                        num_samples_y, pattern_ibuf->rect_float,
+	                        &warped_position_x, &warped_position_y);
 
-	/* dimensions should be odd */
-	w = w | 1;
-	h = h | 1;
+	if (pos) {
+		pos[0] = warped_position_x;
+		pos[1] = warped_position_y;
+	}
 
-	x1 = x - (int)(w * (-min[0] / (max[0] - min[0])));
-	y1 = y - (int)(h * (-min[1] / (max[1] - min[1])));
+	return pattern_ibuf;
+}
 
-	if (ibuf->rect_float)
-		tmpibuf = IMB_allocImBuf(w + margin * 2, h + margin * 2, 32, IB_rectfloat);
-	else
-		tmpibuf = IMB_allocImBuf(w + margin * 2, h + margin * 2, 32, IB_rect);
+ImBuf *BKE_tracking_get_pattern_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
+									  int anchored, int disable_channels)
+{
+	ImBuf *pattern_ibuf, *search_ibuf;
+	float pat_min[2], pat_max[2];
+	int num_samples_x, num_samples_y;
+
+	BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
+
+	num_samples_x = (pat_max[0] - pat_min[0]) * ibuf->x;
+	num_samples_y = (pat_max[1] - pat_min[1]) * ibuf->y;
 
-	tmpibuf->profile = ibuf->profile;
+	search_ibuf = BKE_tracking_get_search_imbuf(ibuf, track, marker, anchored, disable_channels);
 
-	IMB_rectcpy(tmpibuf, ibuf, 0, 0, x1 - margin, y1 - margin, w + margin * 2, h + margin * 2);
+	pattern_ibuf = BKE_tracking_sample_pattern_imbuf(ibuf->x, ibuf->y, search_ibuf, marker,
+	                                                 num_samples_x, num_samples_y, NULL);
+
+	IMB_freeImBuf(search_ibuf);
+
+	return pattern_ibuf;
+}
+
+ImBuf *BKE_tracking_get_search_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
+                                     int anchored, int disable_channels)
+{
+	ImBuf *searchibuf;
+	int x, y, w, h;
+	float search_origin[2];
 
-	if (pos != NULL) {
-		pos[0] = mpos[0] * ibuf->x - x1 + margin;
-		pos[1] = mpos[1] * ibuf->y - y1 + margin;
+	get_search_origin_frame_pixel(ibuf->x, ibuf->y, marker, search_origin);
+
+	x = search_origin[0];
+	y = search_origin[1];
+
+	if (anchored) {
+		x += track->offset[0] * ibuf->x;
+		y += track->offset[1] * ibuf->y;
 	}
 
-	if (origin != NULL) {
-		origin[0] = x1 - margin;
-		origin[1] = y1 - margin;
+	w = (marker->search_max[0] - marker->search_min[0]) * ibuf->x;
+	h = (marker->search_max[1] - marker->search_min[1]) * ibuf->y;
+
+	searchibuf = IMB_allocImBuf(w, h, 32, ibuf->rect_float ? IB_rectfloat : IB_rect);
+	searchibuf->profile = ibuf->profile;
+
+	IMB_rectcpy(searchibuf, ibuf, 0, 0, x, y, w, h);
+
+	if (disable_channels) {
+		if ((track->flag & TRACK_PREVIEW_GRAYSCALE) ||
+		    (track->flag & TRACK_DISABLE_RED)       ||
+		    (track->flag & TRACK_DISABLE_GREEN)     ||
+		    (track->flag & TRACK_DISABLE_BLUE))
+		{
+			disable_imbuf_channels(searchibuf, track, TRUE);
+		}
 	}
 
-	if ((track->flag & TRACK_PREVIEW_GRAYSCALE) ||
-	   (track->flag & TRACK_DISABLE_RED)       ||
-	   (track->flag & TRACK_DISABLE_GREEN)     ||
-	   (track->flag & TRACK_DISABLE_BLUE))
-	{
-		disable_imbuf_channels(tmpibuf, track, TRUE /* grayscale */);
+	return searchibuf;
+}
+
+static bGPDlayer *track_mask_gpencil_layer_get(MovieTrackingTrack *track)
+{
+	bGPDlayer *layer;
+
+	if (!track->gpd)
+		return NULL;
+
+	layer = track->gpd->layers.first;
+
+	while (layer) {
+		if (layer->flag & GP_LAYER_ACTIVE)
+			return layer;
+
+		layer = layer->next;
 	}
 
-	return tmpibuf;
+	return NULL;
 }
 
-ImBuf *BKE_tracking_get_pattern_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
-                                      int margin, int anchored, float pos[2], int origin[2])
+static void track_mask_gpencil_layer_rasterize(MovieTracking *tracking, MovieTrackingMarker *marker,
+                                               bGPDlayer *layer, ImBuf *ibuf, int width, int height)
 {
-	return get_area_imbuf(ibuf, track, marker, track->pat_min, track->pat_max, margin, anchored, pos, origin);
+	bGPDframe *frame = layer->frames.first;
+	float *mask;
+	int x, y;
+	float aspy = 1.0f / tracking->camera.pixel_aspect;
+
+	mask = MEM_callocN(ibuf->x * ibuf->y * sizeof(float), "track mask");
+
+	while (frame) {
+		bGPDstroke *stroke = frame->strokes.first;
+
+		while (stroke) {
+			bGPDspoint *stroke_points = stroke->points;
+			float *mask_points, *fp;
+			int i;
+
+			if (stroke->flag & GP_STROKE_2DSPACE) {
+				fp = mask_points = MEM_callocN(2 * stroke->totpoints * sizeof(float),
+				                               "track mask rasterization points");
+
+				for (i = 0; i < stroke->totpoints; i++, fp += 2) {
+					fp[0] = stroke_points[i].x * width / ibuf->x - marker->search_min[0];
+					fp[1] = stroke_points[i].y * height * aspy / ibuf->x - marker->search_min[1];
+				}
+
+				PLX_raskterize((float (*)[2])mask_points, stroke->totpoints, mask, ibuf->x, ibuf->y);
+
+				MEM_freeN(mask_points);
+			}
+
+			stroke = stroke->next;
+		}
+
+		frame = frame->next;
+	}
+
+	for (y = 0; y < ibuf->y; y++) {
+		for (x = 0; x < ibuf->x; x++) {
+			float *pixel = &ibuf->rect_float[4 * (y * ibuf->x + x)];
+			float val = mask[y * ibuf->x + x];
+
+			pixel[0] = val;
+			pixel[1] = val;
+			pixel[2] = val;
+			pixel[3] = 1.0f;
+		}
+	}
+
+	MEM_freeN(mask);
+
+	IMB_rect_from_float(ibuf);
 }
 
-ImBuf *BKE_tracking_get_search_imbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
-                                     int margin, int anchored, float pos[2], int origin[2])
+ImBuf *BKE_tracking_track_mask_get(MovieTracking *tracking, MovieTrackingTrack *track, MovieTrackingMarker *marker,
+                                   int width, int height)
 {
-	return get_area_imbuf(ibuf, track, marker, track->search_min, track->search_max, margin, anchored, pos, origin);
+	ImBuf *ibuf;
+	bGPDlayer *layer = track_mask_gpencil_layer_get(track);
+	int mask_width, mask_height;
+
+	mask_width = (marker->search_max[0] - marker->search_min[0]) * width;
+	mask_height = (marker->search_max[1] - marker->search_min[1]) * height;
+
+	ibuf = IMB_allocImBuf(mask_width, mask_height, 32, IB_rect | IB_rectfloat);
+
+	if (layer) {
+		track_mask_gpencil_layer_rasterize(tracking, marker, layer, ibuf, width, height);
+	}
+	else {
+		float white[4] = {1.0f, 1.0f, 1.0f, 1.0f};
+		IMB_rectfill(ibuf, white);
+	}
+
+	return ibuf;
 }
 
 #ifdef WITH_LIBMV
-static float *get_search_floatbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
-                                  int *width_r, int *height_r, float pos[2], int origin[2])
+
+/* Convert from float and byte RGBA to grayscale. Supports different coefficients for RGB. */
+static void float_rgba_to_gray(const float *rgba, float *gray, int num_pixels,
+                               float weight_red, float weight_green, float weight_blue)
 {
-	ImBuf *tmpibuf;
-	float *pixels, *fp;
-	int x, y, width, height;
+	int i;
 
-	width = (track->search_max[0] - track->search_min[0]) * ibuf->x;
-	height = (track->search_max[1] - track->search_min[1]) * ibuf->y;
+	for (i = 0; i < num_pixels; i++) {
+		const float *pixel = rgba + 4 * i;
 
-	tmpibuf = BKE_tracking_get_search_imbuf(ibuf, track, marker, 0, 0, pos, origin);
-	disable_imbuf_channels(tmpibuf, track, FALSE /* don't grayscale */);
+		gray[i] = weight_red * pixel[0] + weight_green * pixel[1] + weight_blue * pixel[2];
+	}
+}
 
-	*width_r = width;
-	*height_r = height;
+static void uint8_rgba_to_float_gray(const unsigned char *rgba, float *gray, int num_pixels,
+                                     float weight_red, float weight_green, float weight_blue)
+{
+	int i;
 
-	fp = pixels = MEM_callocN(width * height * sizeof(float), "tracking floatBuf");
-	for (y = 0; y < (int)height; y++) {
-		for (x = 0; x < (int)width; x++) {
-			int pixel = tmpibuf->x * y + x;
+	for (i = 0; i < num_pixels; i++) {
+		const unsigned char *pixel = rgba + i * 4;
 
-			if (tmpibuf->rect_float) {
-				float *rrgbf = tmpibuf->rect_float + pixel * 4;
+		*gray++ = (weight_red * pixel[0] + weight_green * pixel[1] + weight_blue * pixel[2]) / 255.0f;
+	}
+}
 
-				*fp = 0.2126 * rrgbf[0] + 0.7152 * rrgbf[1] + 0.0722 * rrgbf[2];
-			}
-			else {
-				unsigned char *rrgb = (unsigned char*)tmpibuf->rect + pixel * 4;
+static float *get_search_floatbuf(ImBuf *ibuf, MovieTrackingTrack *track, MovieTrackingMarker *marker,
+                                  int *width_r, int *height_r)
+{
+	ImBuf *searchibuf;
+	float *gray_pixels;
+	int width, height;
 
-				*fp = (0.2126 * rrgb[0] + 0.7152 * rrgb[1] + 0.0722 * rrgb[2]) / 255.0f;
-			}
+	searchibuf = BKE_tracking_get_search_imbuf(ibuf, track, marker, FALSE, TRUE);
 
-			fp++;
-		}
+	width = searchibuf->x;
+	height = searchibuf->y;
+
+	*width_r = searchibuf->x;
+	*height_r = searchibuf->y;
+
+	gray_pixels = MEM_callocN(width * height * sizeof(float), "tracking floatBuf");
+
+	if (searchibuf->rect_float) {
+		float_rgba_to_gray(searchibuf->rect_float, gray_pixels, width * height,
+                           0.2126f, 0.7152f, 0.0722f);
+	}
+	else {
+		uint8_rgba_to_float_gray((unsigned char *)searchibuf->rect, gray_pixels, width * height,
+                                 0.2126f, 0.7152f, 0.0722f);
 	}
 
-	IMB_freeImBuf(tmpibuf);
+	IMB_freeImBuf(searchibuf);
 
-	return pixels;
+	return gray_pixels;
 }
 
 static unsigned char *get_ucharbuf(ImBuf *ibuf)
@@ -1400,10 +1610,12 @@ void BKE_tracking_sync_user(MovieClipUser *user, MovieTrackingContext *context)
 
 int BKE_tracking_next(MovieTrackingContext *context)
 {
-	ImBuf *ibuf_new;
+	ImBuf *destination_ibuf;
 	int curfra =  BKE_movieclip_remap_scene_to_clip_frame(context->clip, context->user.framenr);
 	int a, ok = FALSE, map_size;
 
+	int frame_width, frame_height;
+
 	map_size = tracks_map_size(context->tracks_map);
 
 	/* nothing to track, avoid unneeded frames reading to save time and memory */
@@ -1415,28 +1627,31 @@ int BKE_tracking_next(MovieTrackingContext *context)
 	else
 		context->user.framenr++;
 
-	ibuf_new = BKE_movieclip_get_ibuf_flag(context->clip, &context->user, context->clip_flag, MOVIECLIP_CACHE_SKIP);
-	if (!ibuf_new)
+	destination_ibuf = BKE_movieclip_get_ibuf_flag(context->clip, &context->user,
+	                                               context->clip_flag, MOVIECLIP_CACHE_SKIP);
+	if (!destination_ibuf)
 		return FALSE;
 
-	#pragma omp parallel for private(a) shared(ibuf_new, ok) if (map_size>1)
+	frame_width = destination_ibuf->x;
+	frame_height = destination_ibuf->y;
+
+	#pragma omp parallel for private(a) shared(destination_ibuf, ok) if (map_size>1)
 	for (a = 0; a < map_size; a++) {
 		TrackContext *track_context = NULL;
 		MovieTrackingTrack *track;
 		MovieTrackingMarker *marker;
 
-		tracks_map_get(context->tracks_map, a, &track, (void**)&track_context);
+		tracks_map_get(context->tracks_map, a, &track, (void **)&track_context);
 
 		marker = BKE_tracking_exact_marker(track, curfra);
 
 		if (marker && (marker->flag & MARKER_DISABLED) == 0) {
 #ifdef WITH_LIBMV
-			int width, height, origin[2], tracked = 0, need_readjust = 0;
-			float pos[2], margin[2], dim[2];
-			double x1, y1, x2, y2;
-			ImBuf *ibuf = NULL;
+			int width, height, tracked = 0, need_readjust = 0;
+			float margin[2], dim[2], pat_min[2], pat_max[2];
 			MovieTrackingMarker marker_new, *marker_keyed;
 			int onbound = FALSE, nextfra;
+			double dst_pixel_x[5], dst_pixel_y[5];
 
 			if (track->pattern_match == TRACK_MATCH_KEYFRAME)
 				need_readjust = context->first_time;
@@ -1449,11 +1664,12 @@ int BKE_tracking_next(MovieTrackingContext *context)
 				nextfra = curfra + 1;
 
 			/* margin from frame boundaries */
-			sub_v2_v2v2(dim, track->pat_max, track->pat_min);
+			BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
+			sub_v2_v2v2(dim, pat_max, pat_min);
 			margin[0] = margin[1] = MAX2(dim[0], dim[1]) / 2.0f;
 
-			margin[0] = MAX2(margin[0], (float)track->margin / ibuf_new->x);
-			margin[1] = MAX2(margin[1], (float)track->margin / ibuf_new->y);
+			margin[0] = MAX2(margin[0], (float)track->margin / destination_ibuf->x);
+			margin[1] = MAX2(margin[1], (float)track->margin / destination_ibuf->y);
 
 			/* do not track markers which are too close to boundary */
 			if (marker->pos[0] < margin[0] || marker->pos[0] > 1.0f - margin[0] ||
@@ -1462,58 +1678,83 @@ int BKE_tracking_next(MovieTrackingContext *context)
 				onbound = TRUE;
 			}
 			else {
+				/* to convert to the x/y split array format for libmv. */
+				double src_pixel_x[5];
+				double src_pixel_y[5];
+
+				/* settings for the tracker */
+				struct libmv_trackRegionOptions options;
+				struct libmv_trackRegionResult result;
+
 				float *patch_new;
 
 				if (need_readjust) {
+					ImBuf *reference_ibuf = NULL;
 					/* calculate patch for keyframed position */
-					ibuf = get_adjust_ibuf(context, track, marker, curfra, &marker_keyed);
+					reference_ibuf = get_adjust_ibuf(context, track, marker, curfra, &marker_keyed);
+					track_context->marker = *marker_keyed;
 
