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Add support for detecting tracking failure in the ESM tracker component of

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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).
This commit is contained in:
Keir Mierle 2011-12-04 13:46:25 +00:00
parent d00bb6dd56
commit 4bd3a296bb
6 changed files with 36 additions and 14 deletions
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6
extern/libmv/libmv-capi.cpp vendored
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@ -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;

4
extern/libmv/libmv-capi.h vendored
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@ -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);

28
extern/libmv/libmv/tracking/esm_region_tracker.cc vendored
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@ -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;

4
extern/libmv/libmv/tracking/esm_region_tracker.h vendored
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@ -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

1
release/scripts/startup/bl_ui/space_clip.py
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@ -503,7 +503,6 @@ 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.separator()

5
source/blender/blenkernel/intern/tracking.c
View File

@ -77,7 +77,6 @@ void BKE_tracking_init_settings(MovieTracking *tracking)
tracking->camera.units= CAMERA_UNITS_MM;
tracking->settings.default_tracker= TRACKER_KLT;
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);