diff options
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/libmv/libmv-capi.cc | 3 | ||||
| -rw-r--r-- | extern/libmv/libmv/tracking/track_region.cc | 47 | ||||
| -rw-r--r-- | extern/libmv/libmv/tracking/track_region.h | 12 |
3 files changed, 58 insertions, 4 deletions
diff --git a/extern/libmv/libmv-capi.cc b/extern/libmv/libmv-capi.cc index 0585bd3e8ac..f02ca0e98e0 100644 --- a/extern/libmv/libmv-capi.cc +++ b/extern/libmv/libmv-capi.cc @@ -306,6 +306,9 @@ int libmv_trackRegion(const libmv_TrackRegionOptions *options, track_region_options.num_extra_points = 1; track_region_options.image1_mask = NULL; track_region_options.use_brute_initialization = options->use_brute; + /* TODO(keir): This will make some cases better, but may be a regression until + * the motion model is in. Since this is on trunk, enable it for now. */ + track_region_options.attempt_refine_before_brute = true; track_region_options.use_normalized_intensities = options->use_normalization; if (options->image1_mask) { diff --git a/extern/libmv/libmv/tracking/track_region.cc b/extern/libmv/libmv/tracking/track_region.cc index 786f16bf219..9e0bf9a77da 100644 --- a/extern/libmv/libmv/tracking/track_region.cc +++ b/extern/libmv/libmv/tracking/track_region.cc @@ -1289,6 +1289,15 @@ bool BruteTranslationOnlyInitialize(const FloatImage &image1, return true; } +void CopyQuad(double *src_x, double *src_y, + double *dst_x, double *dst_y, + int num_extra_points) { + for (int i = 0; i < 4 + num_extra_points; ++i) { + dst_x[i] = src_x[i]; + dst_y[i] = src_y[i]; + } +} + } // namespace template<typename Warp> @@ -1298,11 +1307,46 @@ void TemplatedTrackRegion(const FloatImage &image1, const TrackRegionOptions &options, double *x2, double *y2, TrackRegionResult *result) { - for (int i = 0; i < 4; ++i) { + for (int i = 0; i < 4 + options.num_extra_points; ++i) { LG << "P" << i << ": (" << x1[i] << ", " << y1[i] << "); guess (" << x2[i] << ", " << y2[i] << "); (dx, dy): (" << (x2[i] - x1[i]) << ", " << (y2[i] - y1[i]) << ")."; } + + // Since (x2, y2) contains a prediction for where the tracked point should + // go, try a refinement immediately in the hope that the prediction is close + // enough. + if (options.attempt_refine_before_brute) { + TrackRegionOptions modified_options = options; + modified_options.use_brute_initialization = false; + modified_options.attempt_refine_before_brute = false; + + double x2_first_try[5]; + double y2_first_try[5]; + CopyQuad(x2, y2, x2_first_try, y2_first_try, options.num_extra_points); + + TemplatedTrackRegion<Warp>(image1, image2, + x1, y1, modified_options, + x2_first_try, y2_first_try, result); + + // Of the things that can happen in the first pass, don't try the brute + // pass (and second attempt) if the error is one of the terminations below. + if (result->termination == TrackRegionResult::PARAMETER_TOLERANCE || + result->termination == TrackRegionResult::FUNCTION_TOLERANCE || + result->termination == TrackRegionResult::GRADIENT_TOLERANCE || + result->termination == TrackRegionResult::SOURCE_OUT_OF_BOUNDS || + result->termination == TrackRegionResult::DESTINATION_OUT_OF_BOUNDS || + result->termination == TrackRegionResult::INSUFFICIENT_PATTERN_AREA) { + LG << "Terminated with first try at refinement; no brute needed."; + // TODO(keir): Also check correlation? + CopyQuad(x2_first_try, y2_first_try, x2, y2, options.num_extra_points); + LG << "Early termination correlation: " << result->correlation; + return; + } else { + LG << "Initial eager-refinement failed; retrying normally."; + } + } + if (options.use_normalized_intensities) { LG << "Using normalized intensities."; } @@ -1368,7 +1412,6 @@ void TemplatedTrackRegion(const FloatImage &image1, int num_samples_y; PickSampling(x1, y1, x2, y2, &num_samples_x, &num_samples_y); - // Compute the warp from rectangular coordinates. Mat3 canonical_homography = ComputeCanonicalHomography(x1, y1, num_samples_x, diff --git a/extern/libmv/libmv/tracking/track_region.h b/extern/libmv/libmv/tracking/track_region.h index 6c7218f11d1..58742cab36c 100644 --- a/extern/libmv/libmv/tracking/track_region.h +++ b/extern/libmv/libmv/tracking/track_region.h @@ -55,6 +55,13 @@ struct TrackRegionOptions { // that the nearby minima is correct, or the search area is too small. bool use_brute_initialization; + // If true and brute initialization is enabled, first try refining with the + // initial guess instead of starting with the brute initialization. If the + // initial refinement fails, then a normal brute search followed by + // refinement is attempted. If the initial refinement succeeds, then the + // result is returned as is (skipping a costly brute search). + bool attempt_refine_before_brute; + // If true, normalize the image patches by their mean before doing the sum of // squared error calculation. This is reasonable since the effect of // increasing light intensity is multiplicative on the pixel intensities. @@ -67,8 +74,9 @@ struct TrackRegionOptions { // take the image derivative. double sigma; - // Extra points that should get transformed by the warp. This is useful - // because the actual warp parameters are not exposed. + // Extra points that should get transformed by the warp. These points are + // appended to the x and y arrays. This is useful because the actual warp + // parameters are not exposed. int num_extra_points; // For motion models other than translation, the optimizer sometimes has |