-					if (track_context->patch)
-						MEM_freeN(track_context->patch);
+					if (track_context->search_area)
+						MEM_freeN(track_context->search_area);
 
-					track_context->patch = get_search_floatbuf(ibuf, track, marker_keyed, &width, &height,
-					                                           track_context->keyframed_pos, origin);
+					track_context->search_area = get_search_floatbuf(reference_ibuf, track,
+					                                                 marker_keyed, &width, &height);
+					track_context->search_area_height = height;
+					track_context->search_area_width = width;
 
-					IMB_freeImBuf(ibuf);
+					IMB_freeImBuf(reference_ibuf);
 				}
 
-				patch_new = get_search_floatbuf(ibuf_new, track, marker, &width, &height, pos, origin);
+				/* for now track to the same search area dimension as marker has got for current frame
+				 * will make all tracked markers in currently tracked segment have the same search area
+				 * size, but it's quite close to what is actually needed
+				 */
+				patch_new = get_search_floatbuf(destination_ibuf, track, marker, &width, &height);
+
+				/* Configure the tracker */
+				options.motion_model = track->motion_model;
 
-				x1 = track_context->keyframed_pos[0];
-				y1 = track_context->keyframed_pos[1];
+				options.use_brute =
+					((track->algorithm_flag & TRACK_ALGORITHM_FLAG_USE_BRUTE) != 0);
 
-				x2 = pos[0];
-				y2 = pos[1];
+				options.use_normalization =
+					((track->algorithm_flag & TRACK_ALGORITHM_FLAG_USE_NORMALIZATION) != 0);
 
-				tracked = libmv_regionTrackerTrack(track_context->region_tracker, track_context->patch, patch_new,
-							width, height, x1, y1, &x2, &y2);
+				options.num_iterations = 50;
+				options.minimum_correlation = track->minimum_correlation;
+				options.sigma = 0.9;
 
+				/* Convert the marker corners and center into pixel coordinates in the search/destination images. */
+				get_marker_coords_for_tracking(frame_width, frame_height, &track_context->marker, src_pixel_x, src_pixel_y);
+				get_marker_coords_for_tracking(frame_width, frame_height, marker, dst_pixel_x, dst_pixel_y);
+
+				/* Run the tracker! */
+				tracked = libmv_trackRegion(&options,
+				                            track_context->search_area, patch_new,
+				                            width, height,
+				                            src_pixel_x, src_pixel_y,
+				                            &result,
+				                            dst_pixel_x, dst_pixel_y);
 				MEM_freeN(patch_new);
 			}
 
-			if (tracked && !onbound && finite(x2) && finite(y2)) {
+			if (tracked && !onbound) {
+				memset(&marker_new, 0, sizeof(marker_new));
+				marker_new = *marker;
+				set_marker_coords_from_tracking(frame_width, frame_height, &marker_new, dst_pixel_x, dst_pixel_y);
+				marker_new.flag |= MARKER_TRACKED;
+				marker_new.framenr = nextfra;
+
 				if (context->first_time) {
 					#pragma omp critical
 					{
 						/* check if there's no keyframe/tracked markers before tracking marker.
-						 * if so -- create disabled marker before currently tracking "segment" */
-						put_disabled_marker(track, marker, !context->backwards, 0);
+						 * if so -- create disabled marker before currently tracking "segment"
+						 */
+						put_disabled_marker(track, &marker_new, !context->backwards, 0);
 					}
 				}
 
-				memset(&marker_new, 0, sizeof(marker_new));
-
-				if (!onbound) {
-					marker_new.pos[0] = (origin[0] + x2) / ibuf_new->x;
-					marker_new.pos[1] = (origin[1] + y2) / ibuf_new->y;
-				}
-				else {
-					copy_v2_v2(marker_new.pos, marker->pos);
-				}
-
-				marker_new.flag |= MARKER_TRACKED;
-				marker_new.framenr = nextfra;
-
 				#pragma omp critical
 				{
 					BKE_tracking_insert_marker(track, &marker_new);
@@ -1542,7 +1783,7 @@ int BKE_tracking_next(MovieTrackingContext *context)
 		}
 	}
 
-	IMB_freeImBuf(ibuf_new);
+	IMB_freeImBuf(destination_ibuf);
 
 	context->first_time = FALSE;
 	context->frames++;
@@ -2765,7 +3006,8 @@ ImBuf *BKE_tracking_stabilize(MovieTracking *tracking, int framenr, ImBuf *ibuf,
 
 	if (tangle == 0.0f) {
 		/* if angle is zero, then it's much faster to use rect copy
-		 * but could be issues with subpixel precisions */
+		 * but could be issues with subpixel precisions
+		 */
 		IMB_rectcpy(tmpibuf, ibuf,
 		            tloc[0] - (tscale - 1.0f) * width / 2.0f,
 		            tloc[1] - (tscale - 1.0f) * height / 2.0f,
diff --git a/source/blender/blenloader/intern/readfile.c b/source/blender/blenloader/intern/readfile.c
index fccdcbef564..cd0bbb314eb 100644
--- a/source/blender/blenloader/intern/readfile.c
+++ b/source/blender/blenloader/intern/readfile.c
@@ -5362,6 +5362,7 @@ static void lib_link_screen(FileData *fd, Main *main)
 						sclip->clip = newlibadr_us(fd, sc->id.lib, sclip->clip);
 						sclip->mask = newlibadr_us(fd, sc->id.lib, sclip->mask);
 
+						sclip->scopes.track_search = NULL;
 						sclip->scopes.track_preview = NULL;
 						sclip->draw_context = NULL;
 						sclip->scopes.ok = 0;
@@ -7084,12 +7085,9 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 					
 				track = clip->tracking.tracks.first;
 				while (track) {
-					if (track->pyramid_levels == 0)
-						track->pyramid_levels = 2;
-					
 					if (track->minimum_correlation == 0.0f)
 						track->minimum_correlation = 0.75f;
-					
+
 					track = track->next;
 				}
 			}
@@ -7107,10 +7105,9 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 		
 		for (clip= main->movieclip.first; clip; clip= clip->id.next) {
 			MovieTrackingSettings *settings= &clip->tracking.settings;
-			
-			if (settings->default_pyramid_levels == 0) {
-				settings->default_tracker= TRACKER_KLT;
-				settings->default_pyramid_levels = 2;
+
+			if (settings->default_pattern_size == 0.0f) {
+				settings->default_motion_model = TRACK_MOTION_MODEL_TRANSLATION;
 				settings->default_minimum_correlation = 0.75;
 				settings->default_pattern_size = 11;
 				settings->default_search_size = 51;
@@ -7638,6 +7635,7 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 		}
 	}
 
+
 	if (main->versionfile < 263 || (main->versionfile == 263 && main->subversionfile < 8))
 	{
 		/* set new deactivation values for game settings */
@@ -7702,6 +7700,46 @@ static void do_versions(FileData *fd, Library *lib, Main *main)
 		}
 	}
 
+	{
+		MovieClip *clip;
+
+		for (clip = main->movieclip.first; clip; clip = clip->id.next) {
+			MovieTrackingTrack *track;
+
+			track = clip->tracking.tracks.first;
+			while (track) {
+				int i;
+
+				for (i = 0; i < track->markersnr; i++) {
+					MovieTrackingMarker *marker = &track->markers[i];
+
+					if (is_zero_v2(marker->pattern_corners[0]) && is_zero_v2(marker->pattern_corners[1]) &&
+					    is_zero_v2(marker->pattern_corners[3]) && is_zero_v2(marker->pattern_corners[3]))
+					{
+						marker->pattern_corners[0][0] = track->pat_min[0];
+						marker->pattern_corners[0][1] = track->pat_min[1];
+
+						marker->pattern_corners[1][0] = track->pat_max[0];
+						marker->pattern_corners[1][1] = track->pat_min[1];
+
+						marker->pattern_corners[2][0] = track->pat_max[0];
+						marker->pattern_corners[2][1] = track->pat_max[1];
+
+						marker->pattern_corners[3][0] = track->pat_min[0];
+						marker->pattern_corners[3][1] = track->pat_max[1];
+					}
+
+					if (is_zero_v2(marker->search_min) && is_zero_v2(marker->search_max)) {
+						copy_v2_v2(marker->search_min, track->search_min);
+						copy_v2_v2(marker->search_max, track->search_max);
+					}
+				}
+
+				track = track->next;
+			}
+		}
+	}
+
 	/* WATCH IT!!!: pointers from libdata have not been converted yet here! */
 	/* WATCH IT 2!: Userdef struct init has to be in editors/interface/resources.c! */
 
diff --git a/source/blender/editors/interface/interface_draw.c b/source/blender/editors/interface/interface_draw.c
index f6339d4456f..f368e7cf4c7 100644
--- a/source/blender/editors/interface/interface_draw.c
+++ b/source/blender/editors/interface/interface_draw.c
@@ -43,6 +43,7 @@
 
 #include "BKE_colortools.h"
 #include "BKE_texture.h"
+#include "BKE_tracking.h"
 
 
 #include "IMB_imbuf.h"
@@ -1507,36 +1508,10 @@ void ui_draw_but_CURVE(ARegion *ar, uiBut *but, uiWidgetColors *wcol, rcti *rect
 	fdrawbox(rect->xmin, rect->ymin, rect->xmax, rect->ymax);
 }
 
-static ImBuf *scale_trackpreview_ibuf(ImBuf *ibuf, float track_pos[2], int width, float height, int margin)
-{
-	ImBuf *scaleibuf;
-	const float scalex = ((float)ibuf->x - 2 * margin) / width;
-	const float scaley = ((float)ibuf->y - 2 * margin) / height;
-	/* NOTE: 1.0f = 0.5f for integer coordinate coorrection (center of pixel vs. left bottom corner of bixel)
-	 *       and 0.5f for centering image in preview (cross is draving at exact center of widget so image
-	 *       should be shifted by half of pixel for correct centering) - sergey */
-	float off_x = (int)track_pos[0] - track_pos[0] + 1.0f;
-	float off_y = (int)track_pos[1] - track_pos[1] + 1.0f;
-	int x, y;
-
-	scaleibuf = IMB_allocImBuf(width, height, 32, IB_rect);
-
-	for (y = 0; y < height; y++) {
-		for (x = 0; x < width; x++) {
-			float src_x = scalex * (x) + margin - off_x;
-			float src_y = scaley * (y) + margin - off_y;
-
-			bicubic_interpolation(ibuf, scaleibuf, src_x, src_y, x, y);
-		}
-	}
-
-	return scaleibuf;
-}
-
 void ui_draw_but_TRACKPREVIEW(ARegion *ar, uiBut *but, uiWidgetColors *UNUSED(wcol), rcti *recti)
 {
 	rctf rect;
-	int ok = 0;
+	int ok = 0, width, height;
 	GLint scissor[4];
 	MovieClipScopes *scopes = (MovieClipScopes *)but->poin;
 
@@ -1545,6 +1520,9 @@ void ui_draw_but_TRACKPREVIEW(ARegion *ar, uiBut *but, uiWidgetColors *UNUSED(wc
 	rect.ymin = (float)recti->ymin + SCOPE_RESIZE_PAD + 2;
 	rect.ymax = (float)recti->ymax - 1;
 
+	width = rect.xmax - rect.xmin + 1;
+	height = rect.ymax - rect.ymin;
+
 	glEnable(GL_BLEND);
 	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 
@@ -1562,40 +1540,53 @@ void ui_draw_but_TRACKPREVIEW(ARegion *ar, uiBut *but, uiWidgetColors *UNUSED(wc
 
 		ok = 1;
 	}
-	else if (scopes->track_preview) {
-		/* additional margin around image */
-		/* NOTE: should be kept in sync with value from BKE_movieclip_update_scopes */
-		const int margin = 3;
-		float zoomx, zoomy, track_pos[2], off_x, off_y;
-		int a, width, height;
+	else if ((scopes->track_search) &&
+	         ((!scopes->track_preview) ||
+	         (scopes->track_preview->x != width || scopes->track_preview->y != height)))
+	{
+		ImBuf *tmpibuf;
+
+		if (scopes->track_preview)
+			IMB_freeImBuf(scopes->track_preview);
+
+		tmpibuf = BKE_tracking_sample_pattern_imbuf(scopes->frame_width, scopes->frame_height,
+		                                            scopes->track_search, &scopes->undist_marker,
+		                                            width, height, scopes->track_pos);
+
+		if (tmpibuf->rect_float)
+			IMB_rect_from_float(tmpibuf);
+
+		// XXX: for debug only
+		// tmpibuf->ftype = PNG;
+		// IMB_saveiff(tmpibuf, "sample.png", IB_rect);
+
+		if (tmpibuf->rect)
+			scopes->track_preview = tmpibuf;
+		else
+			IMB_freeImBuf(tmpibuf);
+	}
+
+	if (!ok && scopes->track_preview) {
+		float track_pos[2];
+		int a;
 		ImBuf *drawibuf;
 
 		glPushMatrix();
 
-		track_pos[0] = scopes->track_pos[0] - margin;
-		track_pos[1] = scopes->track_pos[1] - margin;
+		track_pos[0] = scopes->track_pos[0];
+		track_pos[1] = scopes->track_pos[1];
 
 		/* draw content of pattern area */
 		glScissor(ar->winrct.xmin + rect.xmin, ar->winrct.ymin + rect.ymin, scissor[2], scissor[3]);
 
-		width = rect.xmax - rect.xmin + 1;
-		height = rect.ymax - rect.ymin;
-
 		if (width > 0 && height > 0) {
-			zoomx = (float)width / (scopes->track_preview->x - 2 * margin);
-			zoomy = (float)height / (scopes->track_preview->y - 2 * margin);
-
-			off_x = ((int)track_pos[0] - track_pos[0] + 0.5f) * zoomx;
-			off_y = ((int)track_pos[1] - track_pos[1] + 0.5f) * zoomy;
-
-			drawibuf = scale_trackpreview_ibuf(scopes->track_preview, track_pos, width, height, margin);
+			drawibuf = scopes->track_preview;
 
 			glaDrawPixelsSafe(rect.xmin, rect.ymin + 1, drawibuf->x, drawibuf->y,
 			                  drawibuf->x, GL_RGBA, GL_UNSIGNED_BYTE, drawibuf->rect);
-			IMB_freeImBuf(drawibuf);
 
 			/* draw cross for pizel position */
-			glTranslatef(off_x + rect.xmin + track_pos[0] * zoomx, off_y + rect.ymin + track_pos[1] * zoomy, 0.f);
+			glTranslatef(rect.xmin + track_pos[0], rect.ymin + track_pos[1], 0.f);
 			glScissor(ar->winrct.xmin + rect.xmin,
 			          ar->winrct.ymin + rect.ymin,
 			          rect.xmax - rect.xmin,
diff --git a/source/blender/editors/space_clip/clip_buttons.c b/source/blender/editors/space_clip/clip_buttons.c
index e69e1f15b6e..ca2ae6e8461 100644
--- a/source/blender/editors/space_clip/clip_buttons.c
+++ b/source/blender/editors/space_clip/clip_buttons.c
@@ -186,12 +186,13 @@ typedef struct {
 	MovieClip *clip;
 	MovieClipUser *user;						/* user of clip */
 	MovieTrackingTrack *track;
+	MovieTrackingMarker *marker;
 
 	int framenr;								/* current frame number */
 	float marker_pos[2];						/* position of marker in pixel coords */
-	float track_pat[2];							/* position and dimensions of marker pattern in pixel coords */
+	float marker_pat[2];							/* position and dimensions of marker pattern in pixel coords */
 	float track_offset[2];						/* offset of "parenting" point */
-	float track_search_pos[2], track_search[2];	/* position and dimensions of marker search in pixel coords */
+	float marker_search_pos[2], marker_search[2];	/* position and dimensions of marker search in pixel coords */
 	int marker_flag;							/* marker's flags */
 } MarkerUpdateCb;
 
