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Ignore zero weighted markers in keyframe selection

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It doesn't make sense to use zero-weighted tracks as a correspondences
in keyframe selection.

Such tracks are not guaranteed to be tracked accurately because their
purpose is to add reference points in 3D space without affecting the
solution.
This commit is contained in:
Sergey Sharybin 2014-02-26 17:56:10 +06:00
parent 4a61df9c95
commit 8a5221750e
1 changed files with 26 additions and 4 deletions
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30
extern/libmv/libmv/simple_pipeline/keyframe_selection.cc vendored
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@ -131,9 +131,26 @@ Mat pseudoInverse(const Mat &matrix) {
return V * D * V.inverse();
}
void filterZeroWeightMarkersFromTracks(const Tracks &tracks,
Tracks *filtered_tracks) {
vector<Marker> all_markers = tracks.AllMarkers();
for (int i = 0; i < all_markers.size(); ++i) {
Marker &marker = all_markers[i];
if (marker.weight != 0.0) {
filtered_tracks->Insert(marker.image,
marker.track,
marker.x,
marker.y,
marker.weight);
}
}
}
} // namespace
void SelectKeyframesBasedOnGRICAndVariance(const Tracks &tracks,
void SelectKeyframesBasedOnGRICAndVariance(const Tracks &_tracks,
CameraIntrinsics &intrinsics,
vector<int> &keyframes) {
// Mirza Tahir Ahmed, Matthew N. Dailey
@ -141,7 +158,10 @@ void SelectKeyframesBasedOnGRICAndVariance(const Tracks &tracks,
//
// http://www.cs.ait.ac.th/~mdailey/papers/Tahir-KeyFrame.pdf
int max_image = tracks.MaxImage();
Tracks filtered_tracks;
filterZeroWeightMarkersFromTracks(_tracks, &filtered_tracks);
int max_image = filtered_tracks.MaxImage();
int next_keyframe = 1;
int number_keyframes = 0;
@ -173,11 +193,13 @@ void SelectKeyframesBasedOnGRICAndVariance(const Tracks &tracks,
candidate_image++) {
// Conjunction of all markers from both keyframes
vector<Marker> all_markers =
tracks.MarkersInBothImages(current_keyframe, candidate_image);
filtered_tracks.MarkersInBothImages(current_keyframe,
candidate_image);
// Match keypoints between frames current_keyframe and candidate_image
vector<Marker> tracked_markers =
tracks.MarkersForTracksInBothImages(current_keyframe, candidate_image);
filtered_tracks.MarkersForTracksInBothImages(current_keyframe,
candidate_image);
// Correspondences in normalized space
Mat x1, x2;