Commit: 4a1fdb48eb1914c54042b76b16e0f7fd099d3bba
Author: Tianwei Shen
Date: Tue Jun 14 17:01:38 2016 +0800
Branches: soc-2016-multiview
https://developer.blender.org/rB4a1fdb48eb1914c54042b76b16e0f7fd099d3bba
update autotrack two-view reconstrution
===================================================================
M intern/libmv/intern/reconstructionN.cc
M intern/libmv/libmv/autotrack/reconstruction.cc
M intern/libmv/libmv/autotrack/reconstruction.h
===================================================================
diff --git a/intern/libmv/intern/reconstructionN.cc
b/intern/libmv/intern/reconstructionN.cc
index 61954cc..f625833 100644
--- a/intern/libmv/intern/reconstructionN.cc
+++ b/intern/libmv/intern/reconstructionN.cc
@@ -177,7 +177,9 @@ libmv_ReconstructionN**
libmv_solveMultiviewReconstruction(const int clip_num,
///* TODO(tianwei): chain the tracks and correspondences */
- if(!mv::ReconstructTwoFrames(keyframe_markers, &reconstruction)) {
+ // reconstruct two views from the main clip
+ if(!mv::ReconstructTwoFrames(keyframe_markers, 0,
*(all_libmv_reconstruction[0]->intrinsics), &reconstruction))
+ {
printf("mv::ReconstrucTwoFrames failed\n");
for(int i = 0; i < clip_num; i++)
all_libmv_reconstruction[i]->is_valid = false;
diff --git a/intern/libmv/libmv/autotrack/reconstruction.cc
b/intern/libmv/libmv/autotrack/reconstruction.cc
index 73fc02c..611191d 100644
--- a/intern/libmv/libmv/autotrack/reconstruction.cc
+++ b/intern/libmv/libmv/autotrack/reconstruction.cc
@@ -21,6 +21,7 @@
// Author: [email protected] (Tianwei Shen)
#include "libmv/autotrack/reconstruction.h"
+#include "libmv/multiview/fundamental.h"
#include "libmv/autotrack/marker.h"
#include "libmv/autotrack/tracks.h"
#include "libmv/numeric/numeric.h"
@@ -28,10 +29,51 @@
using mv::Marker;
using mv::Tracks;
+using libmv::Mat;
+using libmv::Mat2;
+using libmv::Mat3;
+using libmv::Vec;
+using libmv::Vec2;
namespace mv {
+void GetFramesInMarkers(const vector<Marker> &markers,
+ int *image1, int *image2) {
+ if (markers.size() < 2) {
+ return;
+ }
+ *image1 = markers[0].frame;
+ for (int i = 1; i < markers.size(); ++i) {
+ if (markers[i].frame != *image1) {
+ *image2 = markers[i].frame;
+ return;
+ }
+ }
+ *image2 = -1;
+ LOG(FATAL) << "Only one image in the markers.";
+}
+
+void CoordinatesForMarkersInFrame(const vector<Marker> &markers,
+ int clip, int frame,
+ Mat *coordinates) {
+ vector<Vec2> coords;
+ for (int i = 0; i < markers.size(); ++i) {
+ const Marker &marker = markers[i];
+ if (markers[i].clip == clip && markers[i].frame == frame) {
+ coords.push_back(Vec2(marker.center[0],
marker.center[1]));
+ }
+ }
+ coordinates->resize(2, coords.size());
+ for (int i = 0; i < coords.size(); i++) {
+ coordinates->col(i) = coords[i];
+ }
+}
+/* markers come from two views in the same clip,
+ * reconstruction should be empty
+ */
bool ReconstructTwoFrames(const vector<Marker> &markers,
+ const int clip,
+ libmv::CameraIntrinsics &cam_intrinsics,
Reconstruction *reconstruction)
{
if (markers.size() < 16) {
@@ -39,40 +81,63 @@ bool ReconstructTwoFrames(const vector<Marker> &markers,
return false;
}
- int image1, image2;
- //GetImagesInMarkers(markers, &image1, &image2);
+ int frame1, frame2;
+ GetFramesInMarkers(markers, &frame1, &frame2);
- //Mat x1, x2;
- //CoordinatesForMarkersInImage(markers, image1, &x1);
- //CoordinatesForMarkersInImage(markers, image2, &x2);
+ Mat x1, x2;
+ CoordinatesForMarkersInFrame(markers, clip, frame1, &x1);
+ CoordinatesForMarkersInFrame(markers, clip, frame2, &x2);
- //Mat3 F;
- //NormalizedEightPointSolver(x1, x2, &F);
+ Mat3 F;
+ libmv::NormalizedEightPointSolver(x1, x2, &F);
- //// The F matrix should be an E matrix, but squash it just to be sure.