@@ -238,60 +239,63 @@ static void marker_block_handler(bContext *C, void *arg_cb, int event)
 		ok = TRUE;
 	}
 	else if (event == B_MARKER_PAT_DIM) {
-		float dim[2], pat_dim[2];
+		float dim[2], pat_dim[2], pat_min[2], pat_max[2];
+		float scale_x, scale_y;
+		int a;
 
-		sub_v2_v2v2(pat_dim, cb->track->pat_max, cb->track->pat_min);
+		BKE_tracking_marker_pattern_minmax(cb->marker, pat_min, pat_max);
 
-		dim[0] = cb->track_pat[0] / width;
-		dim[1] = cb->track_pat[1] / height;
+		sub_v2_v2v2(pat_dim, pat_max, pat_min);
 
-		sub_v2_v2(dim, pat_dim);
-		mul_v2_fl(dim, 0.5f);
+		dim[0] = cb->marker_pat[0] / width;
+		dim[1] = cb->marker_pat[1] / height;
 
-		cb->track->pat_min[0] -= dim[0];
-		cb->track->pat_min[1] -= dim[1];
+		scale_x = dim[0] / pat_dim[0];
+		scale_y = dim[1] / pat_dim[1];
 
-		cb->track->pat_max[0] += dim[0];
-		cb->track->pat_max[1] += dim[1];
+		for (a = 0; a < 4; a++) {
+			cb->marker->pattern_corners[a][0] *= scale_x;
+			cb->marker->pattern_corners[a][1] *= scale_y;
+		}
 
-		BKE_tracking_clamp_track(cb->track, CLAMP_PAT_DIM);
+		BKE_tracking_clamp_marker(cb->marker, CLAMP_PAT_DIM);
 
 		ok = TRUE;
 	}
 	else if (event == B_MARKER_SEARCH_POS) {
 		float delta[2], side[2];
 
-		sub_v2_v2v2(side, cb->track->search_max, cb->track->search_min);
+		sub_v2_v2v2(side, cb->marker->search_max, cb->marker->search_min);
 		mul_v2_fl(side, 0.5f);
 
-		delta[0] = cb->track_search_pos[0] / width;
-		delta[1] = cb->track_search_pos[1] / height;
+		delta[0] = cb->marker_search_pos[0] / width;
+		delta[1] = cb->marker_search_pos[1] / height;
 
-		sub_v2_v2v2(cb->track->search_min, delta, side);
-		add_v2_v2v2(cb->track->search_max, delta, side);
+		sub_v2_v2v2(cb->marker->search_min, delta, side);
+		add_v2_v2v2(cb->marker->search_max, delta, side);
 
-		BKE_tracking_clamp_track(cb->track, CLAMP_SEARCH_POS);
+		BKE_tracking_clamp_marker(cb->marker, CLAMP_SEARCH_POS);
 
 		ok = TRUE;
 	}
 	else if (event == B_MARKER_SEARCH_DIM) {
 		float dim[2], search_dim[2];
 
-		sub_v2_v2v2(search_dim, cb->track->search_max, cb->track->search_min);
+		sub_v2_v2v2(search_dim, cb->marker->search_max, cb->marker->search_min);
 
-		dim[0] = cb->track_search[0] / width;
-		dim[1] = cb->track_search[1] / height;
+		dim[0] = cb->marker_search[0] / width;
+		dim[1] = cb->marker_search[1] / height;
 
 		sub_v2_v2(dim, search_dim);
 		mul_v2_fl(dim, 0.5f);
 
-		cb->track->search_min[0] -= dim[0];
-		cb->track->search_min[1] -= dim[1];
+		cb->marker->search_min[0] -= dim[0];
+		cb->marker->search_min[1] -= dim[1];
 
-		cb->track->search_max[0] += dim[0];
-		cb->track->search_max[1] += dim[1];
+		cb->marker->search_max[0] += dim[0];
+		cb->marker->search_max[1] += dim[1];
 
-		BKE_tracking_clamp_track(cb->track, CLAMP_SEARCH_DIM);
+		BKE_tracking_clamp_marker(cb->marker, CLAMP_SEARCH_DIM);
 
 		ok = TRUE;
 	}
@@ -337,6 +341,7 @@ void uiTemplateMarker(uiLayout *layout, PointerRNA *ptr, const char *propname, P
 	MovieTrackingMarker *marker;
 	MarkerUpdateCb *cb;
 	const char *tip;
+	float pat_min[2], pat_max[2];
 
 	if (!ptr->data)
 		return;
@@ -366,6 +371,7 @@ void uiTemplateMarker(uiLayout *layout, PointerRNA *ptr, const char *propname, P
 	cb->clip = clip;
 	cb->user = user;
 	cb->track = track;
+	cb->marker = marker;
 	cb->marker_flag = marker->flag;
 	cb->framenr = user->framenr;
 
@@ -383,7 +389,7 @@ void uiTemplateMarker(uiLayout *layout, PointerRNA *ptr, const char *propname, P
 	}
 	else {
 		int width, height, step, digits;
-		float pat_dim[2], pat_pos[2], search_dim[2], search_pos[2];
+		float pat_dim[2], search_dim[2], search_pos[2];
 		uiLayout *col;
 
 		BKE_movieclip_get_size(clip, user, &width, &height);
@@ -399,19 +405,18 @@ void uiTemplateMarker(uiLayout *layout, PointerRNA *ptr, const char *propname, P
 		step = 100;
 		digits = 2;
 
-		sub_v2_v2v2(pat_dim, track->pat_max, track->pat_min);
-		sub_v2_v2v2(search_dim, track->search_max, track->search_min);
+		BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
 
-		add_v2_v2v2(search_pos, track->search_max, track->search_min);
-		mul_v2_fl(search_pos, 0.5);
+		sub_v2_v2v2(pat_dim, pat_max, pat_min);
+		sub_v2_v2v2(search_dim, marker->search_max, marker->search_min);
 
-		add_v2_v2v2(pat_pos, track->pat_max, track->pat_min);
-		mul_v2_fl(pat_pos, 0.5);
+		add_v2_v2v2(search_pos, marker->search_max, marker->search_min);
+		mul_v2_fl(search_pos, 0.5);
 
 		to_pixel_space(cb->marker_pos, marker->pos, width, height);
-		to_pixel_space(cb->track_pat, pat_dim, width, height);
-		to_pixel_space(cb->track_search, search_dim, width, height);
-		to_pixel_space(cb->track_search_pos, search_pos, width, height);
+		to_pixel_space(cb->marker_pat, pat_dim, width, height);
+		to_pixel_space(cb->marker_search, search_dim, width, height);
+		to_pixel_space(cb->marker_search_pos, search_pos, width, height);
 		to_pixel_space(cb->track_offset, track->offset, width, height);
 
 		cb->marker_flag = marker->flag;
@@ -447,19 +452,19 @@ void uiTemplateMarker(uiLayout *layout, PointerRNA *ptr, const char *propname, P
 			-10*height, 10.0*height, step, digits, "Y-offset to parenting point");
 
 		uiDefBut(block, LABEL, 0, "Pattern Area:", 0, 114, 300, 19, NULL, 0, 0, 0, 0, "");
-		uiDefButF(block, NUM, B_MARKER_PAT_DIM, "Width:", 10, 95, 300, 19, &cb->track_pat[0], 3.0f,
+		uiDefButF(block, NUM, B_MARKER_PAT_DIM, "Width:", 10, 95, 300, 19, &cb->marker_pat[0], 3.0f,
 			10.0*width, step, digits, "Width of marker's pattern in screen coordinates");
-		uiDefButF(block, NUM, B_MARKER_PAT_DIM, "Height:", 10, 76, 300, 19, &cb->track_pat[1], 3.0f,
+		uiDefButF(block, NUM, B_MARKER_PAT_DIM, "Height:", 10, 76, 300, 19, &cb->marker_pat[1], 3.0f,
 			10.0*height, step, digits, "Height of marker's pattern in screen coordinates");
 
 		uiDefBut(block, LABEL, 0, "Search Area:", 0, 57, 300, 19, NULL, 0, 0, 0, 0, "");
-		uiDefButF(block, NUM, B_MARKER_SEARCH_POS, "X:", 10, 38, 145, 19, &cb->track_search_pos[0],
+		uiDefButF(block, NUM, B_MARKER_SEARCH_POS, "X:", 10, 38, 145, 19, &cb->marker_search_pos[0],
 			-width, width, step, digits, "X-position of search at frame relative to marker's position");
-		uiDefButF(block, NUM, B_MARKER_SEARCH_POS, "Y:", 165, 38, 145, 19, &cb->track_search_pos[1],
+		uiDefButF(block, NUM, B_MARKER_SEARCH_POS, "Y:", 165, 38, 145, 19, &cb->marker_search_pos[1],
 			-height, height, step, digits, "X-position of search at frame relative to marker's position");
-		uiDefButF(block, NUM, B_MARKER_SEARCH_DIM, "Width:", 10, 19, 300, 19, &cb->track_search[0], 3.0f,
+		uiDefButF(block, NUM, B_MARKER_SEARCH_DIM, "Width:", 10, 19, 300, 19, &cb->marker_search[0], 3.0f,
 			10.0*width, step, digits, "Width of marker's search in screen soordinates");
-		uiDefButF(block, NUM, B_MARKER_SEARCH_DIM, "Height:", 10, 0, 300, 19, &cb->track_search[1], 3.0f,
+		uiDefButF(block, NUM, B_MARKER_SEARCH_DIM, "Height:", 10, 0, 300, 19, &cb->marker_search[1], 3.0f,
 			10.0*height, step, digits, "Height of marker's search in screen soordinates");
 
 		uiBlockEndAlign(block);
diff --git a/source/blender/editors/space_clip/clip_draw.c b/source/blender/editors/space_clip/clip_draw.c
index 93a32fb06fc..9332413b33b 100644
--- a/source/blender/editors/space_clip/clip_draw.c
+++ b/source/blender/editors/space_clip/clip_draw.c
@@ -456,14 +456,17 @@ static void draw_marker_outline(SpaceClip *sc, MovieTrackingTrack *track, MovieT
 
 	if ((marker->flag & MARKER_DISABLED) == 0) {
 		float pos[2];
-		rctf r;
+		float p[2];
 
-		BLI_init_rctf(&r, track->pat_min[0], track->pat_max[0], track->pat_min[1], track->pat_max[1]);
 		add_v2_v2v2(pos, marker->pos, track->offset);
 
 		ED_clip_point_undistorted_pos(sc, pos, pos);
 
-		if (BLI_in_rctf(&r, pos[0] - marker_pos[0], pos[1] - marker_pos[1])) {
+		sub_v2_v2v2(p, pos, marker_pos);
+
+		if (isect_point_quad_v2(p, marker->pattern_corners[0], marker->pattern_corners[1],
+		                        marker->pattern_corners[2], marker->pattern_corners[3]))
+		{
 			if (tiny) glPointSize(3.0f);
 			else glPointSize(4.0f);
 			glBegin(GL_POINTS);
@@ -499,10 +502,10 @@ static void draw_marker_outline(SpaceClip *sc, MovieTrackingTrack *track, MovieT
 
 	if (sc->flag & SC_SHOW_MARKER_PATTERN) {
 		glBegin(GL_LINE_LOOP);
-			glVertex2f(track->pat_min[0], track->pat_min[1]);
-			glVertex2f(track->pat_max[0], track->pat_min[1]);
-			glVertex2f(track->pat_max[0], track->pat_max[1]);
-			glVertex2f(track->pat_min[0], track->pat_max[1]);
+			glVertex2fv(marker->pattern_corners[0]);
+			glVertex2fv(marker->pattern_corners[1]);
+			glVertex2fv(marker->pattern_corners[2]);
+			glVertex2fv(marker->pattern_corners[3]);
 		glEnd();
 	}
 
@@ -510,10 +513,10 @@ static void draw_marker_outline(SpaceClip *sc, MovieTrackingTrack *track, MovieT
 	              ((marker->flag & MARKER_DISABLED) == 0 || (sc->flag & SC_SHOW_MARKER_PATTERN) == 0);
 	if (sc->flag & SC_SHOW_MARKER_SEARCH && show_search) {
 		glBegin(GL_LINE_LOOP);
-			glVertex2f(track->search_min[0], track->search_min[1]);
-			glVertex2f(track->search_max[0], track->search_min[1]);
-			glVertex2f(track->search_max[0], track->search_max[1]);
-			glVertex2f(track->search_min[0], track->search_max[1]);
+			glVertex2f(marker->search_min[0], marker->search_min[1]);
+			glVertex2f(marker->search_max[0], marker->search_min[1]);
+			glVertex2f(marker->search_max[0], marker->search_max[1]);
+			glVertex2f(marker->search_min[0], marker->search_max[1]);
 		glEnd();
 	}
 	glPopMatrix();
@@ -556,8 +559,7 @@ static void draw_marker_areas(SpaceClip *sc, MovieTrackingTrack *track, MovieTra
 
 	/* marker position and offset position */
 	if ((track->flag & SELECT) == sel && (marker->flag & MARKER_DISABLED) == 0) {
-		float pos[2];
-		rctf r;
+		float pos[2], p[2];
 
 		if (track->flag & TRACK_LOCKED) {
 			if (act)
@@ -574,11 +576,14 @@ static void draw_marker_areas(SpaceClip *sc, MovieTrackingTrack *track, MovieTra
 				glColor3fv(col);
 		}
 
-		BLI_init_rctf(&r, track->pat_min[0], track->pat_max[0], track->pat_min[1], track->pat_max[1]);
 		add_v2_v2v2(pos, marker->pos, track->offset);
 		ED_clip_point_undistorted_pos(sc, pos, pos);
 
-		if (BLI_in_rctf(&r, pos[0] - marker_pos[0], pos[1] - marker_pos[1])) {
+		sub_v2_v2v2(p, pos, marker_pos);
+
+		if (isect_point_quad_v2(p, marker->pattern_corners[0], marker->pattern_corners[1],
+		                        marker->pattern_corners[2], marker->pattern_corners[3]))
+		{
 			if (!tiny)
 				glPointSize(2.0f);
 
@@ -651,10 +656,10 @@ static void draw_marker_areas(SpaceClip *sc, MovieTrackingTrack *track, MovieTra
 		}
 
 		glBegin(GL_LINE_LOOP);
-			glVertex2f(track->pat_min[0], track->pat_min[1]);
-			glVertex2f(track->pat_max[0], track->pat_min[1]);
-			glVertex2f(track->pat_max[0], track->pat_max[1]);
-			glVertex2f(track->pat_min[0], track->pat_max[1]);
+			glVertex2fv(marker->pattern_corners[0]);
+			glVertex2fv(marker->pattern_corners[1]);
+			glVertex2fv(marker->pattern_corners[2]);
+			glVertex2fv(marker->pattern_corners[3]);
 		glEnd();
 	}
 
