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-rw-r--r--extern/libmv/libmv-capi.cc4
-rw-r--r--extern/libmv/libmv/multiview/fundamental.cc75
-rw-r--r--extern/libmv/libmv/multiview/fundamental.h25
-rw-r--r--extern/libmv/libmv/multiview/homography.cc109
-rw-r--r--extern/libmv/libmv/multiview/homography.h50
-rw-r--r--extern/libmv/libmv/simple_pipeline/keyframe_selection.cc16
6 files changed, 206 insertions, 73 deletions
diff --git a/extern/libmv/libmv-capi.cc b/extern/libmv/libmv-capi.cc
index f02ca0e98e0..95ac2ff703a 100644
--- a/extern/libmv/libmv-capi.cc
+++ b/extern/libmv/libmv-capi.cc
@@ -1089,8 +1089,8 @@ void libmv_homography2DFromCorrespondencesEuc(double (*x1)[2], double (*x2)[2],
LG << "x1: " << x1_mat;
LG << "x2: " << x2_mat;
- libmv::HomographyEstimationOptions options;
- libmv::Homography2DFromCorrespondencesEuc(x1_mat, x2_mat, options, &H_mat);
+ libmv::EstimateHomographyOptions options;
+ libmv::EstimateHomography2DFromCorrespondences(x1_mat, x2_mat, options, &H_mat);
LG << "H: " << H_mat;
diff --git a/extern/libmv/libmv/multiview/fundamental.cc b/extern/libmv/libmv/multiview/fundamental.cc
index ec6c70d81cf..7a1433c3419 100644
--- a/extern/libmv/libmv/multiview/fundamental.cc
+++ b/extern/libmv/libmv/multiview/fundamental.cc
@@ -408,13 +408,16 @@ void FundamentalToEssential(const Mat3 &F, Mat3 *E) {
*E = svd.matrixU() * diag.asDiagonal() * svd.matrixV().transpose();
}
-FundamentalEstimationOptions::FundamentalEstimationOptions(void) :
- use_refine_if_algebraic_fails(true),
+// Default settings for fundamental estimation which should be suitable
+// for a wide range of use cases.
+EstimateFundamentalOptions::EstimateFundamentalOptions(void) :
max_num_iterations(50),
- parameter_tolerance(1e-16),
- function_tolerance(1e-16) {
+ expected_average_symmetric_distance(1e-16) {
}
+namespace {
+// Cost functor which computes symmetric epipolar distance
+// used for fundamental matrix refinement.
class FundamentalSymmetricEpipolarCostFunctor {
public:
FundamentalSymmetricEpipolarCostFunctor(const Vec2 &x,
@@ -445,21 +448,60 @@ class FundamentalSymmetricEpipolarCostFunctor {
const Mat y_;
};
+// Termination checking callback used for fundamental estimation.
+// It finished the minimization as soon as actual average of
+// symmetric epipolar distance is less or equal to the expected
+// average value.
+class TerminationCheckingCallback : public ceres::IterationCallback {
+ public:
+ TerminationCheckingCallback(const Mat &x1, const Mat &x2,
+ const EstimateFundamentalOptions &options,
+ Mat3 *F)
+ : options_(options), x1_(x1), x2_(x2), F_(F) {}
+
+ virtual ceres::CallbackReturnType operator()(
+ const ceres::IterationSummary& summary) {
+ // If the step wasn't successful, there's nothing to do.
+ if (!summary.step_is_successful) {
+ return ceres::SOLVER_CONTINUE;
+ }
+
+ // Calculate average of symmetric epipolar distance.
