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Camera tracking integration

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===========================

Fixes for MSVC.
This commit is contained in:
Sergey Sharybin 2011-08-19 14:23:09 +00:00
parent ed3e6aa972
commit c15012e568
2 changed files with 15 additions and 3 deletions
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12
extern/libmv/ChangeLog vendored
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@ -1,3 +1,15 @@
commit 5299ea67043459eda147950e589c2d327a8fbced
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 16:05:54 2011 +0200
sqrt takes double precision.
commit 9f9221ce151d788c49b48f6f293ab2e2f8813978
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 16:04:37 2011 +0200
MSVC compatibility: heap allocate pattern, explicit float cast.
commit 702658d2f8616964a6eeb3743fd85e97ac7ff09d
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 14:59:24 2011 +0200

6
extern/libmv/libmv/tracking/sad.cc vendored
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@ -122,6 +122,7 @@ float Track(ubyte* reference, ubyte* warped, int size, ubyte* image, int stride,
min=-1; //reset score since direct warped search match too well (but the wrong pattern).
// 6D coordinate descent to find affine transform
ubyte match = new ubyte[size*size];
float step = 0.5;
for(int p = 0; p < 8; p++) { //foreach precision level
for(int i = 0; i < 2; i++) { // iterate twice per precision level
@ -130,7 +131,6 @@ float Track(ubyte* reference, ubyte* warped, int size, ubyte* image, int stride,
for(float x = -step; x <= step; x+=step) { //solve subproblem (evaluate only along one coordinate)
mat32 t = m;
t.data[d] += x;
ubyte match[size*size];
//TODO: better performance would also allow a more exhaustive search
SamplePattern(image,stride,t,match,size);
uint sad = SAD(reference,match,size,size);
@ -152,7 +152,6 @@ float Track(ubyte* reference, ubyte* warped, int size, ubyte* image, int stride,
// Compute Pearson product-moment correlation coefficient
uint sX=0,sY=0,sXX=0,sYY=0,sXY=0;
ubyte match[size*size];
SamplePattern(image,stride,m,match,size);
SAD(reference,match,size,size);
for(int i = 0; i < size; i++) {
@ -166,9 +165,10 @@ float Track(ubyte* reference, ubyte* warped, int size, ubyte* image, int stride,
sXY += x*y;
}
}
delete[] match;
const int N = size*size;
sX /= N, sY /= N, sXX /= N, sYY /= N, sXY /= N;
return (sXY-sX*sY)/sqrt((sXX-sX*sX)*(sYY-sY*sY));
return (sXY-sX*sY)/sqrt(double((sXX-sX*sX)*(sYY-sY*sY)));
}
} // namespace libmv