@@ -684,70 +689,82 @@ static void draw_marker_areas(SpaceClip *sc, MovieTrackingTrack *track, MovieTra
 		}
 
 		glBegin(GL_LINE_LOOP);
-			glVertex2f(track->search_min[0], track->search_min[1]);
-			glVertex2f(track->search_max[0], track->search_min[1]);
-			glVertex2f(track->search_max[0], track->search_max[1]);
-			glVertex2f(track->search_min[0], track->search_max[1]);
+			glVertex2f(marker->search_min[0], marker->search_min[1]);
+			glVertex2f(marker->search_max[0], marker->search_min[1]);
+			glVertex2f(marker->search_max[0], marker->search_max[1]);
+			glVertex2f(marker->search_min[0], marker->search_max[1]);
 		glEnd();
 	}
 
-	/* pyramid */
-	if (sel && TRACK_VIEW_SELECTED(sc, track) &&
-	    (track->tracker == TRACKER_KLT) &&
-		(marker->flag & MARKER_DISABLED) == 0)
-	{
-		if (track->flag & TRACK_LOCKED) {
-			if (act)
-				UI_ThemeColor(TH_ACT_MARKER);
-			else if (track->pat_flag & SELECT)
-				UI_ThemeColorShade(TH_LOCK_MARKER, 64);
-			else UI_ThemeColor(TH_LOCK_MARKER);
-		}
-		else if (marker->flag & MARKER_DISABLED) {
-			if (act)
-				UI_ThemeColor(TH_ACT_MARKER);
-			else if (track->pat_flag & SELECT)
-				UI_ThemeColorShade(TH_DIS_MARKER, 128);
-			else UI_ThemeColor(TH_DIS_MARKER);
-		}
-		else {
-			if (track->pat_flag & SELECT)
-				glColor3fv(scol);
-			else
-				glColor3fv(col);
-		}
-
-		{
-			int i = 0;
-			glPushMatrix();
-			glEnable(GL_LINE_STIPPLE);
-			for (i = 1; i < track->pyramid_levels; ++i) {
-				glScalef(2.0f, 2.0f, 1.0);
-			}
-			/* only draw a pattern for the coarsest level */
-			glBegin(GL_LINE_LOOP);
-				glVertex2f(track->pat_min[0], track->pat_min[1]);
-				glVertex2f(track->pat_max[0], track->pat_min[1]);
-				glVertex2f(track->pat_max[0], track->pat_max[1]);
-				glVertex2f(track->pat_min[0], track->pat_max[1]);
-			glEnd();
-			glDisable(GL_LINE_STIPPLE);
-			glPopMatrix();
-		}
-	}
-
 	if (tiny)
 		glDisable(GL_LINE_STIPPLE);
 
 	glPopMatrix();
 }
 
+static float get_shortest_pattern_side(MovieTrackingMarker *marker)
+{
+	int i, next;
+	float len = FLT_MAX;
+
+	for (i = 0; i < 4; i++) {
+		float cur_len;
+
+		next = (i + 1) % 4;
+
+		cur_len = len_v2v2(marker->pattern_corners[i], marker->pattern_corners[next]);
+
+		len = MIN2(cur_len, len);
+	}
+
+	return len;
+}
+
+static void draw_marker_slide_square(float x, float y, float dx, float dy, int outline, float px[2])
+{
+	float tdx, tdy;
+
+	tdx = dx;
+	tdy = dy;
+
+	if (outline) {
+		tdx += px[0];
+		tdy += px[1];
+	}
+
+	glBegin(GL_QUADS);
+		glVertex3f(x - tdx, y + tdy, 0.0f);
+		glVertex3f(x + tdx, y + tdy, 0.0f);
+		glVertex3f(x + tdx, y - tdy, 0.0f);
+		glVertex3f(x - tdx, y - tdy, 0.0f);
+	glEnd();
+}
+
+static void draw_marker_slide_triangle(float x, float y, float dx, float dy, int outline, float px[2])
+{
+	float tdx, tdy;
+
+	tdx = dx * 2.0f;
+	tdy = dy * 2.0f;
+
+	if (outline) {
+		tdx += px[0];
+		tdy += px[1];
+	}
+
+	glBegin(GL_TRIANGLES);
+		glVertex3f(x,       y,       0.0f);
+		glVertex3f(x - tdx, y,       0.0f);
+		glVertex3f(x,       y + tdy, 0.0f);
+	glEnd();
+}
+
 static void draw_marker_slide_zones(SpaceClip *sc, MovieTrackingTrack *track, MovieTrackingMarker *marker,
                                     float marker_pos[2], int outline, int sel, int act, int width, int height)
 {
-	float x, y, dx, dy, patdx, patdy, searchdx, searchdy, tdx, tdy;
+	float dx, dy, patdx, patdy, searchdx, searchdy;
 	int tiny = sc->flag & SC_SHOW_TINY_MARKER;
-	float col[3], scol[3], px[2];
+	float col[3], scol[3], px[2], side;
 
 	if ((tiny && outline) || (marker->flag & MARKER_DISABLED))
 		return;
@@ -768,11 +785,12 @@ static void draw_marker_slide_zones(SpaceClip *sc, MovieTrackingTrack *track, Mo
 	dx = 6.0f / width / sc->zoom;
 	dy = 6.0f / height / sc->zoom;
 
-	patdx = MIN2(dx * 2.0f / 3.0f, (track->pat_max[0] - track->pat_min[0]) / 6.0f);
-	patdy = MIN2(dy * 2.0f / 3.0f, (track->pat_max[1] - track->pat_min[1]) / 6.0f);
+	side = get_shortest_pattern_side(marker);
+	patdx = MIN2(dx * 2.0f / 3.0f, side / 6.0f);
+	patdy = MIN2(dy * 2.0f / 3.0f, side * width / height / 6.0f);
 
-	searchdx = MIN2(dx, (track->search_max[0] - track->search_min[0]) / 6.0f);
-	searchdy = MIN2(dy, (track->search_max[1] - track->search_min[1]) / 6.0f);
+	searchdx = MIN2(dx, (marker->search_max[0] - marker->search_min[0]) / 6.0f);
+	searchdy = MIN2(dy, (marker->search_max[1] - marker->search_min[1]) / 6.0f);
 
 	px[0] = 1.0f / sc->zoom / width / sc->scale;
 	px[1] = 1.0f / sc->zoom / height / sc->scale;
@@ -786,41 +804,10 @@ static void draw_marker_slide_zones(SpaceClip *sc, MovieTrackingTrack *track, Mo
 		}
 
 		/* search offset square */
-		x = track->search_min[0];
-		y = track->search_max[1];
-
-		tdx = searchdx;
-		tdy = searchdy;
-
-		if (outline) {
-			tdx += px[0];
-			tdy += px[1];
-		}
-
-		glBegin(GL_QUADS);
-			glVertex3f(x - tdx, y + tdy, 0);
-			glVertex3f(x + tdx, y + tdy, 0);
-			glVertex3f(x + tdx, y - tdy, 0);
-			glVertex3f(x - tdx, y - tdy, 0);
-		glEnd();
+		draw_marker_slide_square(marker->search_min[0], marker->search_max[1], searchdx, searchdy, outline, px);
 
 		/* search re-sizing triangle */
-		x = track->search_max[0];
-		y = track->search_min[1];
-
-		tdx = searchdx * 2.0f;
-		tdy = searchdy * 2.0f;
-
-		if (outline) {
-			tdx += px[0];
-			tdy += px[1];
-		}
-
-		glBegin(GL_TRIANGLES);
-			glVertex3f(x, y, 0);
-			glVertex3f(x - tdx, y, 0);
-			glVertex3f(x, y + tdy, 0);
-		glEnd();
+		draw_marker_slide_triangle(marker->search_max[0], marker->search_min[1], searchdx, searchdy, outline, px);
 	}
 
 	if ((sc->flag & SC_SHOW_MARKER_PATTERN) && ((track->pat_flag & SELECT) == sel || outline)) {
@@ -831,42 +818,26 @@ static void draw_marker_slide_zones(SpaceClip *sc, MovieTrackingTrack *track, Mo
 				glColor3fv(col);
 		}
 
-		/* pattern offset square */
-		x = track->pat_min[0];
-		y = track->pat_max[1];
+		/* XXX: need to be real check if affine tracking is enabled, but for now not
+		 *      sure how to do this, so assume affine tracker is always enabled */
+		if (TRUE) {
+			int i;
 
-		tdx = patdx;
-		tdy = patdy;
-
-		if (outline) {
-			tdx += px[0];
-			tdy += px[1];
+			/* pattern's corners sliding squares */
+			for (i = 0; i < 4; i++) {
+				draw_marker_slide_square(marker->pattern_corners[i][0], marker->pattern_corners[i][1],
+				                         patdx / 1.5f, patdy / 1.5f, outline, px);
+			}
 		}
+		else {
+			/* pattern offset square */
+			draw_marker_slide_square(marker->pattern_corners[3][0], marker->pattern_corners[3][1],
+			                         patdx, patdy, outline, px);
 
-		glBegin(GL_QUADS);
-			glVertex3f(x - tdx, y + tdy, 0);
-			glVertex3f(x + tdx, y + tdy, 0);
-			glVertex3f(x + tdx, y - tdy, 0);
-			glVertex3f(x - tdx, y - tdy, 0);
-		glEnd();
-
-		/* pattern re-sizing triangle */
-		x = track->pat_max[0];
-		y = track->pat_min[1];
-
-		tdx = patdx*2.0f;
-		tdy = patdy*2.0f;
-
-		if (outline) {
-			tdx += px[0];
-			tdy += px[1];
+			/* pattern re-sizing triangle */
+			draw_marker_slide_triangle(marker->pattern_corners[1][0], marker->pattern_corners[1][1],
+			                           patdx, patdy, outline, px);
 		}
-
-		glBegin(GL_TRIANGLES);
-			glVertex3f(x, y, 0);
-			glVertex3f(x - tdx, y, 0);
-			glVertex3f(x, y + tdy, 0);
-		glEnd();
 	}
 
 	glPopMatrix();
@@ -905,12 +876,15 @@ static void draw_marker_texts(SpaceClip *sc, MovieTrackingTrack *track, MovieTra
 	if ((sc->flag & SC_SHOW_MARKER_SEARCH) &&
 	   ((marker->flag & MARKER_DISABLED) == 0 || (sc->flag & SC_SHOW_MARKER_PATTERN) == 0))
 	{
-		dx = track->search_min[0];
-		dy = track->search_min[1];
+		dx = marker->search_min[0];
+		dy = marker->search_min[1];
 	}
 	else if (sc->flag & SC_SHOW_MARKER_PATTERN) {
-		dx = track->pat_min[0];
-		dy = track->pat_min[1];
+		float pat_min[2], pat_max[2];
+
+		BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
+		dx = pat_min[0];
+		dy = pat_min[1];
 	}
 
 	pos[0] = (marker_pos[0] + dx) * width;
diff --git a/source/blender/editors/space_clip/space_clip.c b/source/blender/editors/space_clip/space_clip.c
index a49319abd20..54724881e37 100644
--- a/source/blender/editors/space_clip/space_clip.c
+++ b/source/blender/editors/space_clip/space_clip.c
@@ -306,6 +306,9 @@ static void clip_free(SpaceLink *sl)
 	if (sc->scopes.track_preview)
 		IMB_freeImBuf(sc->scopes.track_preview);
 
+	if (sc->scopes.track_search)
+		IMB_freeImBuf(sc->scopes.track_search);
+
 	ED_space_clip_free_texture_buffer(sc);
 }
 
@@ -323,6 +326,7 @@ static SpaceLink *clip_duplicate(SpaceLink *sl)
 	SpaceClip *scn = MEM_dupallocN(sl);
 
 	/* clear or remove stuff from old */
+	scn->scopes.track_search = NULL;
 	scn->scopes.track_preview = NULL;
 	scn->scopes.ok = FALSE;
 	scn->draw_context = NULL;
diff --git a/source/blender/editors/space_clip/tracking_ops.c b/source/blender/editors/space_clip/tracking_ops.c
index 08fc84d193c..f6e9622f0a5 100644
--- a/source/blender/editors/space_clip/tracking_ops.c
+++ b/source/blender/editors/space_clip/tracking_ops.c
@@ -79,6 +79,8 @@
 
 #include "clip_intern.h"	// own include
 
+static float dist_to_crns(float co[2], float pos[2], float crns[4][2]);
+
 /********************** add marker operator *********************/
 
 static void add_marker(SpaceClip *sc, float x, float y)
@@ -260,15 +262,16 @@ typedef struct {
 
 	int mval[2];
 	int width, height;
-	float *min, *max, *pos, *offset;
-	float smin[2], smax[2], spos[2], soff[2];
+	float *min, *max, *pos, *offset, (*corners)[2];
+	float smin[2], smax[2], spos[2], soff[2], scorners[4][2];
 	float (*smarkers)[2];
 
-	int lock, accurate;
+	int lock, accurate, scale;
 } SlideMarkerData;
 
 static SlideMarkerData *create_slide_marker_data(SpaceClip *sc, MovieTrackingTrack *track,
-			MovieTrackingMarker *marker, wmEvent *event, int area, int action, int width, int height)
+                                                 MovieTrackingMarker *marker, wmEvent *event,
+												 int area, int corner, int action, int width, int height)
 {
 	SlideMarkerData *data = MEM_callocN(sizeof(SlideMarkerData), "slide marker data");
 	int framenr = ED_space_clip_clip_framenr(sc);
@@ -288,10 +291,9 @@ static SlideMarkerData *create_slide_marker_data(SpaceClip *sc, MovieTrackingTra
 	}
 	else if (area == TRACK_AREA_PAT) {
 		if (action == SLIDE_ACTION_SIZE) {
-			data->min = track->pat_min;
-			data->max = track->pat_max;
+			data->corners = marker->pattern_corners;
 		}
-		else {
+		else if (action == SLIDE_ACTION_OFFSET) {
 			int a;
 
 			data->pos = marker->pos;
@@ -303,15 +305,28 @@ static SlideMarkerData *create_slide_marker_data(SpaceClip *sc, MovieTrackingTra
 			for (a = 0; a < track->markersnr; a++)
 				copy_v2_v2(data->smarkers[a], track->markers[a].pos);
 		}
+		else if (action == SLIDE_ACTION_POS) {
+			data->corners = marker->pattern_corners;
+			data->pos = marker->pattern_corners[corner];
+
+			copy_v2_v2(data->spos, data->pos);
+		}
 	}
 	else if (area == TRACK_AREA_SEARCH) {
-		data->min = track->search_min;
-		data->max = track->search_max;
+		data->min = marker->search_min;
+		data->max = marker->search_max;
 	}
 
-	if (area == TRACK_AREA_SEARCH || (area == TRACK_AREA_PAT && action != SLIDE_ACTION_OFFSET)) {
-		copy_v2_v2(data->smin, data->min);
-		copy_v2_v2(data->smax, data->max);
+	if ((area == TRACK_AREA_SEARCH) ||
+		(area == TRACK_AREA_PAT && action != SLIDE_ACTION_OFFSET))
+	{
+		if (data->corners) {
+			memcpy(data->scorners, data->corners, sizeof(data->scorners));
+		}
+		else {
+			copy_v2_v2(data->smin, data->min);
+			copy_v2_v2(data->smax, data->max);
+		}
 	}
 
 	data->mval[0] = event->mval[0];
@@ -326,9 +341,7 @@ static SlideMarkerData *create_slide_marker_data(SpaceClip *sc, MovieTrackingTra
 	return data;
 }
 
