diff options
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/libmv/ChangeLog | 44 | ||||
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/intersect.cc | 26 | ||||
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/pipeline.cc | 7 |
3 files changed, 46 insertions, 31 deletions
diff --git a/extern/libmv/ChangeLog b/extern/libmv/ChangeLog index 476e01dbe28..f9ddbb8c1b9 100644 --- a/extern/libmv/ChangeLog +++ b/extern/libmv/ChangeLog @@ -1,8 +1,34 @@ -commit f71f7c59d4d13574ea4dc3a196cc22eef1c192df +commit cd7eb3eff2e69ce5e08570ead83ae6d35ee48857 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Tue Jan 28 17:23:47 2014 +0600 + + Improvements to weighted tracks behavior + + First thing changed by this commit is making it so + Euclidean intersection takes track weight into account + when solving minimization problem. This behaves the + same exact way as it is for BA step. + + Second thing is related on how average reprojection error + is being calculated. It didn't take track weight into + account which could confuse users. Now average reprojection + error will give the same result as intersection/BA uses + during minimization which gives much more predictable + behavior. + + Reviewers: keir + + Reviewed By: keir + + CC: sebastian_k + + Differential Revision: https://developer.blender.org/D265 + +commit 6559b36dc14369175bfa0830323146acd3426483 Author: Sergey Sharybin <sergey.vfx@gmail.com> Date: Tue Jan 28 16:39:14 2014 +0600 - Fixed for keyframe selection + Fixes for keyframe selection Using tracks with constant zero weight used to crash keyframe selection since it was trying to use missing @@ -660,17 +686,3 @@ Date: Sat Apr 6 18:37:37 2013 +0600 It is failing at this moment and this is caused because of how SampleLinear works - seems it's assumption about pixel center is not correct for internal sampling. - -commit d449b820fb3352cd981e06d737f2838adb3d36bd -Author: Sergey Sharybin <sergey.vfx@gmail.com> -Date: Sat Apr 6 16:54:08 2013 +0600 - - Tweak to KLT region tracker test - - KLT is usually used to track relatively small - motions, and in this case motion almost equals - to half window size. This confuses math and - leads to not so much expected result. - - Further, not actually sure this is nice idea - to use KLT in such synthetic case. diff --git a/extern/libmv/libmv/simple_pipeline/intersect.cc b/extern/libmv/libmv/simple_pipeline/intersect.cc index fad750e8212..6a098da272d 100644 --- a/extern/libmv/libmv/simple_pipeline/intersect.cc +++ b/extern/libmv/libmv/simple_pipeline/intersect.cc @@ -54,8 +54,8 @@ class EuclideanIntersectCostFunctor { Vec3 projected = R * x + t; projected /= projected(2); - residuals[0] = projected(0) - T(marker_.x); - residuals[1] = projected(1) - T(marker_.y); + residuals[0] = (projected(0) - T(marker_.x)) * marker_.weight; + residuals[1] = (projected(1) - T(marker_.y)) * marker_.weight; return true; } @@ -102,16 +102,18 @@ bool EuclideanIntersect(const vector<Marker> &markers, for (int i = 0; i < markers.size(); ++i) { const Marker &marker = markers[i]; - const EuclideanCamera &camera = - *reconstruction->CameraForImage(marker.image); - - problem.AddResidualBlock( - new ceres::AutoDiffCostFunction< - EuclideanIntersectCostFunctor, - 2, /* num_residuals */ - 3>(new EuclideanIntersectCostFunctor(marker, camera)), - NULL, - &X(0)); + if (marker.weight != 0.0) { + const EuclideanCamera &camera = + *reconstruction->CameraForImage(marker.image); + + problem.AddResidualBlock( + new ceres::AutoDiffCostFunction< + EuclideanIntersectCostFunctor, + 2, /* num_residuals */ + 3>(new EuclideanIntersectCostFunctor(marker, camera)), + NULL, + &X(0)); + } } // Configure the solve. diff --git a/extern/libmv/libmv/simple_pipeline/pipeline.cc b/extern/libmv/libmv/simple_pipeline/pipeline.cc index 41dd3251f10..6c8592baa00 100644 --- a/extern/libmv/libmv/simple_pipeline/pipeline.cc +++ b/extern/libmv/libmv/simple_pipeline/pipeline.cc @@ -277,11 +277,12 @@ double InternalReprojectionError( double total_error = 0.0; vector<Marker> markers = image_tracks.AllMarkers(); for (int i = 0; i < markers.size(); ++i) { + double weight = markers[i].weight; const typename PipelineRoutines::Camera *camera = reconstruction.CameraForImage(markers[i].image); const typename PipelineRoutines::Point *point = reconstruction.PointForTrack(markers[i].track); - if (!camera || !point) { + if (!camera || !point || weight == 0.0) { num_skipped++; continue; } @@ -289,8 +290,8 @@ double InternalReprojectionError( Marker reprojected_marker = PipelineRoutines::ProjectMarker(*point, *camera, intrinsics); - double ex = reprojected_marker.x - markers[i].x; - double ey = reprojected_marker.y - markers[i].y; + double ex = (reprojected_marker.x - markers[i].x) * weight; + double ey = (reprojected_marker.y - markers[i].y) * weight; const int N = 100; char line[N]; |