- //Mat3 E;
- //FundamentalToEssential(F, &E);
+ // The F matrix should be an E matrix, but squash it just to be sure.
+ Mat3 E;
+ libmv::FundamentalToEssential(F, &E);
- //// Recover motion between the two images. Since this function assumes
a
- //// calibrated camera, use the identity for K.
- //Mat3 R;
- //Vec3 t;
- //Mat3 K = Mat3::Identity();
- //if (!MotionFromEssentialAndCorrespondence(E,
- // K, x1.col(0),
- // K, x2.col(0),
- // &R, &t)) {
- // LG << "Failed to compute R and t from E and K.";
- // return false;
- //}
+ // Recover motion between the two images. Since this function assumes a
+ // calibrated camera, use the identity for K.
+ Mat3 R;
+ Vec3 t;
+ Mat3 K = Mat3::Identity();
+ if (!libmv::MotionFromEssentialAndCorrespondence(E, K, x1.col(0), K,
x2.col(0), &R, &t))
+ {
+ LG << "Failed to compute R and t from E and K.";
+ return false;
+ }
- //// Image 1 gets the reference frame, image 2 gets the relative motion.
- //reconstruction->InsertCamera(image1, Mat3::Identity(), Vec3::Zero());
- //reconstruction->InsertCamera(image2, R, t);
+ // frame 1 gets the reference frame, frame 2 gets the relative motion.
+ reconstruction->AddCameraIntrinsics(&cam_intrinsics, clip);
+ CameraPose pose1(clip, frame1, clip, Mat3::Identity(), Vec3::Zero());
+ CameraPose pose2(clip, frame2, clip, R, t);
+ reconstruction->AddCameraPose(pose1);
+ reconstruction->AddCameraPose(pose2);
- //LG << "From two frame reconstruction got:\nR:\n" << R
- // << "\nt:" << t.transpose();
+ LG << "From two frame reconstruction got:\nR:\n" << R
+ << "\nt:" << t.transpose();
return true;
}
+void Reconstruction::AddCameraPose(const CameraPose& pose)
+{
+ if(camera_poses_.size() < pose.clip + 1)
+ camera_poses_.resize(pose.clip+1);
+ camera_poses_[pose.clip].push_back(pose);
+}
+
+/**
+ * @brief Reconstruction::AddCameraIntrinsics insert camera intrinsics into
Reconstruction by index,
+ * overwrite the old intrinsic if there is any, resize the CameraIntrinsics
vector if the size is smaller
+ * than index.
+ * @param intrinsics_ptr: camera intrinsic pointer
+ * @param intrisic_index: index
+ * @return
+ */
+void Reconstruction::AddCameraIntrinsics(CameraIntrinsics* intrinsics_ptr,
const int intrinsic_index)
+{
+ if(camera_intrinsics_.size() < intrinsic_index+1)
+ camera_intrinsics_.resize(intrinsic_index+1);
+ camera_intrinsics_[intrinsic_index] = intrinsics_ptr;
+}
+
} // namespace mv
diff --git a/intern/libmv/libmv/autotrack/reconstruction.h
b/intern/libmv/libmv/autotrack/reconstruction.h
index 0a9fd29..6f45739 100644
--- a/intern/libmv/libmv/autotrack/reconstruction.h
+++ b/intern/libmv/libmv/autotrack/reconstruction.h
@@ -39,12 +39,15 @@ class Model;
struct Marker;
class Tracks;
-class CameraPose {
- int clip;
- int frame;
- int intrinsics;
- Mat3 R;
- Vec3 t;
+struct CameraPose {
+ CameraPose(int clip_, int frame_, int intrinsics_, Mat3 R_, Vec3 t_):
+ clip(clip_), frame(frame_), intrinsics(intrinsics_), R(R_), t(t_) {}
+
+ int clip;
+ int frame;
+ int intrinsics;
+ Mat3 R;
+ Vec3 t;
};
class Point {
@@ -61,7 +64,7 @@ class Reconstruction {
public:
// All methods copy their input reference or take ownership of the pointer.
void AddCameraPose(const CameraPose& pose);
- int AddCameraIntrinsics(CameraIntrinsics* intrinsics);
+ void AddCameraIntrinsics(CameraIntrinsics* intrinsics_ptr, const int
intrinsic_index);
int AddPoint(const Point& point);
int AddModel(Model* model);
@@ -90,6 +93,8 @@ class Reconstruction {
};
bool ReconstructTwoFrames(const vector<Marker> &markers,
+ const int clip,
+ libmv::CameraIntrinsics &cam_intrinsics,
Reconstruction *reconstruction);
} // namespace mv
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