-/* corner = 0: right-bottom corner,
- * corner = 1: left-top corner */
-static int mouse_on_corner(SpaceClip *sc, MovieTrackingTrack *track, MovieTrackingMarker *marker,
+static int mouse_on_corner(SpaceClip *sc, MovieTrackingMarker *marker,
                            int area, float co[2], int corner, int width, int height)
 {
 	int inside = 0;
@@ -337,12 +350,11 @@ static int mouse_on_corner(SpaceClip *sc, MovieTrackingTrack *track, MovieTracki
 	float crn[2], dx, dy, tdx, tdy;
 
 	if (area == TRACK_AREA_SEARCH) {
-		copy_v2_v2(min, track->search_min);
-		copy_v2_v2(max, track->search_max);
+		copy_v2_v2(min, marker->search_min);
+		copy_v2_v2(max, marker->search_max);
 	}
 	else {
-		copy_v2_v2(min, track->pat_min);
-		copy_v2_v2(max, track->pat_max);
+		BKE_tracking_marker_pattern_minmax(marker, min, max);
 	}
 
 	dx = size / width / sc->zoom;
@@ -370,22 +382,95 @@ static int mouse_on_corner(SpaceClip *sc, MovieTrackingTrack *track, MovieTracki
 	return inside;
 }
 
+static int get_mouse_pattern_corner(SpaceClip *sc, MovieTrackingMarker *marker, float co[2], int width, int height)
+{
+	int i, next;
+	float len = FLT_MAX, dx, dy;
+
+	for (i = 0; i < 4; i++) {
+		float cur_len;
+
+		next = (i + 1) % 4;
+
+		cur_len = len_v2v2(marker->pattern_corners[i], marker->pattern_corners[next]);
+
+		len = MIN2(cur_len, len);
+	}
+
+	dx = 6.0f / width / sc->zoom;
+	dy = 6.0f / height / sc->zoom;
+
+	dx = MIN2(dx * 2.0f / 3.0f, len / 6.0f);
+	dy = MIN2(dy * 2.0f / 3.0f, len * width / height / 6.0f);
+
+	for (i = 0; i < 4; i++) {
+		float crn[2];
+		int inside;
+
+		add_v2_v2v2(crn, marker->pattern_corners[i], marker->pos);
+
+		inside = IN_RANGE_INCL(co[0], crn[0] - dx, crn[0] + dx) &&
+		         IN_RANGE_INCL(co[1], crn[1] - dy, crn[1] + dy);
+
+		if (inside)
+			return i;
+	}
+
+	return -1;
+}
+
 static int mouse_on_offset(SpaceClip *sc, MovieTrackingTrack *track, MovieTrackingMarker *marker,
-			float co[2], int width, int height)
+                           float co[2], int width, int height)
 {
 	float pos[2], dx, dy;
+	float pat_min[2], pat_max[2];
+
+	BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
 
 	add_v2_v2v2(pos, marker->pos, track->offset);
 
 	dx = 12.0f / width / sc->zoom;
 	dy = 12.0f / height / sc->zoom;
 
-	dx = MIN2(dx, (track->pat_max[0] - track->pat_min[0]) / 2.0f);
-	dy = MIN2(dy, (track->pat_max[1] - track->pat_min[1]) / 2.0f);
+	dx = MIN2(dx, (pat_max[0] - pat_min[0]) / 2.0f);
+	dy = MIN2(dy, (pat_max[1] - pat_min[1]) / 2.0f);
 
 	return co[0] >= pos[0] - dx && co[0] <= pos[0] + dx && co[1] >= pos[1] - dy && co[1] <= pos[1] + dy;
 }
 
+static int slide_check_corners(float (*corners)[2])
+{
+	int i, next, prev;
+	float cross = 0.0f;
+	float p[2] = {0.0f, 0.0f};
+
+	if (!isect_point_quad_v2(p, corners[0], corners[1], corners[2], corners[3]))
+		return FALSE;
+
+	for (i = 0; i < 4; i++) {
+		float v1[2], v2[2], cur_cross;
+
+		next = (i + 1) % 4;
+		prev = (4 + i - 1) % 4;
+
+		sub_v2_v2v2(v1, corners[i], corners[prev]);
+		sub_v2_v2v2(v2, corners[next], corners[i]);
+
+		cur_cross = cross_v2v2(v1, v2);
+
+		if (fabsf(cur_cross) > FLT_EPSILON) {
+			if (cross == 0.0f) {
+				cross = cur_cross;
+			}
+			else if (cross * cur_cross < 0.0f) {
+				return FALSE;
+			}
+		}
+	}
+
+	return TRUE;
+}
+
 static void hide_cursor(bContext *C)
 {
 	wmWindow *win = CTX_wm_window(C);
@@ -424,28 +509,45 @@ static void *slide_marker_customdata(bContext *C, wmEvent *event)
 			MovieTrackingMarker *marker = BKE_tracking_get_marker(track, framenr);
 
 			if ((marker->flag & MARKER_DISABLED) == 0) {
-				if (!customdata)
+				if (!customdata) {
 					if (mouse_on_offset(sc, track, marker, co, width, height))
-						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_POINT,
+						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_POINT, 0,
 						                                      SLIDE_ACTION_POS, width, height);
+				}
 
 				if (sc->flag & SC_SHOW_MARKER_SEARCH) {
-					if (mouse_on_corner(sc, track, marker, TRACK_AREA_SEARCH, co, 1, width, height))
-						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_SEARCH,
+					if (mouse_on_corner(sc, marker, TRACK_AREA_SEARCH, co, 1, width, height)) {
+						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_SEARCH, 0,
 						                                      SLIDE_ACTION_OFFSET, width, height);
-					else if (mouse_on_corner(sc, track, marker, TRACK_AREA_SEARCH, co, 0, width, height))
-						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_SEARCH,
+					}
+					else if (mouse_on_corner(sc, marker, TRACK_AREA_SEARCH, co, 0, width, height)) {
+						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_SEARCH, 0,
 						                                      SLIDE_ACTION_SIZE, width, height);
+					}
 				}
 
 				if (!customdata && (sc->flag & SC_SHOW_MARKER_PATTERN)) {
-					if (mouse_on_corner(sc, track, marker, TRACK_AREA_PAT, co, 1,  width, height))
-						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_PAT,
-                                                              SLIDE_ACTION_OFFSET, width, height);
-
-					if (!customdata && mouse_on_corner(sc, track, marker, TRACK_AREA_PAT, co, 0, width, height))
-						customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_PAT,
-						                                      SLIDE_ACTION_SIZE, width, height);
+					/* XXX: need to be real check if affine tracking is enabled, but for now not
+					 *      sure how to do this, so assume affine tracker is always enabled */
+					if (TRUE) {
+						int corner = get_mouse_pattern_corner(sc, marker, co, width, height);
+
+						if (corner != -1) {
+							customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_PAT, corner,
+							                                      SLIDE_ACTION_POS, width, height);
+						}
+					}
+					else {
+						if (mouse_on_corner(sc, marker, TRACK_AREA_PAT, co, 1,  width, height)) {
+							customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_PAT, 0,
+							                                      SLIDE_ACTION_OFFSET, width, height);
+						}
+
+						if (!customdata && mouse_on_corner(sc, marker, TRACK_AREA_PAT, co, 0, width, height)) {
+							customdata = create_slide_marker_data(sc, track, marker, event, TRACK_AREA_PAT, 0,
+							                                      SLIDE_ACTION_SIZE, width, height);
+						}
+					}
 				}
 
 				if (customdata)
@@ -493,9 +595,16 @@ static void cancel_mouse_slide(SlideMarkerData *data)
 			copy_v2_v2(data->pos, data->spos);
 	}
 	else {
-		if (data->action == SLIDE_ACTION_SIZE) {
-			copy_v2_v2(data->min, data->smin);
-			copy_v2_v2(data->max, data->smax);
+		if ((data->action == SLIDE_ACTION_SIZE) ||
+		    (data->action == SLIDE_ACTION_POS && data->area == TRACK_AREA_PAT))
+		{
+			if (data->corners) {
+				memcpy(data->corners, data->scorners, sizeof(data->scorners));
+			}
+			else {
+				copy_v2_v2(data->min, data->smin);
+				copy_v2_v2(data->max, data->smax);
+			}
 		}
 		else {
 			int a;
@@ -531,6 +640,10 @@ static int slide_marker_modal(bContext *C, wmOperator *op, wmEvent *event)
 				if (ELEM(event->type, LEFTCTRLKEY, RIGHTCTRLKEY))
 					data->lock = event->val == KM_RELEASE;
 
+			if (data->action == SLIDE_ACTION_POS)
+				if (ELEM(event->type, LEFTCTRLKEY, RIGHTCTRLKEY))
+					data->scale = event->val == KM_PRESS;
+
 			if (ELEM(event->type, LEFTSHIFTKEY, RIGHTSHIFTKEY))
 				data->accurate = event->val == KM_PRESS;
 
@@ -560,8 +673,6 @@ static int slide_marker_modal(bContext *C, wmOperator *op, wmEvent *event)
 				else {
 					data->pos[0] = data->spos[0] + dx;
 					data->pos[1] = data->spos[1] + dy;
-
-					data->marker->flag &= ~MARKER_TRACKED;
 				}
 
 				WM_event_add_notifier(C, NC_OBJECT | ND_TRANSFORM, NULL);
@@ -569,18 +680,33 @@ static int slide_marker_modal(bContext *C, wmOperator *op, wmEvent *event)
 			}
 			else {
 				if (data->action == SLIDE_ACTION_SIZE) {
-					data->min[0] = data->smin[0] - dx;
-					data->max[0] = data->smax[0] + dx;
+					if (data->corners) {
+						data->corners[0][0] = data->scorners[0][0] - dx;
+						data->corners[0][1] = data->scorners[0][1] + dy;
+
+						data->corners[1][0] = data->scorners[1][0] + dx;
+						data->corners[1][1] = data->scorners[1][1] + dy;
 
-					data->min[1] = data->smin[1] + dy;
-					data->max[1] = data->smax[1] - dy;
+						data->corners[2][0] = data->scorners[2][0] + dx;
+						data->corners[2][1] = data->scorners[2][1] - dy;
+
+						data->corners[3][0] = data->scorners[3][0] - dx;
+						data->corners[3][1] = data->scorners[3][1] - dy;
+					}
+					else {
+						data->min[0] = data->smin[0] - dx;
+						data->max[0] = data->smax[0] + dx;
+
+						data->min[1] = data->smin[1] + dy;
+						data->max[1] = data->smax[1] - dy;
+					}
 
 					if (data->area == TRACK_AREA_SEARCH)
-						BKE_tracking_clamp_track(data->track, CLAMP_SEARCH_DIM);
+						BKE_tracking_clamp_marker(data->marker, CLAMP_SEARCH_DIM);
 					else
-						BKE_tracking_clamp_track(data->track, CLAMP_PAT_DIM);
+						BKE_tracking_clamp_marker(data->marker, CLAMP_PAT_DIM);
 				}
-				else {
+				else if (data->action == SLIDE_ACTION_OFFSET) {
 					float d[2] = {dx, dy};
 
 					if (data->area == TRACK_AREA_SEARCH) {
@@ -597,10 +723,43 @@ static int slide_marker_modal(bContext *C, wmOperator *op, wmEvent *event)
 					}
 
 					if (data->area == TRACK_AREA_SEARCH)
-						BKE_tracking_clamp_track(data->track, CLAMP_SEARCH_POS);
+						BKE_tracking_clamp_marker(data->marker, CLAMP_SEARCH_POS);
+				}
+				else if (data->action == SLIDE_ACTION_POS) {
+					if (data->scale) {
+						float scale = 1.0f + 10.0f * (dx - dy);
+
+						if (scale > 0.0f) {
+							int a;
+
+							for (a = 0; a < 4; a++) {
+								mul_v2_v2fl(data->corners[a], data->scorners[a], scale);
+							}
+						}
+					}
+					else {
+						float spos[2];
+
+						copy_v2_v2(spos, data->pos);
+
+						/* corners might've been scaled before, restore their original position */
+						memcpy(data->corners, data->scorners, sizeof(data->scorners));
+
+						data->pos[0] = data->spos[0] + dx;
+						data->pos[1] = data->spos[1] + dy;
+
+						if (!slide_check_corners(data->corners)) {
+							copy_v2_v2(data->pos, spos);
+						}
+					}
+
+					/* currently only patterns are allowed to have such combination of event and data */
+					BKE_tracking_clamp_marker(data->marker, CLAMP_PAT_DIM);
 				}
 			}
 
+			data->marker->flag &= ~MARKER_TRACKED;
+
 			WM_event_add_notifier(C, NC_MOVIECLIP | NA_EDITED, NULL);
 
 			break;
@@ -673,31 +832,41 @@ static int mouse_on_rect(float co[2], float pos[2], float min[2], float max[2],
 	       mouse_on_side(co, pos[0] + max[0], pos[1] + min[1], pos[0] + max[0], pos[1] + max[1], epsx, epsy);
 }
 
+static int mouse_on_crns(float co[2], float pos[2], float crns[4][2], float epsx, float epsy)
+{
+	float dist = dist_to_crns(co, pos, crns);
+
+	return dist < MAX2(epsx, epsy);
+}
+
 static int track_mouse_area(SpaceClip *sc, float co[2], MovieTrackingTrack *track)
 {
 	int framenr = ED_space_clip_clip_framenr(sc);
 	MovieTrackingMarker *marker = BKE_tracking_get_marker(track, framenr);
+	float pat_min[2], pat_max[2];
 	float epsx, epsy;
 	int width, height;
 
 	ED_space_clip_size(sc, &width, &height);
 
-	epsx = MIN4(track->pat_min[0] - track->search_min[0], track->search_max[0] - track->pat_max[0],
-	           fabsf(track->pat_min[0]), fabsf(track->pat_max[0])) / 2;
-	epsy = MIN4(track->pat_min[1] - track->search_min[1], track->search_max[1] - track->pat_max[1],
-	           fabsf(track->pat_min[1]), fabsf(track->pat_max[1])) / 2;
+	BKE_tracking_marker_pattern_minmax(marker, pat_min, pat_max);
+
+	epsx = MIN4(pat_min[0] - marker->search_min[0], marker->search_max[0] - pat_max[0],
+	            fabsf(pat_min[0]), fabsf(pat_max[0])) / 2;
+	epsy = MIN4(pat_min[1] - marker->search_min[1], marker->search_max[1] - pat_max[1],
+	            fabsf(pat_min[1]), fabsf(pat_max[1])) / 2;
 
 	epsx = MAX2(epsx, 2.0f / width);
 	epsy = MAX2(epsy, 2.0f / height);
 
 	if (sc->flag & SC_SHOW_MARKER_SEARCH) {
-		if (mouse_on_rect(co, marker->pos, track->search_min, track->search_max, epsx, epsy))
+		if (mouse_on_rect(co, marker->pos, marker->search_min, marker->search_max, epsx, epsy))
 			return TRACK_AREA_SEARCH;
 	}
 
 	if ((marker->flag & MARKER_DISABLED) == 0) {
 		if (sc->flag & SC_SHOW_MARKER_PATTERN)
-			if (mouse_on_rect(co, marker->pos, track->pat_min, track->pat_max, epsx, epsy))
+			if (mouse_on_crns(co, marker->pos, marker->pattern_corners, epsx, epsy))
 				return TRACK_AREA_PAT;
 
 		epsx = 12.0f / width;
@@ -728,6 +897,21 @@ static float dist_to_rect(float co[2], float pos[2], float min[2], float max[2])
 	return MIN4(d1, d2, d3, d4);
 }
 
