diff options
| -rw-r--r-- | extern/libmv/libmv-capi.cpp | 61 | ||||
| -rw-r--r-- | extern/libmv/libmv-capi.h | 4 | ||||
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/detect.cc | 50 | ||||
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/detect.h | 43 | ||||
| -rw-r--r-- | extern/libmv/patches/detect.patch | 151 | ||||
| -rw-r--r-- | extern/libmv/patches/series | 1 | ||||
| -rw-r--r-- | source/blender/blenkernel/BKE_tracking.h | 2 | ||||
| -rw-r--r-- | source/blender/blenkernel/intern/tracking.c | 8 | ||||
| -rw-r--r-- | source/blender/editors/space_clip/tracking_ops.c | 39 |
9 files changed, 330 insertions, 29 deletions
diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp index 8bf27ac0656..863e16515df 100644 --- a/extern/libmv/libmv-capi.cpp +++ b/extern/libmv/libmv-capi.cpp @@ -502,11 +502,13 @@ void libmv_destroyReconstruction(libmv_Reconstruction *libmv_reconstruction) /* ************ feature detector ************ */ -struct libmv_Features *libmv_detectFeatures(unsigned char *data, int width, int height, int stride, - int margin, int count, int min_distance) +struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride, + int margin, int min_trackness, int min_distance) { - libmv::Feature *features = new libmv::Feature[count]; - libmv_Features *libmv_features = new libmv_Features; + libmv::Feature *features = NULL; + std::vector<libmv::Feature> v; + libmv_Features *libmv_features = new libmv_Features(); + int i= 0, count; if(margin) { data += margin*stride+margin; @@ -514,13 +516,47 @@ struct libmv_Features *libmv_detectFeatures(unsigned char *data, int width, int height -= 2*margin; } - libmv::Detect(data, stride, width, height, features, &count, min_distance, NULL); + v = libmv::DetectFAST(data, width, height, stride, min_trackness, min_distance); + + count = v.size(); + + if(count) { + features= new libmv::Feature[count]; + + for(std::vector<libmv::Feature>::iterator it = v.begin(); it != v.end(); it++) { + features[i++]= *it; + } + } - libmv_features->count= count; - libmv_features->margin= margin; - libmv_features->features= features; + libmv_features->features = features; + libmv_features->count = count; + libmv_features->margin = margin; - return libmv_features ; + return (libmv_Features *)libmv_features; +} + +struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride, + int margin, int count, int min_distance) +{ + libmv::Feature *features = NULL; + libmv_Features *libmv_features = new libmv_Features; + + if(count) { + if(margin) { + data += margin*stride+margin; + width -= 2*margin; + height -= 2*margin; + } + + features = new libmv::Feature[count]; + libmv::DetectMORAVEC(data, stride, width, height, features, &count, min_distance, NULL); + } + + libmv_features->count = count; + libmv_features->margin = margin; + libmv_features->features = features; + + return libmv_features; } int libmv_countFeatures(struct libmv_Features *libmv_features) @@ -530,7 +566,7 @@ int libmv_countFeatures(struct libmv_Features *libmv_features) void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size) { - libmv::Feature feature = libmv_features->features[number]; + libmv::Feature feature= libmv_features->features[number]; *x = feature.x + libmv_features->margin; *y = feature.y + libmv_features->margin; @@ -540,7 +576,10 @@ void libmv_getFeature(struct libmv_Features *libmv_features, int number, double void libmv_destroyFeatures(struct libmv_Features *libmv_features) { - delete (libmv::Feature *)libmv_features; + if(libmv_features->features) + delete [] libmv_features->features; + + delete libmv_features; } /* ************ camera intrinsics ************ */ diff --git a/extern/libmv/libmv-capi.h b/extern/libmv/libmv-capi.h index 8f2a57748b2..d77e9ac62fa 100644 --- a/extern/libmv/libmv-capi.h +++ b/extern/libmv/libmv-capi.h @@ -72,7 +72,9 @@ double libmv_reprojectionError(struct libmv_Reconstruction *libmv_reconstruction void libmv_destroyReconstruction(struct libmv_Reconstruction *libmv_reconstruction); /* feature detector */ -struct libmv_Features *libmv_detectFeatures(unsigned char *data, int width, int