diff options
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/libmv/CMakeLists.txt | 4 | ||||
| -rw-r--r-- | extern/libmv/ChangeLog | 19 | ||||
| -rw-r--r-- | extern/libmv/files.txt | 4 | ||||
| -rw-r--r-- | extern/libmv/libmv/tracking/esm_region_tracker.cc | 313 | ||||
| -rw-r--r-- | extern/libmv/libmv/tracking/esm_region_tracker.h | 63 | ||||
| -rw-r--r-- | extern/libmv/libmv/tracking/lmicklt_region_tracker.cc | 253 | ||||
| -rw-r--r-- | extern/libmv/libmv/tracking/lmicklt_region_tracker.h | 62 | ||||
| -rw-r--r-- | extern/libmv/libmv/tracking/track_region.h | 2 |
8 files changed, 9 insertions, 711 deletions
diff --git a/extern/libmv/CMakeLists.txt b/extern/libmv/CMakeLists.txt index 4c88a4b7cc2..2c9a21965f0 100644 --- a/extern/libmv/CMakeLists.txt +++ b/extern/libmv/CMakeLists.txt @@ -75,10 +75,8 @@ if(WITH_LIBMV) libmv/simple_pipeline/resect.cc libmv/simple_pipeline/tracks.cc libmv/tracking/brute_region_tracker.cc - libmv/tracking/esm_region_tracker.cc libmv/tracking/hybrid_region_tracker.cc libmv/tracking/klt_region_tracker.cc - libmv/tracking/lmicklt_region_tracker.cc libmv/tracking/pyramid_region_tracker.cc libmv/tracking/retrack_region_tracker.cc libmv/tracking/track_region.cc @@ -134,10 +132,8 @@ if(WITH_LIBMV) libmv/simple_pipeline/resect.h libmv/simple_pipeline/tracks.h libmv/tracking/brute_region_tracker.h - libmv/tracking/esm_region_tracker.h libmv/tracking/hybrid_region_tracker.h libmv/tracking/klt_region_tracker.h - libmv/tracking/lmicklt_region_tracker.h libmv/tracking/pyramid_region_tracker.h libmv/tracking/region_tracker.h libmv/tracking/retrack_region_tracker.h diff --git a/extern/libmv/ChangeLog b/extern/libmv/ChangeLog index 34f63011ea8..0176fda6455 100644 --- a/extern/libmv/ChangeLog +++ b/extern/libmv/ChangeLog @@ -1,3 +1,12 @@ +commit f61b8198b9bddd8d2fa53feae7924aa23df48cbd +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Thu May 30 18:00:03 2013 +0600 + + Code cleanup + + - Made some arguments passing to detector const. + - Remove unneeded include from track_region header. + commit 61ac890908a397860cabc60207500039876532cc Author: Sergey Sharybin <sergey.vfx@gmail.com> Date: Mon May 13 04:44:14 2013 +0600 @@ -624,13 +633,3 @@ Date: Fri Mar 1 17:40:38 2013 +0600 refining are much more usable than it were before. Thanks to Keir for the help and code review! - -commit 5d6c2e7a27bdd1a1b23bf289d70a9b8f62514c9a -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Fri Mar 1 17:37:35 2013 +0600 - - Increase verbosity level for reprojected markers info - - This information is useful, but in cases when you, say, - working on a bundler it's annoying to scroll all the - information up. diff --git a/extern/libmv/files.txt b/extern/libmv/files.txt index bfa22bfe898..e5297c7cced 100644 --- a/extern/libmv/files.txt +++ b/extern/libmv/files.txt @@ -62,14 +62,10 @@ libmv/simple_pipeline/tracks.cc libmv/simple_pipeline/tracks.h libmv/tracking/brute_region_tracker.cc libmv/tracking/brute_region_tracker.h -libmv/tracking/esm_region_tracker.cc -libmv/tracking/esm_region_tracker.h libmv/tracking/hybrid_region_tracker.cc libmv/tracking/hybrid_region_tracker.h libmv/tracking/klt_region_tracker.cc libmv/tracking/klt_region_tracker.h -libmv/tracking/lmicklt_region_tracker.cc -libmv/tracking/lmicklt_region_tracker.h libmv/tracking/pyramid_region_tracker.cc libmv/tracking/pyramid_region_tracker.h libmv/tracking/region_tracker.h diff --git a/extern/libmv/libmv/tracking/esm_region_tracker.cc b/extern/libmv/libmv/tracking/esm_region_tracker.cc deleted file mode 100644 index d50c9420767..00000000000 --- a/extern/libmv/libmv/tracking/esm_region_tracker.cc +++ /dev/null @@ -1,313 +0,0 @@ -// Copyright (c) 2007, 2008, 2009, 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. - -/* needed for M_E when building with msvc */ -#define _USE_MATH_DEFINES - -#include "libmv/tracking/esm_region_tracker.h" - -#include "libmv/logging/logging.h" -#include "libmv/image/image.h" -#include "libmv/image/convolve.h" -#include "libmv/image/correlation.h" -#include "libmv/image/sample.h" -#include "libmv/numeric/numeric.h" -#include "libmv/tracking/track_region.h" - -namespace libmv { - -// TODO(keir): Reduce duplication between here and the other region trackers. -static bool RegionIsInBounds(const FloatImage &image1, - double x, double y, - int half_window_size) { - // Check the minimum coordinates. - int min_x = floor(x) - half_window_size - 1; - int min_y = floor(y) - half_window_size - 1; - if (min_x < 0.0 || - min_y < 0.0) { - LG << "Out of bounds; min_x: " << min_x << ", min_y: " << min_y; - return false; - } - - // Check the maximum coordinates. - int max_x = ceil(x) + half_window_size + 1; - int max_y = ceil(y) + half_window_size + 1; - if (max_x > image1.cols() || - max_y > image1.rows()) { - LG << "Out of bounds; max_x: " << max_x << ", max_y: " << max_y - << ", image1.cols(): " << image1.cols() - << ", image1.rows(): " << image1.rows(); - return false; - } - - // Ok, we're good. - return true; -} - -/* Ugly but necessary fix for compilation on VS2012 - * this file causes an Internal Compiler Error */ -// TODO: check regularly if ICE is fixed by MS! -#if defined(_MSC_VER) && defined(_WIN64) && (_MSC_VER >= 1700) -#pragma optimize("s", on) -#endif - -// This is implemented from "Lukas and Kanade 20 years on: Part 1. Page 42, -// figure 14: the Levenberg-Marquardt-Inverse Compositional Algorithm". -bool EsmRegionTracker::Track(const FloatImage &image1, - const FloatImage &image2, - double x1, double y1, - double *x2, double *y2) const { - if (!RegionIsInBounds(image1, x1, y1, half_window_size)) { - LG << "Fell out of image1's window with x1=" << x1 << ", y1=" << y1 - << ", hw=" << half_window_size << "."; - 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. - Array3Df image_and_gradient1; - Array3Df image_and_gradient2; - BlurredImageAndDerivativesChannels(image1, sigma, &image_and_gradient1); - BlurredImageAndDerivativesChannels(image2, sigma, &image_and_gradient2); - - // Step -1: Resample the template (image1) since it is not pixel aligned. - // - // Take a sample of the gradient of the pattern area of image1 at the - // subpixel position x1, x2. This is reused for each iteration, so - // precomputing it saves time. - Array3Df image_and_gradient1_sampled; - SamplePattern(image_and_gradient1, x1, y1, half_window_size, 3, - &image_and_gradient1_sampled); - - // Step 0: Initialize delta = 0.01. - // - // Ignored for my "normal" LM loop. - - // Step 1: Warp I with W(x, p) to compute I(W(x; p). - // - // Use two images for accepting / rejecting updates. - // XXX is this necessary? - int current_image = 0, new_image = 1; - Array3Df image_and_gradient2_sampled[2]; - SamplePattern(image_and_gradient2, *x2, *y2, half_window_size, 3, - &image_and_gradient2_sampled[current_image]); - - // Step 2: Compute the squared error I - J. - double error = 0; - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - double e = image_and_gradient1_sampled(r, c, 0) - - image_and_gradient2_sampled[current_image](r, c, 0); - error += e*e; - } - } - - // Step 3: Evaluate the gradient of the template. - // - // This is done above when sampling the template (step -1). - - // Step 4: Evaluate the jacobian dw/dp at (x; 0). - // - // The jacobian between dx,dy and the warp is constant 2x2 identity, so it - // doesn't have to get computed. The Gauss-Newton Hessian matrix computation - // below would normally have to include a multiply by the jacobian. - - // Step 5: Compute the steepest descent images of the template. - // - // Since the jacobian of the position w.r.t. the sampled template position is - // the identity, the steepest descent images are the same as the gradient. - - // Step 6: Compute the Gauss-Newton Hessian for the template (image1). - // - // This could get rolled into the previous loop, but split it for now for - // clarity. - Mat2 H_image1 = Mat2::Zero(); - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - Vec2 g(image_and_gradient1_sampled(r, c, 1), - image_and_gradient1_sampled(r, c, 2)); - H_image1 += g * g.transpose(); - } - } - - double tau = 1e-4; - - double mu = tau * std::max(H_image1(0, 0), H_image1(1, 1)); - double nu = M_E; - - int i; - for (i = 0; i < max_iterations; ++i) { - // Check that the entire image patch is within the bounds of the images. - if (!RegionIsInBounds(image2, *x2, *y2, half_window_size)) { - LG << "Fell out of image2's window with x2=" << *x2 << ", y2=" << *y2 - << ", hw=" << half_window_size << "."; - return false; - } - - Mat2 H = Mat2::Zero(); - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - Vec2 g1(image_and_gradient1_sampled(r, c, 1), - image_and_gradient1_sampled(r, c, 2)); - Vec2 g2(image_and_gradient2_sampled[current_image](r, c, 1), - image_and_gradient2_sampled[current_image](r, c, 2)); - Vec2 g = g1 + g2; // Should be / 2.0, but do that outside the loop. - H += g * g.transpose(); - } - } - H /= 4.0; - - // Step 7: Compute z - Vec2 z = Vec2::Zero(); - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - double e = image_and_gradient2_sampled[current_image](r, c, 0) - - image_and_gradient1_sampled(r, c, 0); - z(0) += image_and_gradient1_sampled(r, c, 1) * e; - z(1) += image_and_gradient1_sampled(r, c, 2) * e; - z(0) += image_and_gradient2_sampled[current_image](r, c, 1) * e; - z(1) += image_and_gradient2_sampled[current_image](r, c, 2) * e; - } - } - z /= 2.0; - - // Step 8: Compute Hlm and (dx,dy) - Mat2 diag = H.diagonal().asDiagonal(); - diag *= mu; - Mat2 Hlm = H + diag; - Vec2 d = Hlm.lu().solve(z); - - // TODO(keir): Use the usual LM termination and update criterion instead of - // this hacky version from the LK 20 years on paper. - LG << "x=" << *x2 << ", y=" << *y2 << ", dx=" << d[0] << ", dy=" << d[1] - << ", mu=" << mu << ", nu=" << nu; - - // Step 9: Update the warp; W(x; p) <-- W(x;p) compose W(x, dp)^-1 - double new_x2 = *x2 - d[0]; - double new_y2 = *y2 - d[1]; - - // Step 9.1: Sample the image at the new position. - SamplePattern(image_and_gradient2, new_x2, new_y2, half_window_size, 3, - &image_and_gradient2_sampled[new_image]); - - // Step 9.2: Compute the new error. - // TODO(keir): Eliminate duplication with above code. - double new_error = 0; - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - double e = image_and_gradient1_sampled(r, c, 0) - - image_and_gradient2_sampled[new_image](r, c, 0); - new_error += e*e; - } - } - LG << "Old error: " << error << ", new error: " << new_error; - - double rho = (error - new_error) / (d.transpose() * (mu * d + z)); - - // Step 10: Accept or reject step. - if (rho <= 0) { - // This was a bad step, so don't update. - mu *= nu; - - // The standard Levenberg-Marquardt update multiplies nu by 2, but - // instead chose e. I chose a constant greater than 2 since in typical - // tracking examples, I saw that once updates started failing they should - // ramp towards steepest descent faster. This has no basis in theory, but - // appears to lead to faster tracking overall. - nu *= M_E; - LG << "Error increased, so reject update."; - } else { - // The step was good, so update. - *x2 = new_x2; - *y2 = new_y2; - std::swap(new_image, current_image); - error = new_error; - - mu *= std::max(1/3., 1 - pow(2*rho - 1, 3)); - nu = M_E; // See above for why to use e. - LG << "Error decreased, so accept update."; - } - - // If the step was accepted, then check for termination. - if (d.squaredNorm() < min_update_squared_distance) { - // Compute the Pearson product-moment correlation coefficient to check - // for sanity. - double correlation = PearsonProductMomentCorrelation( - image_and_gradient1_sampled, - image_and_gradient2_sampled[new_image], - width); - LG << "Final correlation: " << correlation; - - // Note: Do the comparison here to handle nan's correctly (since all - // comparisons with nan are false). - if (minimum_correlation < correlation) { - LG << "Successful track in " << (i + 1) << " iterations."; - return true; - } - LG << "Correlation " << correlation << " greater than " - << minimum_correlation << " or is nan; bailing."; - return false; - } - } - // Getting here means we hit max iterations, so tracking failed. - LG << "Too many iterations; max is set to " << max_iterations << "."; - return false; -} - -} // namespace libmv diff --git a/extern/libmv/libmv/tracking/esm_region_tracker.h b/extern/libmv/libmv/tracking/esm_region_tracker.h deleted file mode 100644 index 97b8e27dba2..00000000000 --- a/extern/libmv/libmv/tracking/esm_region_tracker.h +++ /dev/null @@ -1,63 +0,0 @@ -// Copyright (c) 2007, 2008, 2009, 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_REGION_TRACKING_LMICKLT_REGION_TRACKER_H_ -#define LIBMV_REGION_TRACKING_LMICKLT_REGION_TRACKER_H_ - -#include "libmv/image/image.h" -#include "libmv/tracking/region_tracker.h" - -namespace libmv { - -/*! - A translation-only Efficient Second-order Minimization ("ESM") tracker - - Based on the paper "Real-time image-based trackiing of planes using - Efficient Second-order Minimization" -*/ -struct EsmRegionTracker : public RegionTracker { - EsmRegionTracker() - : half_window_size(4), - max_iterations(16), - min_determinant(1e-6), - min_update_squared_distance(1e-4), - sigma(0.9), - minimum_correlation(0.78) {} - - virtual ~EsmRegionTracker() {} - - // Tracker interface. - virtual bool Track(const FloatImage &image1, - const FloatImage &image2, - double x1, double y1, - double *x2, double *y2) const; - - // No point in creating getters or setters. - int half_window_size; - int max_iterations; - double min_determinant; - double min_update_squared_distance; - double sigma; - double minimum_correlation; -}; - -} // namespace libmv - -#endif // LIBMV_REGION_TRACKING_LMICKLT_REGION_TRACKER_H_ diff --git a/extern/libmv/libmv/tracking/lmicklt_region_tracker.cc b/extern/libmv/libmv/tracking/lmicklt_region_tracker.cc deleted file mode 100644 index 5b281870f8d..00000000000 --- a/extern/libmv/libmv/tracking/lmicklt_region_tracker.cc +++ /dev/null @@ -1,253 +0,0 @@ -// Copyright (c) 2007, 2008, 2009, 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. - -#include "libmv/tracking/lmicklt_region_tracker.h" - -#include "libmv/logging/logging.h" -#include "libmv/image/image.h" -#include "libmv/image/convolve.h" -#include "libmv/image/sample.h" -#include "libmv/numeric/numeric.h" - -namespace libmv { - -// TODO(keir): Reduce duplication between here and the other region trackers. -static bool RegionIsInBounds(const FloatImage &image1, - double x, double y, - int half_window_size) { - // Check the minimum coordinates. - int min_x = floor(x) - half_window_size - 1; - int min_y = floor(y) - half_window_size - 1; - if (min_x < 0.0 || - min_y < 0.0) { - return false; - } - - // Check the maximum coordinates. - int max_x = ceil(x) + half_window_size + 1; - int max_y = ceil(y) + half_window_size + 1; - if (max_x > image1.cols() || - max_y > image1.rows()) { - return false; - } - - // Ok, we're good. - return true; -} - -/* Ugly but necessary fix for compilation on VS2012 - * this file causes an Internal Compiler Error */ -// TODO: check regularly if ICE is fixed by MS! -#if defined(_WIN64) && defined(_MSC_VER) && (_MSC_VER >= 1700) -#pragma optimize("s", on) -#endif - -// Estimate "reasonable" error by computing autocorrelation for a small shift. -static double EstimateReasonableError(const FloatImage &image, - double x, double y, - int half_width) { - double error = 0.0; - for (int r = -half_width; r <= half_width; ++r) { - for (int c = -half_width; c <= half_width; ++c) { - double s = SampleLinear(image, y + r, x + c, 0); - double e1 = SampleLinear(image, y + r + 0.5, x + c, 0) - s; - double e2 = SampleLinear(image, y + r, x + c + 0.5, 0) - s; - error += e1*e1 + e2*e2; - } - } - return error / 2.0 * 8.0; -} - -// This is implemented from "Lukas and Kanade 20 years on: Part 1. Page 42, -// figure 14: the Levenberg-Marquardt-Inverse Compositional Algorithm". -bool LmickltRegionTracker::Track(const FloatImage &image1, - const FloatImage &image2, - double x1, double y1, - double *x2, double *y2) const { - if (!RegionIsInBounds(image1, x1, y1, half_window_size)) { - LG << "Fell out of image1's window with x1=" << x1 << ", y1=" << y1 - << ", hw=" << half_window_size << "."; - return false; - } - - int width = 2 * half_window_size + 1; - - // TODO(keir): Avoid recomputing gradients for e.g. the pyramid tracker. - Array3Df image_and_gradient1; - Array3Df image_and_gradient2; - BlurredImageAndDerivativesChannels(image1, sigma, &image_and_gradient1); - - // TODO(keir): Avoid computing the derivative of image2. - BlurredImageAndDerivativesChannels(image2, sigma, &image_and_gradient2); - - // Step -1: Resample the template (image1) since it is not pixel aligned. - // - // Take a sample of the gradient of the pattern area of image1 at the - // subpixel position x1, x2. This is reused for each iteration, so - // precomputing it saves time. - Array3Df image_and_gradient1_sampled; - SamplePattern(image_and_gradient1, x1, y1, half_window_size, 3, - &image_and_gradient1_sampled); - - // Step 0: Initialize delta = 0.01. - // - // Ignored for my "normal" LM loop. - - double reasonable_error = - EstimateReasonableError(image1, x1, y1, half_window_size); - - // Step 1: Warp I with W(x, p) to compute I(W(x; p). - // - // Use two images for accepting / rejecting updates. - int current_image = 0, new_image = 1; - Array3Df image2_sampled[2]; - SamplePattern(image_and_gradient2, *x2, *y2, half_window_size, 1, - &image2_sampled[current_image]); - - // Step 2: Compute the squared error I - J. - double error = 0; - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - double e = image_and_gradient1_sampled(r, c, 0) - - image2_sampled[current_image](r, c, 0); - error += e*e; - } - } - - // Step 3: Evaluate the gradient of the template. - // - // This is done above when sampling the template (step -1). - - // Step 4: Evaluate the jacobian dw/dp at (x; 0). - // - // The jacobian between dx,dy and the warp is constant 2x2 identity, so it - // doesn't have to get computed. The Gauss-Newton Hessian matrix computation - // below would normally have to include a multiply by the jacobian. - - // Step 5: Compute the steepest descent images of the template. - // - // Since the jacobian of the position w.r.t. the sampled template position is - // the identity, the steepest descent images are the same as the gradient. - - // Step 6: Compute the Gauss-Newton Hessian for the template (image1). - // - // This could get rolled into the previous loop, but split it for now for - // clarity. - Mat2 H = Mat2::Zero(); - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - Vec2 g(image_and_gradient1_sampled(r, c, 1), - image_and_gradient1_sampled(r, c, 2)); - H += g * g.transpose(); - } - } - - double tau = 1e-3; - - double mu = tau * std::max(H(0, 0), H(1, 1)); - double nu = 2.0; - - int i; - for (i = 0; i < max_iterations; ++i) { - // Check that the entire image patch is within the bounds of the images. - if (!RegionIsInBounds(image2, *x2, *y2, half_window_size)) { - LG << "Fell out of image2's window with x2=" << *x2 << ", y2=" << *y2 - << ", hw=" << half_window_size << "."; - return false; - } - - // Step 7: Compute z - Vec2 z = Vec2::Zero(); - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - double e = image2_sampled[current_image](r, c, 0) - - image_and_gradient1_sampled(r, c, 0); - z(0) += image_and_gradient1_sampled(r, c, 