+static float dist_to_crns(float co[2], float pos[2], float crns[4][2])
+{
+	float d1, d2, d3, d4;
+	float p[2] = {co[0] - pos[0], co[1] - pos[1]};
+	float *v1 = crns[0], *v2 = crns[1],
+	      *v3 = crns[2], *v4 = crns[3];
+
+	d1 = dist_to_line_segment_v2(p, v1, v2);
+	d2 = dist_to_line_segment_v2(p, v2, v3);
+	d3 = dist_to_line_segment_v2(p, v3, v4);
+	d4 = dist_to_line_segment_v2(p, v4, v1);
+
+	return MIN4(d1, d2, d3, d4);
+}
+
 static MovieTrackingTrack *find_nearest_track(SpaceClip *sc, ListBase *tracksbase, float co[2])
 {
 	MovieTrackingTrack *track = NULL, *cur;
@@ -743,15 +927,15 @@ static MovieTrackingTrack *find_nearest_track(SpaceClip *sc, ListBase *tracksbas
 
 			/* distance to marker point */
 			d1 = sqrtf((co[0] - marker->pos[0] - cur->offset[0]) * (co[0] - marker->pos[0] - cur->offset[0]) +
-					  (co[1] - marker->pos[1] - cur->offset[1]) * (co[1] - marker->pos[1] - cur->offset[1]));
+					   (co[1] - marker->pos[1] - cur->offset[1]) * (co[1] - marker->pos[1] - cur->offset[1]));
 
 			/* distance to pattern boundbox */
 			if (sc->flag & SC_SHOW_MARKER_PATTERN)
-				d2 = dist_to_rect(co, marker->pos, cur->pat_min, cur->pat_max);
+				d2 = dist_to_crns(co, marker->pos, marker->pattern_corners);
 
 			/* distance to search boundbox */
 			if (sc->flag & SC_SHOW_MARKER_SEARCH && TRACK_VIEW_SELECTED(sc, cur))
-				d3 = dist_to_rect(co, marker->pos, cur->search_min, cur->search_max);
+				d3 = dist_to_rect(co, marker->pos, marker->search_min, marker->search_max);
 
 			/* choose minimal distance. useful for cases of overlapped markers. */
 			dist = MIN3(d1, d2, d3);
@@ -861,7 +1045,8 @@ void CLIP_OT_select(wmOperatorType *ot)
 	/* api callbacks */
 	ot->exec = select_exec;
 	ot->invoke = select_invoke;
-	ot->poll = ED_space_clip_tracking_poll;
+	//ot->poll = ED_space_clip_tracking_poll; // so mask view can Ctrl+RMB markers
+	ot->poll = ED_space_clip_view_clip_poll;
 
 	/* flags */
 	ot->flag = OPTYPE_UNDO;
diff --git a/source/blender/editors/transform/transform.c b/source/blender/editors/transform/transform.c
index ea86083fac4..d41294c7875 100644
--- a/source/blender/editors/transform/transform.c
+++ b/source/blender/editors/transform/transform.c
@@ -815,6 +815,14 @@ int transformEvent(TransInfo *t, wmEvent *event)
 					initSnapping(t, NULL); // need to reinit after mode change
 					t->redraw |= TREDRAW_HARD;
 				}
+				else if (t->mode == TFM_RESIZE) {
+					if (t->options & CTX_MOVIECLIP) {
+						restoreTransObjects(t);
+
+						t->flag ^= T_ALT_TRANSFORM;
+						t->redraw |= TREDRAW_HARD;
+					}
+				}
 				break;
 				
 			case TFM_MODAL_SNAP_INV_ON:
@@ -2730,6 +2738,9 @@ static void ElementResize(TransInfo *t, TransData *td, float mat[3][3])
 	{
 		copy_v3_v3(center, td->center);
 	}
+	else if (t->options & CTX_MOVIECLIP) {
+		copy_v3_v3(center, td->center);
+	}
 	else {
 		copy_v3_v3(center, t->center);
 	}
@@ -3103,6 +3114,10 @@ static void ElementRotation(TransInfo *t, TransData *td, float mat[3][3], short
 		{
 			center = td->center;
 		}
+
+		if (t->options & CTX_MOVIECLIP) {
+			center = td->center;
+		}
 	}
 
 	if (t->flag & T_POINTS) {
diff --git a/source/blender/editors/transform/transform_conversions.c b/source/blender/editors/transform/transform_conversions.c
index ce65127c896..007ec3c5250 100644
--- a/source/blender/editors/transform/transform_conversions.c
+++ b/source/blender/editors/transform/transform_conversions.c
@@ -5588,23 +5588,24 @@ typedef struct TransDataTracking {
 	short coord;
 } TransDataTracking;
 
-static void markerToTransDataInit(TransData *td, TransData2D *td2d, TransDataTracking *tdt, MovieTrackingTrack *track,
-                                  int area, float loc[2], float rel[2], const float off[2])
+static void markerToTransDataInit(TransData *td, TransData2D *td2d, TransDataTracking *tdt,
+                                  MovieTrackingTrack *track, MovieTrackingMarker *marker,
+                                  int area, float loc[2], float rel[2], const float off[2], float aspx, float aspy)
 {
 	int anchor = area == TRACK_AREA_POINT && off;
 
 	tdt->mode = transDataTracking_ModeTracks;
 
 	if (anchor) {
-		td2d->loc[0] = rel[0]; /* hold original location */
-		td2d->loc[1] = rel[1];
+		td2d->loc[0] = rel[0] * aspx; /* hold original location */
+		td2d->loc[1] = rel[1] * aspy;
 
 		tdt->loc= loc;
 		td2d->loc2d = loc; /* current location */
 	}
 	else {
-		td2d->loc[0] = loc[0]; /* hold original location */
-		td2d->loc[1] = loc[1];
+		td2d->loc[0] = loc[0] * aspx; /* hold original location */
+		td2d->loc[1] = loc[1] * aspy;
 
 		td2d->loc2d = loc; /* current location */
 	}
@@ -5618,8 +5619,8 @@ static void markerToTransDataInit(TransData *td, TransData2D *td2d, TransDataTra
 
 	if (rel) {
 		if (!anchor) {
-			td2d->loc[0] += rel[0];
-			td2d->loc[1] += rel[1];
+			td2d->loc[0] += rel[0] * aspx;
+			td2d->loc[1] += rel[1] * aspy;
 		}
 
 		copy_v2_v2(tdt->srelative, rel);
@@ -5630,9 +5631,12 @@ static void markerToTransDataInit(TransData *td, TransData2D *td2d, TransDataTra
 
 	td->flag = 0;
 	td->loc = td2d->loc;
-	copy_v3_v3(td->center, td->loc);
 	copy_v3_v3(td->iloc, td->loc);
 
+	//copy_v3_v3(td->center, td->loc);
+	td->center[0] = marker->pos[0] * aspx;
+	td->center[1] = marker->pos[1] * aspy;
+
 	memset(td->axismtx, 0, sizeof(td->axismtx));
 	td->axismtx[2][2] = 1.0f;
 
@@ -5647,27 +5651,37 @@ static void markerToTransDataInit(TransData *td, TransData2D *td2d, TransDataTra
 }
 
 static void trackToTransData(SpaceClip *sc, TransData *td, TransData2D *td2d,
-                             TransDataTracking *tdt, MovieTrackingTrack *track)
+                             TransDataTracking *tdt, MovieTrackingTrack *track, float aspx, float aspy)
 {
 	int framenr = ED_space_clip_clip_framenr(sc);
 	MovieTrackingMarker *marker = BKE_tracking_ensure_marker(track, framenr);
 
 	tdt->flag = marker->flag;
-	marker->flag &= ~(MARKER_DISABLED|MARKER_TRACKED);
+	marker->flag &= ~(MARKER_DISABLED | MARKER_TRACKED);
 
-	markerToTransDataInit(td++, td2d++, tdt++, track, TRACK_AREA_POINT, track->offset, marker->pos, track->offset);
+	markerToTransDataInit(td++, td2d++, tdt++, track, marker, TRACK_AREA_POINT,
+	                      track->offset, marker->pos, track->offset, aspx, aspy);
 
-	if (track->flag & SELECT)
-		markerToTransDataInit(td++, td2d++, tdt++, track, TRACK_AREA_POINT, marker->pos, NULL, NULL);
+	if (track->flag & SELECT) {
+		markerToTransDataInit(td++, td2d++, tdt++, track, marker, TRACK_AREA_POINT,
+		                      marker->pos, NULL, NULL, aspx, aspy);
+	}
 
 	if (track->pat_flag & SELECT) {
-		markerToTransDataInit(td++, td2d++, tdt++, track, TRACK_AREA_PAT, track->pat_min, marker->pos, NULL);
-		markerToTransDataInit(td++, td2d++, tdt++, track, TRACK_AREA_PAT, track->pat_max, marker->pos, NULL);
+		int a;
+
+		for (a = 0; a < 4; a++) {
+			markerToTransDataInit(td++, td2d++, tdt++, track, marker, TRACK_AREA_PAT,
+			                      marker->pattern_corners[a], marker->pos, NULL, aspx, aspy);
+		}
 	}
 
 	if (track->search_flag & SELECT) {
-		markerToTransDataInit(td++, td2d++, tdt++, track, TRACK_AREA_SEARCH, track->search_min, marker->pos, NULL);
-		markerToTransDataInit(td++, td2d++, tdt++, track, TRACK_AREA_SEARCH, track->search_max, marker->pos, NULL);
+		markerToTransDataInit(td++, td2d++, tdt++, track, marker, TRACK_AREA_SEARCH,
+		                      marker->search_min, marker->pos, NULL, aspx, aspy);
+
+		markerToTransDataInit(td++, td2d++, tdt++, track, marker, TRACK_AREA_SEARCH,
+		                      marker->search_max, marker->pos, NULL, aspx, aspy);
 	}
 }
 
@@ -5694,6 +5708,7 @@ static void createTransTrackingTracksData(bContext *C, TransInfo *t)
 	MovieTrackingMarker *marker;
 	TransDataTracking *tdt;
 	int framenr = ED_space_clip_clip_framenr(sc);
+	float aspx, aspy;
 
 	/* count */
 	t->total = 0;
@@ -5709,7 +5724,7 @@ static void createTransTrackingTracksData(bContext *C, TransInfo *t)
 				t->total++;
 
 			if (track->pat_flag & SELECT)
-				t->total+= 2;
+				t->total+= 4;
 
 			if (track->search_flag & SELECT)
 				t->total+= 2;
@@ -5721,6 +5736,8 @@ static void createTransTrackingTracksData(bContext *C, TransInfo *t)
 	if (t->total == 0)
 		return;
 
+	ED_space_clip_aspect_dimension_aware(sc, &aspx, &aspy);
+
 	td = t->data = MEM_callocN(t->total*sizeof(TransData), "TransTracking TransData");
 	td2d = t->data2d = MEM_callocN(t->total*sizeof(TransData2D), "TransTracking TransData2D");
 	tdt = t->customData = MEM_callocN(t->total*sizeof(TransDataTracking), "TransTracking TransDataTracking");
@@ -5733,25 +5750,23 @@ static void createTransTrackingTracksData(bContext *C, TransInfo *t)
 		if (TRACK_VIEW_SELECTED(sc, track) && (track->flag & TRACK_LOCKED) == 0) {
 			marker = BKE_tracking_get_marker(track, framenr);
 
-			trackToTransData(sc, td, td2d, tdt, track);
+			trackToTransData(sc, td, td2d, tdt, track, aspx, aspy);
 
 			/* offset */
 			td++;
 			td2d++;
 			tdt++;
 
-			if ((marker->flag & MARKER_DISABLED) == 0) {
-				if (track->flag & SELECT) {
-					td++;
-					td2d++;
-					tdt++;
-				}
+			if (track->flag & SELECT) {
+				td++;
+				td2d++;
+				tdt++;
+			}
 
-				if (track->pat_flag & SELECT) {
-					td += 2;
-					td2d += 2;
-					tdt +=2;
-				}
+			if (track->pat_flag & SELECT) {
+				td += 4;
+				td2d += 4;
+				tdt += 4;
 			}
 
 			if (track->search_flag & SELECT) {
@@ -5903,9 +5918,6 @@ static void createTransTrackingData(bContext *C, TransInfo *t)
 	if (!clip || width == 0 || height == 0)
 		return;
 
-	if (!ELEM(t->mode, TFM_RESIZE, TFM_TRANSLATION))
-		return;
-
 	if (ar->regiontype == RGN_TYPE_PREVIEW) {
 		/* transformation was called from graph editor */
 		createTransTrackingCurvesData(C, t);
@@ -5973,10 +5985,14 @@ static void cancelTransTracking(TransInfo *t)
 
 void flushTransTracking(TransInfo *t)
 {
+	SpaceClip *sc = t->sa->spacedata.first;
 	TransData *td;
 	TransData2D *td2d;
 	TransDataTracking *tdt;
 	int a;
+	float aspx, aspy;
+
+	ED_space_clip_aspect_dimension_aware(sc, &aspx, &aspy);
 
 	if (t->state == TRANS_CANCEL)
 		cancelTransTracking(t);
@@ -5984,31 +6000,46 @@ void flushTransTracking(TransInfo *t)
 	/* flush to 2d vector from internally used 3d vector */
 	for (a=0, td= t->data, td2d= t->data2d, tdt= t->customData; a<t->total; a++, td2d++, td++, tdt++) {
 		if (tdt->mode == transDataTracking_ModeTracks) {
-			if (t->flag & T_ALT_TRANSFORM) {
-				if (tdt->area == TRACK_AREA_POINT && tdt->relative) {
-					float d[2], d2[2];
+			float loc2d[2];
 
-					if (!tdt->smarkers) {
-						tdt->smarkers = MEM_callocN(sizeof(*tdt->smarkers)*tdt->markersnr, "flushTransTracking markers");
-						for (a = 0; a < tdt->markersnr; a++)
-							copy_v2_v2(tdt->smarkers[a], tdt->markers[a].pos);
-					}
+			if (t->mode == TFM_ROTATION && tdt->area == TRACK_AREA_SEARCH) {
+				continue;
+			}
+
+			loc2d[0] = td2d->loc[0] / aspx;
+			loc2d[1] = td2d->loc[1] / aspy;
+
+			if (t->flag & T_ALT_TRANSFORM) {
+				if (t->mode == TFM_RESIZE) {
+					if (tdt->area != TRACK_AREA_PAT)
+						continue;
+				}
+				else if (t->mode == TFM_TRANSLATION) {
+					if (tdt->area == TRACK_AREA_POINT && tdt->relative) {
+						float d[2], d2[2];
+
+						if (!tdt->smarkers) {
+							tdt->smarkers = MEM_callocN(sizeof(*tdt->smarkers)*tdt->markersnr, "flushTransTracking markers");
+							for (a = 0; a < tdt->markersnr; a++)
+								copy_v2_v2(tdt->smarkers[a], tdt->markers[a].pos);
+						}
 
-					sub_v2_v2v2(d, td2d->loc, tdt->soffset);
-					sub_v2_v2(d, tdt->srelative);
+						sub_v2_v2v2(d, loc2d, tdt->soffset);
+						sub_v2_v2(d, tdt->srelative);
 
-					sub_v2_v2v2(d2, td2d->loc, tdt->srelative);
+						sub_v2_v2v2(d2, loc2d, tdt->srelative);
 
-					for (a= 0; a<tdt->markersnr; a++)
-						add_v2_v2v2(tdt->markers[a].pos, tdt->smarkers[a], d2);
+						for (a= 0; a<tdt->markersnr; a++)
+							add_v2_v2v2(tdt->markers[a].pos, tdt->smarkers[a], d2);
 