height, int stride, +struct libmv_Features *libmv_detectFeaturesFAST(unsigned char *data, int width, int height, int stride, + int margin, int min_trackness, int min_distance); +struct libmv_Features *libmv_detectFeaturesMORAVEC(unsigned char *data, int width, int height, int stride, int margin, int count, int min_distance); int libmv_countFeatures(struct libmv_Features *libmv_features); void libmv_getFeature(struct libmv_Features *libmv_features, int number, double *x, double *y, double *score, double *size); diff --git a/extern/libmv/libmv/simple_pipeline/detect.cc b/extern/libmv/libmv/simple_pipeline/detect.cc index 6fc0cdd120a..b316f427649 100644 --- a/extern/libmv/libmv/simple_pipeline/detect.cc +++ b/extern/libmv/libmv/simple_pipeline/detect.cc @@ -23,15 +23,59 @@ ****************************************************************************/ #include "libmv/simple_pipeline/detect.h" +#include <third_party/fast/fast.h> #include <stdlib.h> -#include <string.h> +#include <memory.h> + +#ifdef __SSE2__ +#include <emmintrin.h> +#endif namespace libmv { typedef unsigned int uint; +std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, int stride, + int min_trackness, int min_distance) { + std::vector<Feature> features; + // TODO(MatthiasF): Support targetting a feature count (binary search trackness) + int num_features; + xy* all = fast9_detect(data, width, height, + stride, min_trackness, &num_features); + if(num_features == 0) { + free(all); + return features; + } + int* scores = fast9_score(data, stride, all, num_features, min_trackness); + // TODO: merge with close feature suppression + xy* nonmax = nonmax_suppression(all, scores, num_features, &num_features); + free(all); + // Remove too close features + // TODO(MatthiasF): A resolution independent parameter would be better than distance + // e.g. a coefficient going from 0 (no minimal distance) to 1 (optimal circle packing) + // FIXME(MatthiasF): this method will not necessarily give all maximum markers + if(num_features) features.reserve(num_features); + for(int i = 0; i < num_features; ++i) { + xy xy = nonmax[i]; + Feature a = { xy.x, xy.y, scores[i], 7 }; + // compare each feature against filtered set + for(int j = 0; j < features.size(); j++) { + Feature& b = features[j]; + if ( (a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y) < min_distance*min_distance ) { + // already a nearby feature + goto skip; + } + } + // otherwise add the new feature + features.push_back(a); + skip: ; + } + free(scores); + free(nonmax); + return features; +} + #ifdef __SSE2__ -#include <emmintrin.h> static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strideB) { __m128i a = _mm_setzero_si128(); for(int i = 0; i < 16; i++) { @@ -52,7 +96,7 @@ static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strid } #endif -void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { +void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { unsigned short histogram[256]; memset(histogram,0,sizeof(histogram)); ubyte* scores = new ubyte[width*height]; diff --git a/extern/libmv/libmv/simple_pipeline/detect.h b/extern/libmv/libmv/simple_pipeline/detect.h index 23b239b81d6..bbe7aed784c 100644 --- a/extern/libmv/libmv/simple_pipeline/detect.h +++ b/extern/libmv/libmv/simple_pipeline/detect.h @@ -25,27 +25,52 @@ #ifndef LIBMV_SIMPLE_PIPELINE_DETECT_H_ #define LIBMV_SIMPLE_PIPELINE_DETECT_H_ -#ifdef __cplusplus +#include <vector> + namespace libmv { -#endif typedef unsigned char ubyte; /*! - \a Feature is the 2D location of a detected feature in an image. + A Feature is the 2D location of a detected feature in an image. - \a x, \a y is the position of the center in pixels (from image top-left). - \a score is an estimate of how well the pattern will be tracked. - \a size can be used as an initial size to track the pattern. + \a x, \a y is the position of the feature in pixels from the top left corner. + \a score is an estimate of how well the feature will be tracked. + \a size can be used as an initial pattern size to track the feature. \sa Detect */ struct Feature { + /// Position