diff options
Diffstat (limited to 'extern/libmv/libmv-capi.cc')
| -rw-r--r-- | extern/libmv/libmv-capi.cc | 103 |
1 files changed, 98 insertions, 5 deletions
diff --git a/extern/libmv/libmv-capi.cc b/extern/libmv/libmv-capi.cc index 0e25650db79..563919e1d7b 100644 --- a/extern/libmv/libmv-capi.cc +++ b/extern/libmv/libmv-capi.cc @@ -56,6 +56,7 @@ #include "libmv/simple_pipeline/camera_intrinsics.h" #include "libmv/simple_pipeline/modal_solver.h" #include "libmv/simple_pipeline/reconstruction_scale.h" +#include "libmv/simple_pipeline/keyframe_selection.h" #ifdef _MSC_VER # define snprintf _snprintf @@ -497,9 +498,82 @@ static void finishReconstruction(const libmv::Tracks &tracks, const libmv::Camer libmv_reconstruction->error = libmv::EuclideanReprojectionError(tracks, reconstruction, camera_intrinsics); } +static bool selectTwoKeyframesBasedOnGRICAndVariance( + libmv::Tracks &tracks, + libmv::Tracks &normalized_tracks, + libmv::CameraIntrinsics &camera_intrinsics, + libmv::ReconstructionOptions &reconstruction_options, + int &keyframe1, + int &keyframe2) +{ + libmv::vector<int> keyframes; + + /* Get list of all keyframe candidates first. */ + SelectkeyframesBasedOnGRICAndVariance(normalized_tracks, + camera_intrinsics, + keyframes); + + if (keyframes.size() < 2) { + LG << "Not enough keyframes detected by GRIC"; + return false; + } + else if (keyframes.size() == 2) { + keyframe1 = keyframes[0]; + keyframe2 = keyframes[1]; + return true; + } + + /* Now choose two keyframes with minimal reprojection error after initial + * reconstruction choose keyframes with the least reprojection error after + * solving from two candidate keyframes. + * + * In fact, currently libmv returns single pair only, so this code will + * not actually run. But in the future this could change, so let's stay + * prepared. + */ + int previous_keyframe = keyframes[0]; + double best_error = std::numeric_limits<double>::max(); + for (int i = 1; i < keyframes.size(); i++) { + libmv::EuclideanReconstruction reconstruction; + int current_keyframe = keyframes[i]; + + libmv::vector<libmv::Marker> keyframe_markers = + normalized_tracks.MarkersForTracksInBothImages(previous_keyframe, + current_keyframe); + + libmv::Tracks keyframe_tracks(keyframe_markers); + + /* get a solution from two keyframes only */ + libmv::EuclideanReconstructTwoFrames(keyframe_markers, &reconstruction); + libmv::EuclideanBundle(keyframe_tracks, &reconstruction); + libmv::EuclideanCompleteReconstruction(reconstruction_options, + keyframe_tracks, + &reconstruction, NULL); + + double current_error = + libmv::EuclideanReprojectionError(tracks, + reconstruction, + camera_intrinsics); + + LG << "Error between " << previous_keyframe + << " and " << current_keyframe + << ": " << current_error; + + if (current_error < best_error) { + best_error = current_error; + keyframe1 = previous_keyframe; + keyframe2 = current_keyframe; + } + + previous_keyframe = current_keyframe; + } + + return true; +} + libmv_Reconstruction *libmv_solveReconstruction(const libmv_Tracks *libmv_tracks, const libmv_cameraIntrinsicsOptions *libmv_camera_intrinsics_options, - const libmv_reconstructionOptions *libmv_reconstruction_options, + libmv_reconstructionOptions *libmv_reconstruction_options, reconstruct_progress_update_cb progress_update_callback, void *callback_customdata) { @@ -512,19 +586,38 @@ libmv_Reconstruction *libmv_solveReconstruction(const libmv_Tracks *libmv_tracks ReconstructUpdateCallback update_callback = ReconstructUpdateCallback(progress_update_callback, callback_customdata); + /* Retrieve reconstruction options from C-API to libmv API */ cameraIntrinsicsFromOptions(libmv_camera_intrinsics_options, &camera_intrinsics); - /* Invert the camera intrinsics */ - libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics); - - /* actual reconstruction */ libmv::ReconstructionOptions reconstruction_options; reconstruction_options.success_threshold = libmv_reconstruction_options->success_threshold; reconstruction_options.use_fallback_reconstruction = libmv_reconstruction_options->use_fallback_reconstruction; + /* Invert the camera intrinsics */ + libmv::Tracks normalized_tracks = getNormalizedTracks(tracks, camera_intrinsics); + + /* keyframe selection */ int keyframe1 = libmv_reconstruction_options->keyframe1, keyframe2 = libmv_reconstruction_options->keyframe2; + if (libmv_reconstruction_options->select_keyframes) { + LG << "Using automatic keyframe selection"; + + update_callback.invoke(0, "Selecting keyframes"); + + selectTwoKeyframesBasedOnGRICAndVariance(tracks, + normalized_tracks, + camera_intrinsics, + reconstruction_options, + keyframe1, + keyframe2); + + /* so keyframes in the interface would be updated */ + libmv_reconstruction_options->keyframe1 = keyframe1; + libmv_reconstruction_options->keyframe2 = keyframe2; + } + + /* actual reconstruction */ LG << "frames to init from: " << keyframe1 << " " << keyframe2; libmv::vector<libmv::Marker> keyframe_markers = |