From d568f56f181d21869e86511d9cc5502d1f312a79 Mon Sep 17 00:00:00 2001 From: Sergey Sharybin Date: Wed, 7 Dec 2011 14:54:03 +0000 Subject: [PATCH] Merging remained part of hybrid tracker which adds correlation threshold Keir's comment: Add support for detecting tracking failure in the ESM tracker component of libmv. Since both KLT and Hybrid rely on ESM underneath, KLT and Hybrid now have a minimum correlation setting to match. With this fix, track failures should get detected quicker, with the issue that sometimes the tracker will give up too easily. That is fixable by reducing the required correlation (in the track properties). Command used for merge: svn merge -r 42396:42397 -r 42399:42400 ^/branches/soc-2011-tomato --- extern/libmv/libmv-capi.cpp | 6 ++-- extern/libmv/libmv-capi.h | 4 +-- .../libmv/tracking/esm_region_tracker.cc | 28 ++++++++++++++++--- .../libmv/libmv/tracking/esm_region_tracker.h | 4 ++- release/scripts/startup/bl_ui/space_clip.py | 6 ++-- source/blender/blenkernel/intern/tracking.c | 5 ++-- 6 files changed, 37 insertions(+), 16 deletions(-) diff --git a/extern/libmv/libmv-capi.cpp b/extern/libmv/libmv-capi.cpp index dd98d0828dc..1835c53b53f 100644 --- a/extern/libmv/libmv-capi.cpp +++ b/extern/libmv/libmv-capi.cpp @@ -111,12 +111,13 @@ void libmv_setLoggingVerbosity(int verbosity) /* ************ RegionTracker ************ */ -libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size) +libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size, double minimum_correlation) { libmv::EsmRegionTracker *esm_region_tracker = new libmv::EsmRegionTracker; esm_region_tracker->half_window_size = half_window_size; esm_region_tracker->max_iterations = max_iterations; esm_region_tracker->min_determinant = 1e-4; + esm_region_tracker->minimum_correlation = minimum_correlation; libmv::PyramidRegionTracker *pyramid_region_tracker = new libmv::PyramidRegionTracker(esm_region_tracker, pyramid_level); @@ -124,12 +125,13 @@ libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyram return (libmv_RegionTracker *)pyramid_region_tracker; } -libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size) +libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size, double minimum_correlation) { libmv::EsmRegionTracker *esm_region_tracker = new libmv::EsmRegionTracker; esm_region_tracker->half_window_size = half_window_size; esm_region_tracker->max_iterations = max_iterations; esm_region_tracker->min_determinant = 1e-4; + esm_region_tracker->minimum_correlation = minimum_correlation; libmv::BruteRegionTracker *brute_region_tracker = new libmv::BruteRegionTracker; brute_region_tracker->half_window_size = half_window_size; diff --git a/extern/libmv/libmv-capi.h b/extern/libmv/libmv-capi.h index c5e61d69c56..e10d4ef842a 100644 --- a/extern/libmv/libmv-capi.h +++ b/extern/libmv/libmv-capi.h @@ -43,8 +43,8 @@ void libmv_startDebugLogging(void); void libmv_setLoggingVerbosity(int verbosity); /* RegionTracker */ -struct libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size); -struct libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size); +struct libmv_RegionTracker *libmv_pyramidRegionTrackerNew(int max_iterations, int pyramid_level, int half_window_size, double minimum_correlation); +struct libmv_RegionTracker *libmv_hybridRegionTrackerNew(int max_iterations, int half_window_size, double minimum_correlation); int libmv_regionTrackerTrack(struct libmv_RegionTracker *libmv_tracker, const float *ima1, const float *ima2, int width, int height, double x1, double y1, double *x2, double *y2); void libmv_regionTrackerDestroy(struct libmv_RegionTracker *libmv_tracker); diff --git a/extern/libmv/libmv/tracking/esm_region_tracker.cc b/extern/libmv/libmv/tracking/esm_region_tracker.cc index 844b5ff3cb9..9784b61c068 100644 --- a/extern/libmv/libmv/tracking/esm_region_tracker.cc +++ b/extern/libmv/libmv/tracking/esm_region_tracker.cc @@ -273,10 +273,30 @@ bool EsmRegionTracker::Track(const