diff options
Diffstat (limited to 'extern/libmv')
| -rw-r--r-- | extern/libmv/ChangeLog | 130 | ||||
| -rw-r--r-- | extern/libmv/libmv/multiview/fundamental.cc | 4 | ||||
| -rw-r--r-- | extern/libmv/libmv/multiview/homography.cc | 15 | ||||
| -rw-r--r-- | extern/libmv/libmv/multiview/homography.h | 8 |
4 files changed, 123 insertions, 34 deletions
diff --git a/extern/libmv/ChangeLog b/extern/libmv/ChangeLog index c52d5456c32..222fc4eaa1f 100644 --- a/extern/libmv/ChangeLog +++ b/extern/libmv/ChangeLog @@ -1,3 +1,101 @@ +commit 575336f794841ada90aacd783285014081b8318c +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Mon Jan 7 15:58:40 2013 +0600 + + Fixed for keyframe selection + + - Calculate residuals for GRIC in pixel space rather than + in normalized space. + + This seems to be how it's intended to be used. + + Algebraic H and F will still use normalized coordinates which + are more stable, after this matrices are converted to pixel + space and Ceres refinement happens in pixel space. + + - Standard deviation calculation was wrong in GRIC. It shouldn't + be deviation of residuals, but as per Torr it should be deviation + of measurement error, which is constant (in our case 0.1) + + Not sure if using squared cost function is correct for GRIC, + but cost function is indeed squared and in most papers cost + function is used for GRIC. After some further tests we could + switch GRIC residuals to non-squared distance. + + - Bring back rho part of GRIC, in unit tests it doesn't make + sense whether it's enabled or not, lets see how it'll behave + in real-life footage. + + - Added one more unit test based on elevator scene and manual + keyframe selection. + +commit 24117f3c3fc5531beb6497d79bb6f1780a998081 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Sun Jan 6 19:07:06 2013 +0600 + + Added test for keyframe selection based on manual selection + + Additional changes: + + - Reduce minimal correspondence to match real-world manually + tracked footage + + - Returned back squares to SymmetricEpipolarDistance and + SymmetricGeometricDistance -- this is actually a cost + functions, not distances and they shall be squared. + +commit 770eb0293b881c4c419c587a6cdb062c47ab6e44 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Dec 21 00:43:30 2012 +0600 + + Improvements for keyframe selection + + - Changed main keyframe selection cycle, so in cases there're no + more next keyframes for current keyframe could be found in the + image sequence, current keyframe would be moved forward and + search continues. + + This helps in cases when there's poor motion in the beginning + of the sequence, then markers becomes occluded. There could be + good keyframes in the middle of the shot still. + + - Extended keyframe_selection_test with real world cases. + + - Moved correspondences constraint to the top, so no H/F estimation + happens if there's bad correspondence. Makes algorithm go a bit + faster. + + Strangely, but using non-squared distances makes neighbor frames + test fail, using squared distances makes this tests pass. + + However, using non-squared distances seems to be working better + in real tests i've been doing. So this requires more investigation/ + +commit 7415c62fbda36c5bd1c291bc94d535a66da896d0 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Thu Dec 20 18:46:09 2012 +0600 + + Cosmetic change to correspondences reports in keyframe selection + +commit ceaf80c987ec0338e7e83965bc808411453eb755 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Thu Dec 20 18:08:03 2012 +0600 + + Various fixes: + + - That was a typo in symmetric geometric cost functor, which + computed inverse