-					negate_v2_v2(td2d->loc2d, d);
+						negate_v2_v2(td2d->loc2d, d);
+					}
 				}
 			}
 
 			if (tdt->area!=TRACK_AREA_POINT || tdt->relative==0) {
-				td2d->loc2d[0] = td2d->loc[0];
-				td2d->loc2d[1] = td2d->loc[1];
+				td2d->loc2d[0] = loc2d[0];
+				td2d->loc2d[1] = loc2d[1];
 
 				if (tdt->relative)
 					sub_v2_v2(td2d->loc2d, tdt->relative);
diff --git a/source/blender/editors/transform/transform_generics.c b/source/blender/editors/transform/transform_generics.c
index e0920e323aa..1b8cc14ecac 100644
--- a/source/blender/editors/transform/transform_generics.c
+++ b/source/blender/editors/transform/transform_generics.c
@@ -643,23 +643,30 @@ static void recalcData_spaceclip(TransInfo *t)
 		MovieClip *clip = ED_space_clip(sc);
 		ListBase *tracksbase = BKE_tracking_get_tracks(&clip->tracking);
 		MovieTrackingTrack *track;
+		int framenr = sc->user.framenr;
 
 		flushTransTracking(t);
 
 		track = tracksbase->first;
 		while (track) {
 			if (TRACK_VIEW_SELECTED(sc, track) && (track->flag & TRACK_LOCKED)==0) {
+				MovieTrackingMarker *marker = BKE_tracking_get_marker(track, framenr);
+
 				if (t->mode == TFM_TRANSLATION) {
 					if (TRACK_AREA_SELECTED(track, TRACK_AREA_PAT))
-						BKE_tracking_clamp_track(track, CLAMP_PAT_POS);
+						BKE_tracking_clamp_marker(marker, CLAMP_PAT_POS);
 					if (TRACK_AREA_SELECTED(track, TRACK_AREA_SEARCH))
-						BKE_tracking_clamp_track(track, CLAMP_SEARCH_POS);
+						BKE_tracking_clamp_marker(marker, CLAMP_SEARCH_POS);
 				}
 				else if (t->mode == TFM_RESIZE) {
 					if (TRACK_AREA_SELECTED(track, TRACK_AREA_PAT))
-						BKE_tracking_clamp_track(track, CLAMP_PAT_DIM);
+						BKE_tracking_clamp_marker(marker, CLAMP_PAT_DIM);
 					if (TRACK_AREA_SELECTED(track, TRACK_AREA_SEARCH))
-						BKE_tracking_clamp_track(track, CLAMP_SEARCH_DIM);
+						BKE_tracking_clamp_marker(marker, CLAMP_SEARCH_DIM);
+				}
+				else if (t->mode == TFM_ROTATION) {
+					if (TRACK_AREA_SELECTED(track, TRACK_AREA_PAT))
+						BKE_tracking_clamp_marker(marker, CLAMP_PAT_POS);
 				}
 			}
 
diff --git a/source/blender/editors/transform/transform_ops.c b/source/blender/editors/transform/transform_ops.c
index e4c85309081..52b32ae66fc 100644
--- a/source/blender/editors/transform/transform_ops.c
+++ b/source/blender/editors/transform/transform_ops.c
@@ -1025,6 +1025,7 @@ void transform_keymap_for_space(wmKeyConfig *keyconf, wmKeyMap *keymap, int spac
 			WM_keymap_add_item(keymap, OP_TRANSLATION, GKEY, KM_PRESS, 0, 0);
 			WM_keymap_add_item(keymap, OP_TRANSLATION, EVT_TWEAK_S, KM_ANY, 0, 0);
 			WM_keymap_add_item(keymap, OP_RESIZE, SKEY, KM_PRESS, 0, 0);
+			WM_keymap_add_item(keymap, OP_ROTATION, RKEY, KM_PRESS, 0, 0);
 			break;
 		default:
 			break;
diff --git a/source/blender/makesdna/DNA_movieclip_types.h b/source/blender/makesdna/DNA_movieclip_types.h
index fd7046854ff..b9d63167700 100644
--- a/source/blender/makesdna/DNA_movieclip_types.h
+++ b/source/blender/makesdna/DNA_movieclip_types.h
@@ -92,6 +92,9 @@ typedef struct MovieClip {
 typedef struct MovieClipScopes {
 	int ok;							/* 1 means scopes are ok and recalculation is unneeded */
 	int track_preview_height;		/* height of track preview widget */
+	int frame_width, frame_height;		/* width and height of frame for which scopes are calculated */
+	struct MovieTrackingMarker undist_marker;	/* undistorted position of marker used for pattern sampling */
+	struct ImBuf *track_search;	/* search area of a track */
 	struct ImBuf *track_preview;	/* ImBuf displayed in track preview */
 	float track_pos[2];				/* sub-pizel position of marker in track ImBuf */
 	short track_disabled;			/* active track is disabled, special notifier should be drawn */
diff --git a/source/blender/makesdna/DNA_tracking_types.h b/source/blender/makesdna/DNA_tracking_types.h
index 823ecbbbba6..c5b0174a3c9 100644
--- a/source/blender/makesdna/DNA_tracking_types.h
+++ b/source/blender/makesdna/DNA_tracking_types.h
@@ -35,6 +35,7 @@
 #ifndef __DNA_TRACKING_TYPES_H__
 #define __DNA_TRACKING_TYPES_H__
 
+#include "DNA_defs.h"
 #include "DNA_listBase.h"
 
 /* match-moving data */
@@ -69,6 +70,27 @@ typedef struct MovieTrackingCamera {
 
 typedef struct MovieTrackingMarker {
 	float pos[2];	/* 2d position of marker on frame (in unified 0..1 space) */
+
+	/* corners of pattern in the following order:
+	 *
+	 *       Y
+	 *       ^
+	 *       | (3) --- (2)
+	 *       |  |       |
+	 *       |  |       |
+	 *       |  |       |
+	 *       | (0) --- (1)
+	 *       +-------------> X
+	 *
+	 * the coordinates are stored relative to pos.
+	 */
+	float pattern_corners[4][2];
+
+	/* positions of left-bottom and right-top corners of search area (in unified 0..1 units,
+	 * relative to marker->pos
+	 */
+	float search_min[2], search_max[2];
+
 	int framenr;	/* number of frame marker is associated with */
 	int flag;		/* Marker's flag (alive, ...) */
 } MovieTrackingMarker;
@@ -79,8 +101,19 @@ typedef struct MovieTrackingTrack {
 	char name[64];	/* MAX_NAME */
 
 	/* ** setings ** */
-	float pat_min[2], pat_max[2];		/* positions of left-bottom and right-top corners of pattern (in unified 0..1 space) */
-	float search_min[2], search_max[2];	/* positions of left-bottom and right-top corners of search area (in unified 0..1 space) */
+
+	/* positions of left-bottom and right-top corners of pattern (in unified 0..1 units,
+	 * relative to marker->pos)
+	 * moved to marker's corners since planar tracking implementation
+	 */
+	float pat_min[2] DNA_DEPRECATED, pat_max[2] DNA_DEPRECATED;
+
+	/* positions of left-bottom and right-top corners of search area (in unified 0..1 units,
+	 * relative to marker->pos
+	 * moved to marker since affine tracking implementation
+	 */
+	float search_min[2] DNA_DEPRECATED, search_max[2] DNA_DEPRECATED;
+
 	float offset[2];					/* offset to "parenting" point */
 
 	/* ** track ** */
@@ -96,35 +129,32 @@ typedef struct MovieTrackingTrack {
 	int flag, pat_flag, search_flag;	/* flags (selection, ...) */
 	float color[3];						/* custom color for track */
 
-	/* tracking algorithm to use; can be KLT or SAD */
+	/* ** control how tracking happens */
 	short frames_limit;		/* number of frames to be tarcked during single tracking session (if TRACKING_FRAMES_LIMIT is set) */
 	short margin;			/* margin from frame boundaries */
 	short pattern_match;	/* re-adjust every N frames */
 
-	short tracker;			/* tracking algorithm used for this track */
-
-	/* ** KLT tracker settings ** */
-	short pyramid_levels, pad2;		/* number of pyramid levels to use for KLT tracking */
-
-	/* ** SAD tracker settings ** */
+	/* tracking parameters */
+	short motion_model;     /* model of the motion for this track */
+	int algorithm_flag;    /* flags for the tracking algorithm (use brute, use esm, use pyramid, etc */
 	float minimum_correlation;			/* minimal correlation which is still treated as successful tracking */
 
-	struct bGPdata *gpd;            /* grease-pencil data */
+	struct bGPdata *gpd;		/* grease-pencil data */
 } MovieTrackingTrack;
 
 typedef struct MovieTrackingSettings {
 	int flag;
 
 	/* ** default tracker settings */
-	short default_tracker;				/* tracking algorithm used by default */
-	short default_pyramid_levels;		/* number of pyramid levels to use for KLT tracking */
-	float default_minimum_correlation;	/* minimal correlation which is still treated as successful tracking */
-	short default_pattern_size;			/* size of pattern area for new tracks */
-	short default_search_size;			/* size of search area for new tracks */
-	short default_frames_limit;			/* number of frames to be tarcked during single tracking session (if TRACKING_FRAMES_LIMIT is set) */
-	short default_margin;				/* margin from frame boundaries */
-	short default_pattern_match;		/* re-adjust every N frames */
-	short default_flag;					/* default flags like color channels used by default */
+	short default_motion_model;         /* model of the motion for this track */
+	short default_algorithm_flag;       /* flags for the tracking algorithm (use brute, use esm, use pyramid, etc */
+	float default_minimum_correlation;  /* minimal correlation which is still treated as successful tracking */
+	short default_pattern_size;         /* size of pattern area for new tracks */
+	short default_search_size;          /* size of search area for new tracks */
+	short default_frames_limit;         /* number of frames to be tarcked during single tracking session (if TRACKING_FRAMES_LIMIT is set) */
+	short default_margin;               /* margin from frame boundaries */
+	short default_pattern_match;        /* re-adjust every N frames */
+	short default_flag;                 /* default flags like color channels used by default */
 
 	short motion_flag;		/* flags describes motion type */
 
@@ -258,10 +288,17 @@ enum {
 #define TRACK_PREVIEW_GRAYSCALE	(1<<9)
 #define TRACK_DOPE_SEL		(1<<10)
 
-/* MovieTrackingTrack->tracker */
-#define TRACKER_KLT		0
-#define TRACKER_SAD		1
-#define TRACKER_HYBRID		2
+/* MovieTrackingTrack->motion_model */
+#define TRACK_MOTION_MODEL_TRANSLATION                 0
+#define TRACK_MOTION_MODEL_TRANSLATION_ROTATION        1
+#define TRACK_MOTION_MODEL_TRANSLATION_SCALE           2
+#define TRACK_MOTION_MODEL_TRANSLATION_ROTATION_SCALE  3
+#define TRACK_MOTION_MODEL_AFFINE                      4
+#define TRACK_MOTION_MODEL_HOMOGRAPHY                  5
+
+/* MovieTrackingTrack->algorithm_flag */
+#define TRACK_ALGORITHM_FLAG_USE_BRUTE 1
+#define TRACK_ALGORITHM_FLAG_USE_NORMALIZATION 2
 
 /* MovieTrackingTrack->adjframes */
 #define TRACK_MATCH_KEYFRAME		0
diff --git a/source/blender/makesrna/RNA_access.h b/source/blender/makesrna/RNA_access.h
index 8fc39c95d81..bf02ae50a94 100644
--- a/source/blender/makesrna/RNA_access.h
+++ b/source/blender/makesrna/RNA_access.h
@@ -343,8 +343,10 @@ extern StructRNA RNA_MotionPathVert;
 extern StructRNA RNA_MouseSensor;
 extern StructRNA RNA_MovieSequence;
 extern StructRNA RNA_MovieClipSequence;
+extern StructRNA RNA_MovieTracking;
 extern StructRNA RNA_MovieTrackingTrack;
 extern StructRNA RNA_MovieTrackingObject;
+extern StructRNA RNA_MovieTrackingTrack;
 extern StructRNA RNA_MulticamSequence;
 extern StructRNA RNA_MultiresModifier;
 extern StructRNA RNA_MusgraveTexture;
diff --git a/source/blender/makesrna/intern/rna_tracking.c b/source/blender/makesrna/intern/rna_tracking.c
index 17940dfca92..aaa96fc4d95 100644
--- a/source/blender/makesrna/intern/rna_tracking.c
+++ b/source/blender/makesrna/intern/rna_tracking.c
@@ -59,20 +59,6 @@ static char *rna_tracking_path(PointerRNA *UNUSED(ptr))
 	return BLI_sprintfN("tracking");
 }
 
-static void rna_tracking_defaultSettings_levelsUpdate(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
-{
-	MovieClip *clip = (MovieClip*)ptr->id.data;
-	MovieTracking *tracking = &clip->tracking;
-	MovieTrackingSettings *settings = &tracking->settings;
-
-	if (settings->default_tracker == TRACKER_KLT) {
-		int max_pyramid_level_factor = 1 << (settings->default_pyramid_levels - 1);
-		float search_ratio = 2.3f * max_pyramid_level_factor;
-
-		settings->default_search_size = settings->default_pattern_size*search_ratio;
-	}
-}
-
 static void rna_tracking_defaultSettings_patternUpdate(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
 {
 	MovieClip *clip = (MovieClip*)ptr->id.data;
@@ -209,37 +195,6 @@ static void rna_trackingTrack_select_set(PointerRNA *ptr, int value)
 	}
 }
 
-static void rna_tracking_trackerPattern_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
-{
-	MovieTrackingTrack *track = (MovieTrackingTrack *)ptr->data;
-
-	BKE_tracking_clamp_track(track, CLAMP_PAT_DIM);
-}
-
-static void rna_tracking_trackerSearch_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
-{
-	MovieTrackingTrack *track = (MovieTrackingTrack *)ptr->data;
-
-	BKE_tracking_clamp_track(track, CLAMP_SEARCH_DIM);
-}
-
-static void rna_tracking_trackerAlgorithm_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
-{
-	MovieTrackingTrack *track = (MovieTrackingTrack *)ptr->data;
-
-	if (track->tracker == TRACKER_KLT)
-		BKE_tracking_clamp_track(track, CLAMP_PYRAMID_LEVELS);
-	else
-		BKE_tracking_clamp_track(track, CLAMP_SEARCH_DIM);
-}
-
-static void rna_tracking_trackerPyramid_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
-{
-	MovieTrackingTrack *track = (MovieTrackingTrack *)ptr->data;
-
-	BKE_tracking_clamp_track(track, CLAMP_PYRAMID_LEVELS);
-}
-
 static char *rna_trackingCamera_path(PointerRNA *UNUSED(ptr))
 {
 	return BLI_sprintfN("tracking.camera");
@@ -413,6 +368,20 @@ static void rna_trackingMarker_frame_set(PointerRNA *ptr, int value)
 	}
 }
 
+static void rna_tracking_markerPattern_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
+{
+	MovieTrackingMarker *marker = (MovieTrackingMarker *)ptr->data;
+
+	BKE_tracking_clamp_marker(marker, CLAMP_PAT_DIM);
+}
+
+static void rna_tracking_markerSearch_update(Main *UNUSED(bmain), Scene *UNUSED(scene), PointerRNA *ptr)
+{
+	MovieTrackingMarker *marker = (MovieTrackingMarker *)ptr->data;
+
+	BKE_tracking_clamp_marker(marker, CLAMP_SEARCH_DIM);
+}
+
 /* API */
 
 static void add_tracks_to_base(MovieClip *clip, MovieTracking *tracking, ListBase *tracksbase, int frame, int number)
@@ -498,11 +467,19 @@ void rna_trackingMarkers_delete_frame(MovieTrackingTrack *track, int framenr)
 