1) * e; - z(1) += image_and_gradient1_sampled(r, c, 2) * e; - } - } - - // Step 8: Compute Hlm and (dx,dy) - Mat2 diag = H.diagonal().asDiagonal(); - diag *= mu; - Mat2 Hlm = H + diag; - Vec2 d = Hlm.lu().solve(z); - - // TODO(keir): Use the usual LM termination and update criterion instead of - // this hacky version from the LK 20 years on paper. - LG << "x=" << *x2 << ", y=" << *y2 << ", dx=" << d[0] << ", dy=" << d[1] - << ", mu=" << mu << ", nu=" << nu; - - // Step 9: Update the warp; W(x; p) <-- W(x;p) compose W(x, dp)^-1 - double new_x2 = *x2 - d[0]; - double new_y2 = *y2 - d[1]; - - // Step 9.1: Sample the image at the new position. - SamplePattern(image_and_gradient2, new_x2, new_y2, half_window_size, 1, - &image2_sampled[new_image]); - - // Step 9.2: Compute the new error. - // TODO(keir): Eliminate duplication with above code. - double new_error = 0; - for (int r = 0; r < width; ++r) { - for (int c = 0; c < width; ++c) { - double e = image_and_gradient1_sampled(r, c, 0) - - image2_sampled[new_image](r, c, 0); - new_error += e*e; - } - } - LG << "Old error: " << error << ", new error: " << new_error; - - // If the step was accepted, then check for termination. - if (d.squaredNorm() < min_update_squared_distance) { - if (new_error > reasonable_error) { - LG << "Update size shrank but reasonable error (" - << reasonable_error << ") not achieved; failing."; - return false; - } - LG << "Successful track in " << i << " iterations."; - return true; - } - - double rho = (error - new_error) / (d.transpose() * (mu * d + z)); - - // Step 10: Accept or reject step. - if (rho <= 0) { - // This was a bad step, so don't update. - mu *= nu; - nu *= 2; - LG << "Error increased, so reject update."; - } else { - // The step was good, so update. - *x2 = new_x2; - *y2 = new_y2; - std::swap(new_image, current_image); - error = new_error; - - mu *= std::max(1/3., 1 - pow(2*rho - 1, 3)); - nu = 2; - } - } - // Getting here means we hit max iterations, so tracking failed. - LG << "Too many iterations; max is set to " << max_iterations << "."; - return false; -} - -} // namespace libmv diff --git a/extern/libmv/libmv/tracking/lmicklt_region_tracker.h b/extern/libmv/libmv/tracking/lmicklt_region_tracker.h deleted file mode 100644 index 95f4ba5f9b5..00000000000 --- a/extern/libmv/libmv/tracking/lmicklt_region_tracker.h +++ /dev/null @@ -1,62 +0,0 @@ -// Copyright (c) 2007, 2008, 2009, 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_REGION_TRACKING_LMICKLT_REGION_TRACKER_H_ -#define LIBMV_REGION_TRACKING_LMICKLT_REGION_TRACKER_H_ - -#include "libmv/image/image.h" -#include "libmv/tracking/region_tracker.h" - -namespace libmv { - -/*! - Levenberg-Marquardt inverse compositional region tracking - - This tracker implements the Levenberg-Marquardt inverse compositional - region tracking algorithm as described in the paper "Lucas and Kanade 20 - years on: A unifying framework." -*/ -struct LmickltRegionTracker : public RegionTracker { - LmickltRegionTracker() - : half_window_size(4), - max_iterations(16), - min_determinant(1e-6), - min_update_squared_distance(1e-6), - sigma(0.9) {} - - virtual ~LmickltRegionTracker() {} - - // Tracker interface. - virtual bool Track(const FloatImage &image1, - const FloatImage &image2, - double x1, double y1, - double *x2, double *y2) const; - - // No point in creating getters or setters. - int half_window_size; - int max_iterations; - double min_determinant; - double min_update_squared_distance; - double sigma; -}; - -} // namespace libmv - -#endif // LIBMV_REGION_TRACKING_LMICKLT_REGION_TRACKER_H_ diff --git a/extern/libmv/libmv/tracking/track_region.h b/extern/libmv/libmv/tracking/track_region.h index cd7ee0aa2ba..6c7218f11d1 100644 --- a/extern/libmv/libmv/tracking/track_region.h +++ b/extern/libmv/libmv/tracking/track_region.h @@ -23,8 +23,6 @@ // 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" |