+ double average_distance = 0.0;
+ for (int i = 0; i < x1_.cols(); i++) {
+ average_distance = SymmetricEpipolarDistance(*F_,
+ x1_.col(i),
+ x2_.col(i));
+ }
+ average_distance /= x1_.cols();
+
+ if (average_distance <= options_.expected_average_symmetric_distance) {
+ return ceres::SOLVER_TERMINATE_SUCCESSFULLY;
+ }
+
+ return ceres::SOLVER_CONTINUE;
+ }
+
+ private:
+ const EstimateFundamentalOptions &options_;
+ const Mat &x1_;
+ const Mat &x2_;
+ Mat3 *F_;
+};
+} // namespace
+
/* Fundamental transformation estimation. */
-bool FundamentalFromCorrespondencesEuc(
+bool EstimateFundamentalFromCorrespondences(
const Mat &x1,
const Mat &x2,
- const FundamentalEstimationOptions &options,
+ const EstimateFundamentalOptions &options,
Mat3 *F) {
// Step 1: Algebraic fundamental estimation.
- bool algebraic_success = NormalizedEightPointSolver(x1, x2, F);
- LG << "Algebraic result " << algebraic_success
- << ", estimated matrix:\n" << *F;
+ // Assume algebraic estiation always succeeds,
+ NormalizedEightPointSolver(x1, x2, F);
- if (!algebraic_success && !options.use_refine_if_algebraic_fails) {
- return false;
- }
+ LG << "Estimated matrix after algebraic estimation:\n" << *F;
// Step 2: Refine matrix using Ceres minimizer.
ceres::Problem problem;
@@ -483,8 +525,10 @@ bool FundamentalFromCorrespondencesEuc(
solver_options.linear_solver_type = ceres::DENSE_QR;
solver_options.max_num_iterations = options.max_num_iterations;
solver_options.update_state_every_iteration = true;
- solver_options.parameter_tolerance = options.parameter_tolerance;
- solver_options.function_tolerance = options.function_tolerance;
+
+ // Terminate if the average symmetric distance is good enough.
+ TerminationCheckingCallback callback(x1, x2, options, F);
+ solver_options.callbacks.push_back(&callback);
// Run the solve.
ceres::Solver::Summary summary;
@@ -495,7 +539,8 @@ bool FundamentalFromCorrespondencesEuc(
LG << "Final refined matrix:\n" << *F;
return !(summary.termination_type == ceres::DID_NOT_RUN ||
- summary.termination_type == ceres::NUMERICAL_FAILURE);
+ summary.termination_type == ceres::NUMERICAL_FAILURE ||
+ summary.termination_type == ceres::USER_ABORT);
}
} // namespace libmv
diff --git a/extern/libmv/libmv/multiview/fundamental.h b/extern/libmv/libmv/multiview/fundamental.h
index 2961a46cdc4..51067aefc2b 100644
--- a/extern/libmv/libmv/multiview/fundamental.h
+++ b/extern/libmv/libmv/multiview/fundamental.h
@@ -151,21 +151,22 @@ void FundamentalToEssential(const Mat3 &F, Mat3 *E);
* Defaults should be suitable for a wide range of use cases, but
* better performance and accuracy might require tweaking/
*/
-struct FundamentalEstimationOptions {
+struct EstimateFundamentalOptions {
// Default constructor which sets up a options for generic usage.
- FundamentalEstimationOptions(void);
-
- // Refine fundamental matrix even if algebraic estimation reported failure.
- bool use_refine_if_algebraic_fails;
+ EstimateFundamentalOptions(void);
// Maximal number of iterations for refinement step.
int max_num_iterations;
- // Paramaneter tolerance used by minimizer termination criteria.
- float parameter_tolerance;
-
- // Function tolerance used by minimizer termination criteria.
- float function_tolerance;
+ // Expected average of symmetric epipolar distance between
+ // actual destination points and original ones transformed by
+ // estimated fundamental matrix.
+ //
+ // Refinement will finish as soon as average of symmetric
+ // epipolar distance is less or equal to this value.
+ //
+ // This distance is measured in the same units as input points are.
