Commit: 7d0653a08fb4ea909a29a6b95df24d177fe7cddf
Author: Tianwei Shen
Date: Tue Jun 28 23:47:29 2016 +0800
Branches: soc-2016-multiview
https://developer.blender.org/rB7d0653a08fb4ea909a29a6b95df24d177fe7cddf
fix a bug in CameraPoseForFrame()
===================================================================
M intern/libmv/intern/reconstructionN.cc
M intern/libmv/libmv/autotrack/bundle.cc
M intern/libmv/libmv/autotrack/intersect.cc
M intern/libmv/libmv/autotrack/pipeline.cc
M intern/libmv/libmv/autotrack/reconstruction.cc
M intern/libmv/libmv/autotrack/reconstruction.h
M intern/libmv/libmv/autotrack/resect.cc
M source/blender/blenkernel/intern/tracking_correspondence.c
===================================================================
diff --git a/intern/libmv/intern/reconstructionN.cc
b/intern/libmv/intern/reconstructionN.cc
index c019a83..b40c89f 100644
--- a/intern/libmv/intern/reconstructionN.cc
+++ b/intern/libmv/intern/reconstructionN.cc
@@ -176,13 +176,12 @@ libmv_ReconstructionN**
libmv_solveMultiviewReconstruction(
for(int i = 0; i < clip_num; i++)
{
all_libmv_reconstruction[i] =
LIBMV_OBJECT_NEW(libmv_ReconstructionN);
- Tracks &tracks = *((Tracks *) all_libmv_tracks[i]);
+ Tracks &tracks = *((Tracks *) all_libmv_tracks[i]);
// Tracks are just a bunch of markers
///* Retrieve reconstruction options from C-API to libmv API. */
CameraIntrinsics *camera_intrinsics;
camera_intrinsics = all_libmv_reconstruction[i]->intrinsics =
libmv_cameraIntrinsicsCreateFromOptions(&all_libmv_camera_intrinsics_options[i]);
- printf("camera %d size: %d, %d\n", i,
camera_intrinsics->image_width(), camera_intrinsics->image_height());
///* Invert the camera intrinsics/ */
Tracks normalized_tracks;
@@ -241,11 +240,11 @@ libmv_ReconstructionN**
libmv_solveMultiviewReconstruction(
}
// bundle the two-view initial reconstruction
// (it is redundant for now since now 3d point is added at this stage)
- if(!mv::EuclideanBundleAll(all_normalized_tracks, &reconstruction)) {
- printf("mv::EuclideanBundleAll failed\n");
- all_libmv_reconstruction[0]->is_valid = false;
- return all_libmv_reconstruction;
- }
+ //if(!mv::EuclideanBundleAll(all_normalized_tracks, &reconstruction)) {
+ // printf("mv::EuclideanBundleAll failed\n");
+ // all_libmv_reconstruction[0]->is_valid = false;
+ // return all_libmv_reconstruction;
+ //}
if(!mv::EuclideanCompleteMultiviewReconstruction(all_normalized_tracks,
&reconstruction, &update_callback)) {
printf("mv::EuclideanReconstructionComplete failed\n");
all_libmv_reconstruction[0]->is_valid = false;
diff --git a/intern/libmv/libmv/autotrack/bundle.cc
b/intern/libmv/libmv/autotrack/bundle.cc
index 1113e7b..a96e4c2 100644
--- a/intern/libmv/libmv/autotrack/bundle.cc
+++ b/intern/libmv/libmv/autotrack/bundle.cc
@@ -561,17 +561,17 @@ void EuclideanBundleCommonIntrinsics(
num_residuals++;
}
}
- LG << "Number of residuals: " << num_residuals;
+ std::cout << "Number of residuals: " << num_residuals << "\n";
if (!num_residuals) {
- LG << "Skipping running minimizer with zero residuals";
+ std::cout << "Skipping running minimizer with zero residuals\n";
return;
}
if (intrinsics->GetDistortionModelType() == libmv::DISTORTION_MODEL_DIVISION
&&
(bundle_intrinsics & BUNDLE_TANGENTIAL) != 0) {
LOG(FATAL) << "Division model doesn't support bundling "
- "of tangential distortion";
+ "of tangential distortion\n";
}
BundleIntrinsicsLogMessage(bundle_intrinsics);
diff --git a/intern/libmv/libmv/autotrack/intersect.cc
b/intern/libmv/libmv/autotrack/intersect.cc
index 59f0820..cc8ee89 100644
--- a/intern/libmv/libmv/autotrack/intersect.cc
+++ b/intern/libmv/libmv/autotrack/intersect.cc
@@ -19,6 +19,7 @@
// IN THE SOFTWARE.
