diff options
| -rw-r--r-- | extern/libmv/CMakeLists.txt | 2 | ||||
| -rw-r--r-- | extern/libmv/files.txt | 2 | ||||
| -rw-r--r-- | extern/libmv/libmv-capi.cpp | 4 | ||||
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/reconstruction_scale.cc | 69 | ||||
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/reconstruction_scale.h | 36 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/tracking.c | 21 |
6 files changed, 129 insertions, 5 deletions
diff --git a/extern/libmv/CMakeLists.txt b/extern/libmv/CMakeLists.txt index 025481f9954..71554795355 100644 --- a/extern/libmv/CMakeLists.txt +++ b/extern/libmv/CMakeLists.txt @@ -58,6 +58,7 @@ set(SRC libmv/simple_pipeline/modal_solver.cc libmv/simple_pipeline/pipeline.cc libmv/simple_pipeline/reconstruction.cc + libmv/simple_pipeline/reconstruction_scale.cc libmv/simple_pipeline/resect.cc libmv/simple_pipeline/tracks.cc libmv/tracking/brute_region_tracker.cc @@ -116,6 +117,7 @@ set(SRC libmv/simple_pipeline/modal_solver.h libmv/simple_pipeline/pipeline.h libmv/simple_pipeline/reconstruction.h + libmv/simple_pipeline/reconstruction_scale.h libmv/simple_pipeline/resect.h libmv/simple_pipeline/tracks.h libmv/tracking/brute_region_tracker.h diff --git a/extern/libmv/files.txt b/extern/libmv/files.txt index d77d0ea8147..426b6db41fc 100644 --- a/extern/libmv/files.txt +++ b/extern/libmv/files.txt @@ -52,6 +52,8 @@ libmv/simple_pipeline/pipeline.cc libmv/simple_pipeline/pipeline.h libmv/simple_pipeline/reconstruction.cc libmv/simple_pipeline/reconstruction.h +libmv/simple_pipeline/reconstruction_scale.cc +libmv/simple_pipeline/reconstruction_scale.h libmv/simple_pipeline/resect.cc libmv/simple_pipeline/resect.h libmv/simple_pipeline/tracks.cc diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp index b9ca4c12535..0f2ebc50384 100644 --- a/extern/libmv/libmv-capi.cpp +++ b/extern/libmv/libmv-capi.cpp @@ -46,6 +46,7 @@ #include "libmv/simple_pipeline/pipeline.h" #include "libmv/simple_pipeline/camera_intrinsics.h" #include "libmv/simple_pipeline/modal_solver.h" +#include "libmv/simple_pipeline/reconstruction_scale.h" #include <stdlib.h> #include <assert.h> @@ -553,6 +554,9 @@ libmv_Reconstruction *libmv_solveReconstruction(libmv_Tracks *libmv_tracks, progress_update_callback, callback_customdata); } + /* set reconstruction scale to unity */ + libmv::EuclideanScaleToUnity(reconstruction); + /* finish reconstruction */ finishReconstruction(tracks, camera_intrinsics, libmv_reconstruction, progress_update_callback, callback_customdata); diff --git a/extern/libmv/libmv/simple_pipeline/reconstruction_scale.cc b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.cc new file mode 100644 index 00000000000..9841f5cb4eb --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.cc @@ -0,0 +1,69 @@ +// Copyright (c) 2013 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/simple_pipeline/reconstruction_scale.h" +#include "libmv/logging/logging.h" + +namespace libmv { + +void EuclideanScaleToUnity(EuclideanReconstruction *reconstruction) { + vector<EuclideanCamera> all_cameras = reconstruction->AllCameras(); + vector<EuclideanPoint> all_points = reconstruction->AllPoints(); + + // Calculate center of the mass of all cameras. + Vec3 cameras_mass_center = Vec3::Zero(); + for (int i = 0; i < all_cameras.size(); ++i) { + cameras_mass_center += all_cameras[i].t; + } + cameras_mass_center /= all_cameras.size(); + + // Find the most distant camera from the mass center. + double max_distance = 0.0; + for (int i = 0; i < all_cameras.size(); ++i) { + double distance = (all_cameras[i].t - cameras_mass_center).squaredNorm(); + if (distance > max_distance) { + max_distance = distance; + LG << i; + } + } + + if (max_distance == 0.0) { + LG << "Cameras position variance is too small, can not rescale"; + return; + } + + double scale_factor = 1.0 / sqrt(max_distance); + + // Rescale cameras positions. + for (int i = 0; i < all_cameras.size(); ++i) { + int image = all_cameras[i].image; + EuclideanCamera *camera = reconstruction->CameraForImage(image); + camera->t = camera->t * scale_factor; + } + + // Rescale points positions. + for (int i = 0; i < all_points.size(); ++i) { + int track = all_points[i].track; + EuclideanPoint *point = reconstruction->PointForTrack(track); + point->X = point->X * scale_factor; + } +} + +} // namespace libmv diff --git a/extern/libmv/libmv/simple_pipeline/reconstruction_scale.h b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.h new file mode 100644 index 00000000000..f2349ff5146 --- /dev/null +++ b/extern/libmv/libmv/simple_pipeline/reconstruction_scale.h @@ -0,0 +1,36 @@ +// Copyright (c) 2013 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_SIMPLE_PIPELINE_RECONSTRUCTION_SCALE_H_ +#define LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_SCALE_H_ + +#include "libmv/simple_pipeline/reconstruction.h" + +namespace libmv { + +/*! + Scale euclidean reconstruction in a way variance of + camera centers equals to one. + */ +void EuclideanScaleToUnity(EuclideanReconstruction *reconstruction); + +} // namespace libmv + +#endif // LIBMV_SIMPLE_PIPELINE_RECONSTRUCTION_SCALE_H_ diff --git a/source/blender/blenkernel/intern/tracking.c b/source/blender/blenkernel/intern/tracking.c index c202a210de7..37979326215 100644 --- a/source/blender/blenkernel/intern/tracking.c +++ b/source/blender/blenkernel/intern/tracking.c @@ -2834,18 +2834,29 @@ static int reconstruct_retrieve_libmv_tracks(MovieReconstructContext *context, M float mat[4][4]; float error = libmv_reporojectionErrorForImage(libmv_reconstruction, a); - for (i = 0; i < 4; i++) + for (i = 0; i < 4; i++) { for (j = 0; j < 4; j++) mat[i][j] = matd[i][j]; + } + /* Ensure first camera has got zero rotation and transform. + * This is essential for object tracking to work -- this way + * we'll always know object and environment are properly + * oriented. + * + * There's one weak part tho, which is requirement object + * motion starts at the same frame as camera motion does, + * otherwise that;' be a russian roulette whether object is + * aligned correct or not. + */ if (!origin_set) { - copy_m4_m4(imat, mat); - invert_m4(imat); + invert_m4_m4(imat, mat); + unit_m4(mat); origin_set = TRUE; } - - if (origin_set) + else { mult_m4_m4m4(mat, imat, mat); + } copy_m4_m4(reconstructed[reconstruction->camnr].mat, mat); reconstructed[reconstruction->camnr].framenr = a; |