FloatImage &image1, // If the step was accepted, then check for termination. if (d.squaredNorm() < min_update_squared_distance) { - if (new_error > reasonable_error) { - LG << "Update size shrank but reasonable error (" - << reasonable_error << ") not achieved; failing."; - return true; // XXX + // Compute the Pearson product-moment correlation coefficient to check + // for sanity. + // TODO(keir): Put this somewhere smarter. + double sX=0,sY=0,sXX=0,sYY=0,sXY=0; + for (int r = 0; r < width; ++r) { + for (int c = 0; c < width; ++c) { + double x = image_and_gradient1_sampled(r, c, 0); + double y = image_and_gradient2_sampled[new_image](r, c, 0); + sX += x; + sY += y; + sXX += x*x; + sYY += y*y; + sXY += x*y; + } + } + double N = width*width; + sX /= N, sY /= N, sXX /= N, sYY /= N, sXY /= N; + double correlation = (sXY-sX*sY)/sqrt(double((sXX-sX*sX)*(sYY-sY*sY))); + LG << "Final correlation: " << correlation; + + if (correlation < minimum_correlation) { + LG << "Correlation " << correlation << " greater than " + << minimum_correlation << "; bailing."; + return false; } LG << "Successful track in " << (i + 1) << " iterations."; return true; diff --git a/extern/libmv/libmv/tracking/esm_region_tracker.h b/extern/libmv/libmv/tracking/esm_region_tracker.h index c63417201ad..602b32f1675 100644 --- a/extern/libmv/libmv/tracking/esm_region_tracker.h +++ b/extern/libmv/libmv/tracking/esm_region_tracker.h @@ -38,7 +38,8 @@ struct EsmRegionTracker : public RegionTracker { max_iterations(16), min_determinant(1e-6), min_update_squared_distance(1e-4), - sigma(0.9) {} + sigma(0.9), + minimum_correlation(0.78) {} virtual ~EsmRegionTracker() {} @@ -54,6 +55,7 @@ struct EsmRegionTracker : public RegionTracker { double min_determinant; double min_update_squared_distance; double sigma; + double minimum_correlation; }; } // namespace libmv diff --git a/release/scripts/startup/bl_ui/space_clip.py b/release/scripts/startup/bl_ui/space_clip.py index 39b78ce8cdc..d05c93ccfe1 100644 --- a/release/scripts/startup/bl_ui/space_clip.py +++ b/release/scripts/startup/bl_ui/space_clip.py @@ -129,8 +129,7 @@ class CLIP_PT_tools_marker(Panel): if settings.default_tracker == 'KLT': col.prop(settings, "default_pyramid_levels") - elif settings.default_tracker == 'SAD': - col.prop(settings, "default_correlation_min") + col.prop(settings, "default_correlation_min") col.separator() @@ -497,8 +496,7 @@ class CLIP_PT_track_settings(Panel): if active.tracker == 'KLT': col.prop(active, "pyramid_levels") - elif active.tracker == 'SAD': - col.prop(active, "correlation_min") + col.prop(active, "correlation_min") col.separator() col.prop(active, "frames_limit") diff --git a/source/blender/blenkernel/intern/tracking.c b/source/blender/blenkernel/intern/tracking.c index 9044661f369..cacea980fe2 100644 --- a/source/blender/blenkernel/intern/tracking.c +++ b/source/blender/blenkernel/intern/tracking.c @@ -77,7 +77,6 @@ void BKE_tracking_init_settings(MovieTracking *tracking) tracking->camera.units= CAMERA_UNITS_MM; tracking->settings.default_tracker= TRACKER_HYBRID; - tracking->settings.default_pyramid_levels= 2; tracking->settings.default_minimum_correlation= 0.75; tracking->settings.default_pattern_size= 11; tracking->settings.default_search_size= 51; @@ -810,9 +809,9 @@ MovieTrackingContext *BKE_tracking_context_new(MovieClip *clip, MovieClipUser *u int level= MIN2(track->pyramid_levels, max_pyramid_levels); if(track->tracker==TRACKER_KLT) - track_context.region_tracker= libmv_pyramidRegionTrackerNew(100, level, MAX2(wndx, wndy)); + track_context.region_tracker= libmv_pyramidRegionTrackerNew(100, level, MAX2(wndx, wndy), track->minimum_correlation); else - track_context.region_tracker= libmv_hybridRegionTrackerNew(100, MAX2(wndx, wndy)); + track_context.region_tracker= libmv_hybridRegionTrackerNew(100, MAX2(wndx, wndy), track->minimum_correlation); } else if(track->tracker==TRACKER_SAD) { track_context.pattern_size= MAX2(patx, paty);