//
// Author: Tianwei Shen <[email protected]>
+// adapted from simple_pipeline/intersect.cc
#include "libmv/autotrack/intersect.h"
@@ -85,10 +86,12 @@ bool EuclideanIntersect(const vector<Marker> &markers,
vector<Mat34> cameras;
Mat34 P;
for (int i = 0; i < markers.size(); ++i) {
+ std::cout << "[Intersect] marker clip frame: " << markers[i].clip << " "
<< markers[i].frame << std::endl;
CameraPose *camera = reconstruction->CameraPoseForFrame(markers[i].clip,
markers[i].frame);
libmv::P_From_KRt(K, camera->R, camera->t, &P);
cameras.push_back(P);
}
+ std::cout << "[Intersect] camera size: " << cameras.size() << std::endl;
// Stack the 2D coordinates together as required by NViewTriangulate.
Mat2X points(2, markers.size());
@@ -98,7 +101,7 @@ bool EuclideanIntersect(const vector<Marker> &markers,
}
Vec4 Xp;
- LG << "Intersecting with " << markers.size() << " markers.";
+ std::cout << "Intersecting with " << markers.size() << " markers.\n";
libmv::NViewTriangulateAlgebraic(points, cameras, &Xp);
// Get euclidean version of the homogeneous point.
@@ -129,9 +132,9 @@ bool EuclideanIntersect(const vector<Marker> &markers,
// TODO(sergey): Once we'll update Ceres to the next version
// we wouldn't need this check anymore -- Ceres will deal with
// zero-sized problems nicely.
- LG << "Number of residuals: " << num_residuals;
+ std::cout << "Number of residuals: " << num_residuals << "\n";
if (!num_residuals) {
- LG << "Skipping running minimizer with zero residuals";
+ std::cout << "Skipping running minimizer with zero residuals\n";
// We still add 3D point for the track regardless it was
// optimized or not. If track is a constant zero it'll use
@@ -177,86 +180,4 @@ bool EuclideanIntersect(const vector<Marker> &markers,
return true;
}
-//namespace {
-//
-//struct ProjectiveIntersectCostFunction {
-// public:
-// typedef Vec FMatrixType;
-// typedef Vec4 XMatrixType;
-//
-// ProjectiveIntersectCostFunction(
-// const vector<Marker> &markers,
-// const ProjectiveReconstruction &reconstruction)
-// : markers(markers), reconstruction(reconstruction) {}
-//
-// Vec operator()(const Vec4 &X) const {
-// Vec residuals(2 * markers.size());
-// residuals.setZero();
-// for (int i = 0; i < markers.size(); ++i) {
-// const ProjectiveCamera &camera =
-// *reconstruction.CameraForImage(markers[i].image);
-// Vec3 projected = camera.P * X;
-// projected /= projected(2);
-// residuals[2*i + 0] = projected(0) - markers[i].x;
-// residuals[2*i + 1] = projected(1) - markers[i].y;
-// }
-// return residuals;
-// }
-// const vector<Marker> &markers;
-// const ProjectiveReconstruction &reconstruction;
-//};
-//
-//} // namespace
-//
-//bool ProjectiveIntersect(const vector<Marker> &markers,
-// ProjectiveReconstruction *reconstruction) {
-// if (markers.size() < 2) {
-// return false;
-// }
-//
-// // Get the cameras to use for the intersection.
-// vector<Mat34> cameras;
-// for (int i = 0; i < markers.size(); ++i) {
-// ProjectiveCamera *camera =
reconstruction->CameraForImage(markers[i].image);
-// cameras.push_back(camera->P);
-// }
-//
-// // Stack the 2D coordinates together as required by NViewTriangulate.