+ double expected_average_symmetric_distance;
};
/**
@@ -175,10 +176,10 @@ struct FundamentalEstimationOptions {
* correspondences by doing algebraic estimation first followed with result
* refinement.
*/
-bool FundamentalFromCorrespondencesEuc(
+bool EstimateFundamentalFromCorrespondences(
const Mat &x1,
const Mat &x2,
- const FundamentalEstimationOptions &options,
+ const EstimateFundamentalOptions &options,
Mat3 *F);
} // namespace libmv
diff --git a/extern/libmv/libmv/multiview/homography.cc b/extern/libmv/libmv/multiview/homography.cc
index 6041849d9fe..cbd3ec78a57 100644
--- a/extern/libmv/libmv/multiview/homography.cc
+++ b/extern/libmv/libmv/multiview/homography.cc
@@ -22,6 +22,7 @@
#include "ceres/ceres.h"
#include "libmv/logging/logging.h"
+#include "libmv/multiview/conditioning.h"
#include "libmv/multiview/homography_parameterization.h"
namespace libmv {
@@ -155,14 +156,26 @@ bool Homography2DFromCorrespondencesLinear(const Mat &x1,
}
}
-HomographyEstimationOptions::HomographyEstimationOptions(void) :
- expected_algebraic_precision(EigenDouble::dummy_precision()),
- use_refine_if_algebraic_fails(true),
+// Default settings for homography estimation which should be suitable
+// for a wide range of use cases.
+EstimateHomographyOptions::EstimateHomographyOptions(void) :
+ use_normalization(true),
max_num_iterations(50),
- parameter_tolerance(1e-16),
- function_tolerance(1e-16) {
+ expected_average_symmetric_distance(1e-16) {
}
+namespace {
+void GetNormalizedPoints(const Mat &original_points,
+ Mat *normalized_points,
+ Mat3 *normalization_matrix) {
+ IsotropicPreconditionerFromPoints(original_points, normalization_matrix);
+ ApplyTransformationToPoints(original_points,
+ *normalization_matrix,
+ normalized_points);
+}
+
+// Cost functor which computes symmetric geometric distance
+// used for homography matrix refinement.
class HomographySymmetricGeometricCostFunctor {
public:
HomographySymmetricGeometricCostFunctor(const Vec2 &x,
@@ -200,13 +213,55 @@ class HomographySymmetricGeometricCostFunctor {
const Vec2 y_;
};
+// Termination checking callback used for homography estimation.
+// It finished the minimization as soon as actual average of
+// symmetric geometric distance is less or equal to the expected
+// average value.
+class TerminationCheckingCallback : public ceres::IterationCallback {
+ public:
+ TerminationCheckingCallback(const Mat &x1, const Mat &x2,
+ const EstimateHomographyOptions &options,
+ Mat3 *H)
+ : options_(options), x1_(x1), x2_(x2), H_(H) {}
+
+ virtual ceres::CallbackReturnType operator()(
+ const ceres::IterationSummary& summary) {
+ // If the step wasn't successful, there's nothing to do.
+ if (!summary.step_is_successful) {
+ return ceres::SOLVER_CONTINUE;
+ }
+
+ // Calculate average of symmetric geometric distance.
+ double average_distance = 0.0;
+ for (int i = 0; i < x1_.cols(); i++) {
+ average_distance = SymmetricGeometricDistance(*H_,
+ x1_.col(i),
+ x2_.col(i));
+ }
+ average_distance /= x1_.cols();
+
+ if (average_distance <= options_.expected_average_symmetric_distance) {
+ return ceres::SOLVER_TERMINATE_SUCCESSFULLY;
+ }
+
+ return ceres::SOLVER_CONTINUE;
+ }
+
+ private:
+ const EstimateHomographyOptions &options_;
+ const Mat &x1_;
+ const Mat &x2_;
+ Mat3 *H_;
+};
+} // namespace
+
/** 2D Homography transformation estimation in the case that points are in
* euclidean coordinates.