 #else
 
-static EnumPropertyItem tracker_items[] = {
-	{TRACKER_KLT, "KLT", 0, "KLT",
-	              "Kanade–Lucas–Tomasi tracker which works with most of video clips, a bit slower than SAD"},
-	{TRACKER_SAD, "SAD", 0, "SAD", "Sum of Absolute Differences tracker which can be used when KLT tracker fails"},
-	{TRACKER_HYBRID, "Hybrid", 0, "Hybrid", "A hybrid tracker that uses SAD for rough tracking, KLT for refinement."},
+static EnumPropertyItem tracker_motion_model[] = {
+	{TRACK_MOTION_MODEL_HOMOGRAPHY, "Perspective", 0, "Perspective",
+	              "Search for markers that are perspectively deformed (homography) between frames."},
+	{TRACK_MOTION_MODEL_AFFINE, "Affine", 0, "Affine",
+	              "Search for markers that are affine-deformed (t, r, k, and skew) between frames."},
+	{TRACK_MOTION_MODEL_TRANSLATION_ROTATION_SCALE, "LocRotScale", 0, "LocRotScale",
+	              "Search for markers that are translated, rotated, and scaled between frames."},
+	{TRACK_MOTION_MODEL_TRANSLATION_SCALE, "LocScale", 0, "LocScale",
+	              "Search for markers that are translated and scaled between frames."},
+	{TRACK_MOTION_MODEL_TRANSLATION_ROTATION, "LocRot", 0, "LocRot",
+	              "Search for markers that are translated and rotated between frames."},
+	{TRACK_MOTION_MODEL_TRANSLATION, "Loc", 0, "Loc",
+	              "Search for markers that are translated between frames."},
 	{0, NULL, 0, NULL, NULL}};
 
 static EnumPropertyItem pattern_match_items[] = {
@@ -511,6 +488,7 @@ static EnumPropertyItem pattern_match_items[] = {
 	{0, NULL, 0, NULL, NULL}};
 
 static int rna_matrix_dimsize_4x4[] = {4, 4};
+static int rna_matrix_dimsize_4x2[] = {4, 2};
 
 static void rna_def_trackingSettings(BlenderRNA *brna)
 {
@@ -627,14 +605,14 @@ static void rna_def_trackingSettings(BlenderRNA *brna)
 	RNA_def_property_boolean_sdna(prop, NULL, "motion_flag", TRACKING_MOTION_TRIPOD);
 	RNA_def_property_ui_text(prop, "Tripod Motion", "Use special solver to track a stable camera position, such as a tripod");
 
-	/* limit frames */
+	/* default_limit_frames */
 	prop = RNA_def_property(srna, "default_frames_limit", PROP_INT, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
 	RNA_def_property_int_sdna(prop, NULL, "default_frames_limit");
 	RNA_def_property_range(prop, 0, SHRT_MAX);
 	RNA_def_property_ui_text(prop, "Frames Limit", "Every tracking cycle, this number of frames are tracked");
 
-	/* pattern match */
+	/* default_pattern_match */
 	prop = RNA_def_property(srna, "default_pattern_match", PROP_ENUM, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
 	RNA_def_property_enum_sdna(prop, NULL, "default_pattern_match");
@@ -642,40 +620,42 @@ static void rna_def_trackingSettings(BlenderRNA *brna)
 	RNA_def_property_ui_text(prop, "Pattern Match",
 	                         "Track pattern from given frame when tracking marker to next frame");
 
-	/* margin */
+	/* default_margin */
 	prop = RNA_def_property(srna, "default_margin", PROP_INT, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
 	RNA_def_property_int_sdna(prop, NULL, "default_margin");
 	RNA_def_property_range(prop, 0, 300);
 	RNA_def_property_ui_text(prop, "Margin", "Default distance from image boudary at which marker stops tracking");
 
-	/* tracking algorithm */
-	prop = RNA_def_property(srna, "default_tracker", PROP_ENUM, PROP_NONE);
+	/* default_tracking_motion_model */
+	prop = RNA_def_property(srna, "default_motion_model", PROP_ENUM, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_enum_items(prop, tracker_items);
-	RNA_def_property_update(prop, 0, "rna_tracking_defaultSettings_levelsUpdate");
-	RNA_def_property_ui_text(prop, "Tracker", "Default tracking algorithm to use");
+	RNA_def_property_enum_items(prop, tracker_motion_model);
+	RNA_def_property_ui_text(prop, "Motion model", "Default motion model to use for tracking");
 
-	/* pyramid level for pyramid klt tracking */
-	prop = RNA_def_property(srna, "default_pyramid_levels", PROP_INT, PROP_NONE);
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_int_sdna(prop, NULL, "default_pyramid_levels");
-	RNA_def_property_range(prop, 1, 16);
-	RNA_def_property_update(prop, 0, "rna_tracking_defaultSettings_levelsUpdate");
-	RNA_def_property_ui_text(prop, "Pyramid levels", "Default number of pyramid levels (increase on blurry footage)");
+	/* use_brute */
+	prop = RNA_def_property(srna, "default_use_brute", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "default_algorithm_flag", TRACK_ALGORITHM_FLAG_USE_BRUTE);
+	RNA_def_property_ui_text(prop, "Prepass", "Use a brute-force translation-only initialization when tracking");
+	RNA_def_property_update(prop, NC_MOVIECLIP|ND_DISPLAY, NULL);
 
-	/* minmal correlation - only used for SAD tracker */
+	/* default use_normalization */
+	prop = RNA_def_property(srna, "default_use_normalization", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "default_algorithm_flag", TRACK_ALGORITHM_FLAG_USE_NORMALIZATION);
+	RNA_def_property_ui_text(prop, "Normalize", "Normalize light intensities while tracking. Slower");
+	RNA_def_property_update(prop, NC_MOVIECLIP|ND_DISPLAY, NULL);
+
+	/* default minmal correlation */
 	prop = RNA_def_property(srna, "default_correlation_min", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
 	RNA_def_property_float_sdna(prop, NULL, "default_minimum_correlation");
-	RNA_def_property_range(prop, -1.0f, 1.0f);
-	RNA_def_property_ui_range(prop, -1.0f, 1.0f, 0.1, 3);
+	RNA_def_property_range(prop, 0.0f, 1.0f);
+	RNA_def_property_ui_range(prop, 0.0f, 1.0f, 0.05, 3);
 	RNA_def_property_ui_text(prop, "Correlation",
-	                         "Default minimal value of correlation between matched pattern and reference "
-	                         "which is still treated as successful tracking");
+	                         "Default minimum value of correlation between matched pattern and reference "
+	                         "that is still treated as successful tracking");
 
 	/* default pattern size */
 	prop = RNA_def_property(srna, "default_pattern_size", PROP_INT, PROP_NONE);
@@ -693,19 +673,19 @@ static void rna_def_trackingSettings(BlenderRNA *brna)
 	RNA_def_property_update(prop, 0, "rna_tracking_defaultSettings_searchUpdate");
 	RNA_def_property_ui_text(prop, "Search Size", "Size of search area for newly created tracks");
 
-	/* use_red_channel */
+	/* default use_red_channel */
 	prop = RNA_def_property(srna, "use_default_red_channel", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_negative_sdna(prop, NULL, "default_flag", TRACK_DISABLE_RED);
 	RNA_def_property_ui_text(prop, "Use Red Channel", "Use red channel from footage for tracking");
 	RNA_def_property_update(prop, NC_MOVIECLIP|ND_DISPLAY, NULL);
 
-	/* use_green_channel */
+	/* default_use_green_channel */
 	prop = RNA_def_property(srna, "use_default_green_channel", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_negative_sdna(prop, NULL, "default_flag", TRACK_DISABLE_GREEN);
 	RNA_def_property_ui_text(prop, "Use Green Channel", "Use green channel from footage for tracking");
 	RNA_def_property_update(prop, NC_MOVIECLIP|ND_DISPLAY, NULL);
 
-	/* use_blue_channel */
+	/* default_use_blue_channel */
 	prop = RNA_def_property(srna, "use_default_blue_channel", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_negative_sdna(prop, NULL, "default_flag", TRACK_DISABLE_BLUE);
 	RNA_def_property_ui_text(prop, "Use Blue Channel", "Use blue channel from footage for tracking");
@@ -839,6 +819,38 @@ static void rna_def_trackingMarker(BlenderRNA *brna)
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", MARKER_DISABLED);
 	RNA_def_property_ui_text(prop, "Mode", "Is marker muted for current frame");
 	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
+
+	/* pattern */
+	prop = RNA_def_property(srna, "pattern_corners", PROP_FLOAT, PROP_MATRIX);
+	RNA_def_property_float_sdna(prop, NULL, "pattern_corners");
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_multi_array(prop, 2, rna_matrix_dimsize_4x2);
+	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
+	RNA_def_property_ui_text(prop, "Pattern Corners",
+	                               "Array of coordinates which represents patter's corners in "
+	                               " normalized coordinates relative to marker position");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_markerPattern_update");
+
+	/* search */
+	prop = RNA_def_property(srna, "search_min", PROP_FLOAT, PROP_TRANSLATION);
+	RNA_def_property_array(prop, 2);
+	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
+	RNA_def_property_float_sdna(prop, NULL, "search_min");
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_ui_text(prop, "Search Min",
+	                               "Left-bottom corner of search area in normalized coordinates relative "
+	                               "to marker position");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_markerSearch_update");
+
+	prop = RNA_def_property(srna, "search_max", PROP_FLOAT, PROP_TRANSLATION);
+	RNA_def_property_array(prop, 2);
+	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
+	RNA_def_property_float_sdna(prop, NULL, "search_max");
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_ui_text(prop, "Search Max",
+	                               "Right-bottom corner of search area in normalized coordinates relative "
+	                               "to marker position");
+	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_markerSearch_update");
 }
 
 static void rna_def_trackingMarkers(BlenderRNA *brna, PropertyRNA *cprop)
@@ -899,48 +911,6 @@ static void rna_def_trackingTrack(BlenderRNA *brna)
 	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, NULL);
 	RNA_def_struct_name_property(srna, prop);
 
-	/* Pattern */
-	prop = RNA_def_property(srna, "pattern_min", PROP_FLOAT, PROP_TRANSLATION);
-	RNA_def_property_array(prop, 2);
-	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
-	RNA_def_property_float_sdna(prop, NULL, "pat_min");
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_ui_text(prop, "Pattern Min",
-	                         "Left-bottom corner of pattern area in normalized coordinates relative "
-	                         "to marker position");
-	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_trackerPattern_update");
-
-	prop = RNA_def_property(srna, "pattern_max", PROP_FLOAT, PROP_TRANSLATION);
-	RNA_def_property_array(prop, 2);
-	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
-	RNA_def_property_float_sdna(prop, NULL, "pat_max");
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_ui_text(prop, "Pattern Max",
-	                         "Right-bottom corner of pattern area in normalized coordinates relative "
-	                         "to marker position");
-	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_trackerPattern_update");
-
-	/* Search */
-	prop = RNA_def_property(srna, "search_min", PROP_FLOAT, PROP_TRANSLATION);
-	RNA_def_property_array(prop, 2);
-	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
-	RNA_def_property_float_sdna(prop, NULL, "search_min");
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_ui_text(prop, "Search Min",
-	                         "Left-bottom corner of search area in normalized coordinates relative "
-	                         "to marker position");
-	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_trackerSearch_update");
-
-	prop = RNA_def_property(srna, "search_max", PROP_FLOAT, PROP_TRANSLATION);
-	RNA_def_property_array(prop, 2);
-	RNA_def_property_ui_range(prop, -FLT_MAX, FLT_MAX, 1, RNA_TRANSLATION_PREC_DEFAULT);
-	RNA_def_property_float_sdna(prop, NULL, "search_max");
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_ui_text(prop, "Search Max",
-	                         "Right-bottom corner of search area in normalized coordinates relative "
-	                         "to marker position");
-	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_trackerSearch_update");
-
 	/* limit frames */
 	prop = RNA_def_property(srna, "frames_limit", PROP_INT, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
@@ -966,32 +936,36 @@ static void rna_def_trackingTrack(BlenderRNA *brna)
 	RNA_def_property_range(prop, 0, 300);
 	RNA_def_property_ui_text(prop, "Margin", "Distance from image boudary at which marker stops tracking");
 
-	/* tracking algorithm */
-	prop = RNA_def_property(srna, "tracker", PROP_ENUM, PROP_NONE);
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_enum_items(prop, tracker_items);
-	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_ui_text(prop, "Tracker", "Tracking algorithm to use");
-	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_trackerAlgorithm_update");
-
-	/* pyramid level for pyramid klt tracking */
-	prop = RNA_def_property(srna, "pyramid_levels", PROP_INT, PROP_NONE);
+	/* tracking motion model */
+	prop = RNA_def_property(srna, "motion_model", PROP_ENUM, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_int_sdna(prop, NULL, "pyramid_levels");
+	RNA_def_property_enum_items(prop, tracker_motion_model);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
-	RNA_def_property_range(prop, 1, 16);
-	RNA_def_property_ui_text(prop, "Pyramid levels", "Number of pyramid levels (increase on blurry footage)");
-	RNA_def_property_update(prop, NC_MOVIECLIP|NA_EDITED, "rna_tracking_trackerPyramid_update");
+	RNA_def_property_ui_text(prop, "Motion model", "Default motion model to use for tracking");
 
-	/* minmal correlation - only used for SAD tracker */
+	/* minimum correlation */
 	prop = RNA_def_property(srna, "correlation_min", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
 	RNA_def_property_float_sdna(prop, NULL, "minimum_correlation");
-	RNA_def_property_range(prop, -1.0f, 1.0f);
-	RNA_def_property_ui_range(prop, -1.0f, 1.0f, 0.1, 3);
+	RNA_def_property_range(prop, 0.0f, 1.0f);
+	RNA_def_property_ui_range(prop, 0.0f, 1.0f, 0.05, 3);
 	RNA_def_property_ui_text(prop, "Correlation",
 	                         "Minimal value of correlation between matched pattern and reference "
-	                         "which is still treated as successful tracking");
+	                         "that is still treated as successful tracking");
+
+	/* use_brute */
+	prop = RNA_def_property(srna, "use_brute", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "algorithm_flag", TRACK_ALGORITHM_FLAG_USE_BRUTE);
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_ui_text(prop, "Prepass", "Use a brute-force translation only pre-track before refinement");
+	RNA_def_property_update(prop, NC_MOVIECLIP|ND_DISPLAY, NULL);
+
+	/* use_brute */
+	prop = RNA_def_property(srna, "use_normalization", PROP_BOOLEAN, PROP_NONE);
+	RNA_def_property_boolean_sdna(prop, NULL, "algorithm_flag", TRACK_ALGORITHM_FLAG_USE_NORMALIZATION);
+	RNA_def_property_clear_flag(prop, PROP_ANIMATABLE);
+	RNA_def_property_ui_text(prop, "Normalize", "Normalize light intensities while tracking. Slower");
+	RNA_def_property_update(prop, NC_MOVIECLIP|ND_DISPLAY, NULL);
 
 	/* markers */
 	prop = RNA_def_property(srna, "markers", PROP_COLLECTION, PROP_NONE);