-// Mat2X points(2, markers.size());
-// for (int i = 0; i < markers.size(); ++i) {
-// points(0, i) = markers[i].x;
-// points(1, i) = markers[i].y;
-// }
-//
-// Vec4 X;
-// LG << "Intersecting with " << markers.size() << " markers.";
-// NViewTriangulateAlgebraic(points, cameras, &X);
-// X /= X(3);
-//
-// typedef LevenbergMarquardt<ProjectiveIntersectCostFunction> Solver;
-//
-// ProjectiveIntersectCostFunction triangulate_cost(markers, *reconstruction);
-// Solver::SolverParameters params;
-// Solver solver(triangulate_cost);
-//
-// Solver::Results results = solver.minimize(params, &X);
-// (void) results; // TODO(keir): Ensure results are good.
-//
-// // Try projecting the point; make sure it's in front of everyone.
-// for (int i = 0; i < cameras.size(); ++i) {
-// const ProjectiveCamera &camera =
-// *reconstruction->CameraForImage(markers[i].image);
-// Vec3 x = camera.P * X;
-// if (x(2) < 0) {
-// LOG(ERROR) << "POINT BEHIND CAMERA " << markers[i].image
-// << ": " << x.transpose();
-// }
-// }
-//
-// reconstruction->InsertPoint(markers[0].track, X);
-//
-// // TODO(keir): Add proper error checking.
-// return true;
-//}
-
} // namespace mv
diff --git a/intern/libmv/libmv/autotrack/pipeline.cc
b/intern/libmv/libmv/autotrack/pipeline.cc
index e29ea09..cdd417f 100644
--- a/intern/libmv/libmv/autotrack/pipeline.cc
+++ b/intern/libmv/libmv/autotrack/pipeline.cc
@@ -110,9 +110,9 @@ bool InternalCompleteReconstruction(
libmv::ProgressUpdateCallback *update_callback = NULL) {
int clip_num = tracks.GetClipNum();
- int max_frames = 0; // maximum frame of all clips
+ int num_frames = 0;
for(int i = 0; i < clip_num; i++) {
- max_frames += tracks.MaxFrame(i) + 1;
+ num_frames += tracks.MaxFrame(i) + 1;
}
int max_track = tracks.MaxTrack();
@@ -120,7 +120,7 @@ bool InternalCompleteReconstruction(
int num_intersects = -1;
int total_resects = 0;
std::cout << "Max track: " << max_track << "\n";
- std::cout << "Max image: " << max_frames << "\n";
+ std::cout << "Number of total frames: " << num_frames << "\n";
std::cout << "Number of markers: " << tracks.NumMarkers() << "\n";
while (num_resects != 0 || num_intersects != 0) {
// Do all possible intersections.
@@ -143,7 +143,7 @@ bool InternalCompleteReconstruction(
std::cout << "Got " << reconstructed_markers.size() <<
" reconstructed markers for track " << track << "\n";
if (reconstructed_markers.size() >= 2) {
CompleteReconstructionLogProgress(update_callback,
-
(double)total_resects/(max_frames));
+
(double)total_resects/(num_frames));
if
(PipelineRoutines::Intersect(reconstructed_markers,
reconstruction)) {
num_intersects++;
@@ -153,9 +153,10 @@ bool InternalCompleteReconstruction(
}
}
}
+ // bundle the newly added points
if (num_intersects) {
CompleteReconstructionLogProgress(update_callback,
-
(double)total_resects/(max_frames),
+
(double)total_resects/(num_frames),
"Bundling...");
PipelineRoutines::Bundle(tracks, reconstruction);
std::cout << "Ran Bundle() after intersections.\n";
@@ -168,12 +169,12 @@ bool InternalCompleteReconstruction(
const int max_image = tracks.MaxFrame(clip);
for (int image = 0; image <= max_image; ++image) {
if (reconstruction->CameraPoseForFrame(clip,
image)) { // this camera pose has been added
- LG << "Skipping frame: " << image;
+ std::cout << "Skipping frame: " << clip
<< " " << image << "\n";
continue;
}
vector<Marker> all_markers;
tracks.
@@ Diff output truncated at 10240 characters. @@
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