*/
-bool Homography2DFromCorrespondencesEuc(
+bool EstimateHomography2DFromCorrespondences(
const Mat &x1,
const Mat &x2,
- const HomographyEstimationOptions &options,
+ const EstimateHomographyOptions &options,
Mat3 *H) {
// TODO(sergey): Support homogenous coordinates, not just euclidean.
@@ -215,18 +270,31 @@ bool Homography2DFromCorrespondencesEuc(
assert(x1.rows() == x2.rows());
assert(x1.cols() == x2.cols());
+ Mat3 T1 = Mat3::Identity(),
+ T2 = Mat3::Identity();
+
// Step 1: Algebraic homography estimation.
- bool algebraic_success =
- Homography2DFromCorrespondencesLinear(x1, x2, H,
- options.expected_algebraic_precision);
+ Mat x1_normalized, x2_normalized;
- LG << "Algebraic result " << algebraic_success
- << ", estimated matrix:\n" << *H;
+ if (options.use_normalization) {
+ LG << "Estimating homography using normalization.";
+ GetNormalizedPoints(x1, &x1_normalized, &T1);
+ GetNormalizedPoints(x2, &x2_normalized, &T2);
+ } else {
+ x1_normalized = x1;
+ x2_normalized = x2;
+ }
- if (!algebraic_success && !options.use_refine_if_algebraic_fails) {
- return false;
+ // Assume algebraic estiation always suceeds,
+ Homography2DFromCorrespondencesLinear(x1_normalized, x2_normalized, H);
+
+ // Denormalize the homography matrix.
+ if (options.use_normalization) {
+ *H = T2.inverse() * (*H) * T1;
}
+ LG << "Estimated matrix after algebraic estimation:\n" << *H;
+
// Step 2: Refine matrix using Ceres minimizer.
ceres::Problem problem;
for (int i = 0; i < x1.cols(); i++) {
@@ -249,8 +317,10 @@ bool Homography2DFromCorrespondencesEuc(
solver_options.linear_solver_type = ceres::DENSE_QR;
solver_options.max_num_iterations = options.max_num_iterations;
solver_options.update_state_every_iteration = true;
- solver_options.parameter_tolerance = options.parameter_tolerance;
- solver_options.function_tolerance = options.function_tolerance;
+
+ // Terminate if the average symmetric distance is good enough.
+ TerminationCheckingCallback callback(x1, x2, options, H);
+ solver_options.callbacks.push_back(&callback);
// Run the solve.
ceres::Solver::Summary summary;
@@ -261,7 +331,8 @@ bool Homography2DFromCorrespondencesEuc(
LG << "Final refined matrix:\n" << *H;
return !(summary.termination_type == ceres::DID_NOT_RUN ||
- summary.termination_type == ceres::NUMERICAL_FAILURE);
+ summary.termination_type == ceres::NUMERICAL_FAILURE ||
+ summary.termination_type == ceres::USER_ABORT);
}
/**
@@ -377,7 +448,9 @@ bool Homography3DFromCorrespondencesLinear(const Mat &x1,
}
}
-double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2) {
+double SymmetricGeometricDistance(const Mat3 &H,
+ const Vec2 &x1,
+ const Vec2 &x2) {
Vec3 x(x1(0), x1(1), 1.0);
Vec3 y(x2(0), x2(1), 1.0);
diff --git a/extern/libmv/libmv/multiview/homography.h b/extern/libmv/libmv/multiview/homography.h
index 1928e39dffb..6d810c845ed 100644
--- a/extern/libmv/libmv/multiview/homography.h
+++ b/extern/libmv/libmv/multiview/homography.h
@@ -60,24 +60,35 @@ bool Homography2DFromCorrespondencesLinear(const Mat &x1,
* Defaults should be suitable for a wide range of use cases, but
* better performance and accuracy might require tweaking/
*/
-struct HomographyEstimationOptions {
+struct EstimateHomographyOptions {
// Default constructor which sets up a options for generic usage.