distance in a wrong way. + + - Fixed compilation of unit tests + + - Added simple test for keyframe selection. Currently only + covers case that neighbor frames with only translation + (homography should be better than fundamental) are not + considered a keyframes. + + Still need to be investigated why it only works if tracks + are in pixel space and why doesn't work in normalized space. + commit cfabdfe48df2add3d1f30cf4370efd0b31990ab0 Author: Sergey Sharybin <sergey.vfx@gmail.com> Date: Thu Dec 20 05:46:53 2012 +0600 @@ -690,35 +788,3 @@ Author: Sergey Sharybin <sergey.vfx@gmail.com> Date: Fri Feb 17 21:32:05 2012 +0600 Picky edits: corrected EOL - -commit 3f2a4205ec5adadcdfa306b161c705c868a7be93 -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Fri Feb 17 21:30:07 2012 +0600 - - Fixed incorrect access to ucontext on linux. Caused by incorrect merge conflict resolve. - -commit d360a21a5aa125cf9e83dd26b302508688ff7007 -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Fri Feb 17 20:54:13 2012 +0600 - - More Windows -> Unix EOL conversions - -commit 18aeda58bec9556140ba617724e31ada6f5b67c0 -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Fri Feb 17 20:15:42 2012 +0600 - - Looks like this debug output was removed accidentally. - -commit 189dc0cacdee3c1eab68c43263ecb038ed244c09 -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Fri Feb 17 20:11:56 2012 +0600 - - Made V3D verbose again by default - -commit 8b3422d3eec5e450d76243886bf07fb0a3e83a81 -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Fri Feb 17 20:08:01 2012 +0600 - - SAD tracker now can deal with pattern size any size, - Very quick implementation came from Blender before Hybrid tracker was added. - Better to be replaced with brute tracker. diff --git a/extern/libmv/libmv/multiview/fundamental.cc b/extern/libmv/libmv/multiview/fundamental.cc index 12a611c748f..80f155e804d 100644 --- a/extern/libmv/libmv/multiview/fundamental.cc +++ b/extern/libmv/libmv/multiview/fundamental.cc @@ -254,8 +254,8 @@ double SymmetricEpipolarDistance(const Mat &F, const Vec2 &x1, const Vec2 &x2) { Vec3 Ft_y = F.transpose() * y; double y_F_x = y.dot(F_x); - return y_F_x * ( 1 / F_x.head<2>().norm() - + 1 / Ft_y.head<2>().norm()); + return Square(y_F_x) * ( 1 / F_x.head<2>().squaredNorm() + + 1 / Ft_y.head<2>().squaredNorm()); } // HZ 9.6 pag 257 (formula 9.12) diff --git a/extern/libmv/libmv/multiview/homography.cc b/extern/libmv/libmv/multiview/homography.cc index b5c483998d8..538c62598c0 100644 --- a/extern/libmv/libmv/multiview/homography.cc +++ b/extern/libmv/libmv/multiview/homography.cc @@ -264,4 +264,19 @@ bool Homography3DFromCorrespondencesLinear(const Mat &x1, return false; } } + +double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2) { + Vec3 x(x1(0), x1(1), 1.0); + Vec3 y(x2(0), x2(1), 1.0); + + Vec3 H_x = H * x; + Vec3 Hinv_y = H.inverse() * y; + + H_x /= H_x(2); + Hinv_y /= Hinv_y(2); + + return (H_x.head<2>() - y.head<2>()).squaredNorm() + + (Hinv_y.head<2>() - x.head<2>()).squaredNorm(); +} + } // namespace libmv diff --git a/extern/libmv/libmv/multiview/homography.h b/extern/libmv/libmv/multiview/homography.h index 786fd3df8ca..a295c4366b6 100644 --- a/extern/libmv/libmv/multiview/homography.h +++ b/extern/libmv/libmv/multiview/homography.h @@ -79,6 +79,14 @@ bool Homography3DFromCorrespondencesLinear(const Mat &x1, Mat4 *H, double expected_precision = EigenDouble::dummy_precision()); + +/** + * Calculate symmetric geometric cost: + * + * D(H * x1, x2)^2 + D(H^-1 * x2, x1) + */ +double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2); + } // namespace libmv #endif // LIBMV_MULTIVIEW_HOMOGRAPHY_H_ |