in pixels (from top-left corner) + /// \note libmv might eventually support subpixel precision. float x, y; + /// Trackness of the feature float score; + /// Size of the feature in pixels float size; }; - //radius for non maximal suppression + +/*! + Detect features in an image. + + You need to input a single channel 8-bit image using pointer to image \a data, + \a width, \a height and \a stride (i.e bytes per line). + + You can tweak the count of detected features using \a min_trackness, which is + the minimum score to add a feature, and \a min_distance which is the minimal + distance accepted between two featuress. + + \note You can binary search over \a min_trackness to get a given feature count. + + \note a way to get an uniform distribution of a given feature count is: + \a min_distance = \a width * \a height / desired_feature_count ^ 2 + + \return All detected feartures matching given parameters +*/ +std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, + int stride, int min_trackness = 128, + int min_distance = 120); + /*! Detect features in an image. @@ -63,10 +88,8 @@ struct Feature { \note \a You can crop the image (to avoid detecting markers near the borders) without copying: image += marginY*stride+marginX, width -= 2*marginX, height -= 2*marginY; */ -void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); +void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); -#ifdef __cplusplus } -#endif #endif diff --git a/extern/libmv/patches/detect.patch b/extern/libmv/patches/detect.patch new file mode 100644 index 00000000000..0d9b88faa96 --- /dev/null +++ b/extern/libmv/patches/detect.patch @@ -0,0 +1,151 @@ +diff --git a/src/libmv/simple_pipeline/detect.cc b/src/libmv/simple_pipeline/detect.cc +index 6fc0cdd..b316f42 100644 +--- a/src/libmv/simple_pipeline/detect.cc ++++ b/src/libmv/simple_pipeline/detect.cc +@@ -23,15 +23,59 @@ + ****************************************************************************/ + + #include "libmv/simple_pipeline/detect.h" ++#include <third_party/fast/fast.h> + #include <stdlib.h> +-#include <string.h> ++#include <memory.h> ++ ++#ifdef __SSE2__ ++#include <emmintrin.h> ++#endif + + namespace libmv { + + typedef unsigned int uint; + ++std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, int stride, ++ int min_trackness, int min_distance) { ++ std::vector<Feature> features; ++ // TODO(MatthiasF): Support targetting a feature count (binary search trackness) ++ int num_features; ++ xy* all = fast9_detect(data, width, height, ++ stride, min_trackness, &num_features); ++ if(num_features == 0) { ++ free(all); ++ return features; ++ } ++ int* scores = fast9_score(data, stride, all, num_features, min_trackness); ++ // TODO: merge with close feature suppression ++ xy* nonmax = nonmax_suppression(all, scores, num_features, &num_features); ++ free(all); ++ // Remove too close features ++ // TODO(MatthiasF): A resolution independent parameter would be better than distance ++ // e.g. a coefficient going from 0 (no minimal distance) to 1 (optimal circle packing) ++ // FIXME(MatthiasF): this method will not necessarily give all maximum markers ++ if(num_features) features.reserve(num_features); ++ for(int i = 0; i < num_features; ++i) { ++ xy xy = nonmax[i]; ++ Feature a = { xy.x, xy.y, scores[i], 7 }; ++ // compare each feature against filtered set ++ for(int j = 0; j < features.size(); j++) { ++ Feature& b = features[j]; ++ if ( (a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y) < min_distance*min_distance ) { ++ // already a nearby feature ++ goto skip; ++ } ++ } ++ // otherwise add the new feature ++ features.push_back(a); ++ skip: ; ++ } ++ free(scores); ++ free(nonmax); ++ return features; ++} ++ + #ifdef __SSE2__ +-#include <emmintrin.h> + static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strideB) { + __m128i a = _mm_setzero_si128(); + for(int i = 0; i < 16; i++) { +@@ -52,7 +96,7 @@ static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strid + } + #endif + +-void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { ++void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { + unsigned short histogram[256]; + memset(histogram,0,sizeof(histogram)); + ubyte* scores = new ubyte[width*height]; +diff --git a/src/libmv/simple_pipeline/detect.h b/src/libmv/simple_pipeline/detect.h +index 23b239b..bbe7aed 100644 +--- a/src/libmv/simple_pipeline/detect.h ++++ b/src/libmv/simple_pipeline/detect.h +@@ -25,27 +25,52 @@ + #ifndef LIBMV_SIMPLE_PIPELINE_DETECT_H_ + #define LIBMV_SIMPLE_PIPELINE_DETECT_H_ + +-#ifdef __cplusplus ++#include <vector> ++ + namespace libmv { +-#endif + + typedef unsigned char ubyte; + + /*! +- \a Feature is the 2D location of a detected feature in an image. ++ A Feature is the 2D location of a detected feature in an image. + +- \a x, \a y is the position of the center in pixels (from image top-left). +- \a score is an estimate of how well the pattern will be tracked. +- \a size can be used as an initial size to track the pattern. ++ \a x, \a y is the position of the feature in pixels from the top left corner. ++ \a score is an estimate of how well the feature will be tracked. ++ \a size can be used as an initial pattern size to track the feature. + + \sa Detect + */ + struct Feature { ++ /// Position in pixels (from top-left corner) ++ /// \note libmv might eventually support subpixel precision. + float x, y; ++ /// Trackness of the feature + float score; ++ /// Size of the feature in pixels + float size; + }; +- //radius for non maximal suppression ++ ++/*! ++ Detect features in an image. ++ ++ You need to input a single channel 8-bit image using pointer to image \a data, ++ \a width, \a height and \a stride (i.e bytes per line). ++ ++ You can tweak the count of detected features using \a min_trackness, which is ++ the minimum score to add a feature, and \a min_distance which is the minimal ++ distance accepted between two featuress. ++ ++ \note You can binary search over \a min_trackness to get a given feature count. ++ ++ \note a way to get an uniform distribution of a given feature count is: ++ \a min_distance = \a width * \a height / desired_feature_count ^ 2 ++ ++ \return All detected feartures matching given parameters ++*/ ++std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, ++ int stride, int min_trackness = 128, ++ int min_distance = 120); ++ + /*! + Detect features in an image. + +@@ -63,10 +88,8 @@ struct Feature { + \note \a You can crop the image (to avoid detecting markers near the borders) without copying: + image += marginY*stride+marginX, width -= 2*marginX, height -= 2*marginY; + */ +-void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); ++void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); + +-#ifdef __cplusplus + } +-#endif + + #endif diff --git a/extern/libmv/patches/series b/extern/libmv/patches/series index 410a14ca135..00a52c1cfaa 100644 --- a/extern/libmv/patches/series +++ b/extern/libmv/patches/series @@ -10,3 +10,4 @@ mingw.patch msvc2010.patch scaled_distortion.patch overscan.patch +detect.patch diff --git a/source/blender/blenkernel/BKE_tracking.h b/source/blender/blenkernel/BKE_tracking.h index 84e2acfb147..0e29bb44181 100644 --- a/source/blender/blenkernel/BKE_tracking.h +++ b/source/blender/blenkernel/BKE_tracking.h @@ -87,7 +87,7 @@ void BKE_tracking_projection_matrix(struct MovieTracking *tracking, int framenr, void BKE_tracking_apply_intrinsics(struct MovieTracking *tracking, float co[2], float nco[2]); void BKE_tracking_invert_intrinsics(struct MovieTracking *tracking, float co[2], float nco[2]); -void BKE_tracking_detect(struct MovieTracking *tracking, struct ImBuf *imbuf, int framenr, int margin, int count, int min_distance); +void BKE_tracking_detect(struct MovieTracking *tracking, struct ImBuf *imbuf, int framenr, int margin, int min_trackness, int count, int min_distance, int fast); struct MovieTrackingTrack *BKE_tracking_indexed_bundle(struct MovieTracking *tracking, int bundlenr); diff --git a/source/blender/blenkernel/intern/tracking.c b/source/blender/blenkernel/intern/tracking.c index 9ad7b963447..9f5478df0b1 100644 --- a/source/blender/blenkernel/intern/tracking.c +++ b/source/blender/blenkernel/intern/tracking.c @@ -1526,14 +1526,18 @@ static unsigned char *acquire_ucharbuf(ImBuf *ibuf) } #endif -void BKE_tracking_detect(MovieTracking *tracking, ImBuf *ibuf, int framenr, int margin, int count, int min_distance) +void BKE_tracking_detect(MovieTracking *tracking, ImBuf *ibuf, int framenr, int margin, int min_trackness, int count, int min_distance, int fast) { #ifdef WITH_LIBMV struct libmv_Features *features; unsigned char *pixels= acquire_ucharbuf(ibuf); int a; - features= libmv_detectFeatures(pixels, ibuf->x, ibuf->y, ibuf->x, margin, count, min_distance); + if(fast) + features= libmv_detectFeaturesFAST(pixels, ibuf->x, ibuf->y, ibuf->x, margin, min_trackness, min_distance); + else + features= libmv_detectFeaturesMORAVEC(pixels, ibuf->x, ibuf->y, ibuf->x, margin, count, min_distance); + MEM_freeN(pixels); a= libmv_countFeatures(features); diff --git a/source/blender/editors/space_clip/tracking_ops.c b/source/blender/editors/space_clip/tracking_ops.c index 1651d4cea7e..3a559bbf935 100644 --- a/source/blender/editors/space_clip/tracking_ops.c +++ b/source/blender/editors/space_clip/tracking_ops.c @@ -2214,7 +2214,9 @@ static int detect_features_exec(bContext *C, wmOperator *op) MovieClip *clip= ED_space_clip(sc); ImBuf *ibuf= BKE_movieclip_acquire_ibuf_flag(clip, &sc->user, 0); MovieTrackingTrack *track= clip->tracking.tracks.first; + int detector= RNA_enum_get(op->ptr, "detector"); int margin= RNA_int_get(op->ptr, "margin"); + int min_trackness= RNA_int_get(op->ptr, "min_trackness"); int count= RNA_int_get(op->ptr, "count"); int min_distance= RNA_int_get(op->ptr, "min_distance"); @@ -2227,7 +2229,7 @@ static int detect_features_exec(bContext *C, wmOperator *op) track= track->next; } - BKE_tracking_detect(&clip->tracking, ibuf, sc->user.framenr, margin, count, min_distance); + BKE_tracking_detect(&clip->tracking, ibuf, sc->user.framenr, margin, min_trackness, count, min_distance, detector==0); IMB_freeImBuf(ibuf); @@ -2236,8 +2238,40 @@ static int detect_features_exec(bContext *C, wmOperator *op) return OPERATOR_FINISHED; } +static void detect_features_draw(bContext *C, wmOperator *op) +{ + uiLayout *layout = op->layout; + wmWindowManager *wm= CTX_wm_manager(C); + PointerRNA ptr; + int detector= RNA_enum_get(op->ptr, "detector"); + PropertyRNA *prop_min_trackness; + PropertyRNA *prop_count; + + prop_min_trackness= RNA_struct_find_property(op->ptr, "min_trackness"); + prop_count= RNA_struct_find_property(op->ptr, "count"); + + if(detector==0) { + RNA_def_property_clear_flag(prop_min_trackness, PROP_HIDDEN); + RNA_def_property_flag(prop_count, PROP_HIDDEN); + } else { + RNA_def_property_flag(prop_min_trackness, PROP_HIDDEN); + RNA_def_property_clear_flag(prop_count, PROP_HIDDEN); + } + + RNA_pointer_create(&wm->id, op->type->srna, op->properties, &ptr); + + /* main draw call */ + uiDefAutoButsRNA(layout, &ptr, NULL, 'V'); +} + void CLIP_OT_detect_features(wmOperatorType *ot) { + static EnumPropertyItem detector_items[] = { + {0, "FAST", 0, "FAST", "FAST corner detector"}, + {1, "MORAVEC", 0, "Moravec", "Moravec corner detector"}, + {0, NULL, 0, NULL, NULL} + }; + /* identifiers */ ot->name= "Detect Features"; ot->description= "Automatically detect features to track"; @@ -2246,12 +2280,15 @@ void CLIP_OT_detect_features(wmOperatorType *ot) /* api callbacks */ ot->exec= detect_features_exec; ot->poll= space_clip_frame_poll; + ot->ui= detect_features_draw; /* flags */ ot->flag= OPTYPE_REGISTER|OPTYPE_UNDO; /* properties */ + RNA_def_enum(ot->srna, "detector", detector_items, 0, "Detector", "Detector using for detecting features"); RNA_def_int(ot->srna, "margin", 16, 0, INT_MAX, "Margin", "Only corners further than margin pixels from the image edges are considered", 0, 300); + RNA_def_int(ot->srna, "min_trackness", 16, 0, INT_MAX, "Trackness", "Minimum score to add a corner", 0, 300); RNA_def_int(ot->srna, "count", 50, 1, INT_MAX, "Count", "Count of corners to detect", 0, 300); RNA_def_int(ot->srna, "min_distance", 120, 0, INT_MAX, "Distance", "Minimal distance accepted between two corners", 0, 300); } |