- HomographyEstimationOptions(void);
+ EstimateHomographyOptions(void);
- // Expected precision of algebraic estimation.
- double expected_algebraic_precision;
+ // Normalize correspondencies before estimating the homography
+ // in order to increase estimation stability.
+ //
+ // Normaliztion will make it so centroid od correspondences
+ // is the coordinate origin and their average distance from
+ // the origin is sqrt(2).
+ //
+ // See:
+ // - R. Hartley and A. Zisserman. Multiple View Geometry in Computer
+ // Vision. Cambridge University Press, second edition, 2003.
+ // - https://www.cs.ubc.ca/grads/resources/thesis/May09/Dubrofsky_Elan.pdf
+ bool use_normalization;
- // Refine homography even if algebraic estimation reported failure.
- bool use_refine_if_algebraic_fails;
-
- // Maximal number of iterations for refinement step.
+ // Maximal number of iterations for the refinement step.
int max_num_iterations;
- // Paramaneter tolerance used by minimizer termination criteria.
- float parameter_tolerance;
-
- // Function tolerance used by minimizer termination criteria.
- float function_tolerance;
+ // Expected average of symmetric geometric distance between
+ // actual destination points and original ones transformed by
+ // estimated homography matrix.
+ //
+ // Refinement will finish as soon as average of symmetric
+ // geometric distance is less or equal to this value.
+ //
+ // This distance is measured in the same units as input points are.
+ double expected_average_symmetric_distance;
};
/**
@@ -87,10 +98,11 @@ struct HomographyEstimationOptions {
* correspondences by doing algebraic estimation first followed with result
* refinement.
*/
-bool Homography2DFromCorrespondencesEuc(const Mat &x1,
- const Mat &x2,
- const HomographyEstimationOptions &options,
- Mat3 *H);
+bool EstimateHomography2DFromCorrespondences(
+ const Mat &x1,
+ const Mat &x2,
+ const EstimateHomographyOptions &options,
+ Mat3 *H);
/**
* 3D Homography transformation estimation.
@@ -124,7 +136,9 @@ bool Homography3DFromCorrespondencesLinear(const Mat &x1,
*
* D(H * x1, x2)^2 + D(H^-1 * x2, x1)
*/
-double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2);
+double SymmetricGeometricDistance(const Mat3 &H,
+ const Vec2 &x1,
+ const Vec2 &x2);
} // namespace libmv
diff --git a/extern/libmv/libmv/simple_pipeline/keyframe_selection.cc b/extern/libmv/libmv/simple_pipeline/keyframe_selection.cc
index d4ddee56fda..6ab9e7eefb6 100644
--- a/extern/libmv/libmv/simple_pipeline/keyframe_selection.cc
+++ b/extern/libmv/libmv/simple_pipeline/keyframe_selection.cc
@@ -207,19 +207,19 @@ void SelectKeyframesBasedOnGRICAndVariance(const Tracks &tracks,
Mat3 H, F;
// Estimate homography using default options.
- HomographyEstimationOptions homography_estimation_options;
- Homography2DFromCorrespondencesEuc(x1,
- x2,
- homography_estimation_options,
- &H);
+ EstimateHomographyOptions estimate_homography_options;
+ EstimateHomography2DFromCorrespondences(x1,
+ x2,
+ estimate_homography_options,
+ &H);
// Convert homography to original pixel space.
H = N_inverse * H * N;
- FundamentalEstimationOptions fundamental_estimation_options;
- FundamentalFromCorrespondencesEuc(x1,
+ EstimateFundamentalOptions estimate_fundamental_options;
+ EstimateFundamentalFromCorrespondences(x1,
x2,
- fundamental_estimation_options,
+ estimate_fundamental_options,
&F);
// Convert fundamental to original pixel space.
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-21 14:07:23 +0300