Commit Graph

15 Commits

Author SHA1 Message Date
Sergey Sharybin
5cbddd4ca4 Bye-bye FAST!
FAST detector has been replaced with fancier Harris,
so no need to keep FAST library in the sources now.
2014-02-06 18:13:12 +06:00
Sergey Sharybin
9178dc9d38 Rework detector API and implement Harris detector
Switch the detector API to a single function which accepts
a float image and detector options. This makes usage of
feature detection more unified across different algorithms.

Options structure is pretty much straightforward and contains
detector to be used and all the detector-specific settings.

Also implemented Harris feature detection algorithm which
is not as fast as FAST one but is expected to detect more
robust feature points. It is also likely that less features
are detected, but better quality than quantity.

Blender will now use Harris detector by default, later we'll
remove FAST detector.
2014-01-28 15:37:19 +06:00
Sergey Sharybin
c5b4983eca Remove files unused by blender's tracker
They were giving compilation error with msvc2012,
and instead of having workaround in them let's
drop them away form blender (they're not used even).
2013-05-30 12:05:20 +00:00
Sergey Sharybin
cf5e979fb4 Motion tracking: automatic keyframe selection
Implements an automatic keyframe selection algorithm which uses
couple of approaches to find out best keyframes candidates:

- First, slightly modifier Pollefeys's criteria is used, which
  limits correspondence ration from 80% to 100%. This allows to
  reject keyframe candidate early without doing heavy math in
  cases there're not much common features with first keyframe.

- Second step is based on Geometric Robust Information Criteria
  (aka GRIC), which checks whether features motion between
  candidate keyframes is better defined by homography or
  fundamental matrices.

  To be a good keyframe candidate, fundamental matrix need to
  define motion better than homography (in this case F-GRIC will
  be smaller than H-GRIC).

  This two criteria are well described in this paper:
  http://www.cs.ait.ac.th/~mdailey/papers/Tahir-KeyFrame.pdf

- Final step is based on estimating reconstruction error of
  a full-scene solution using candidate keyframes. This part
  is based on the following paper:

  ftp://ftp.tnt.uni-hannover.de/pub/papers/2004/ECCV2004-TTHBAW.pdf

  This step requires reconstruction using candidate keyframes
  and obtaining covariance matrix of 3D points positions.
  Reconstruction was done pretty much straightforward using
  other simple pipeline routines, and for covariance estimation
  pseudo-inverse of Hessian is used, which is in this case
  (J^T * J)+, where + denotes pseudo-inverse.

  Jacobian matrix is estimating using Ceres evaluate API.

  This is also crucial to get rid of possible gauge ambiguity,
  which is in our case made by zero-ing 7 (by gauge freedoms
  number) eigen values in pseudo-inverse.

  There're still room for improving and optimizing the code,
  but we need some point to start with anyway :)

  Thanks to Keir Mierle and Sameer Agarwal who assisted a lot
  to make this feature working.
2013-05-30 09:03:49 +00:00
Sergey Sharybin
4f5f97254c Reconstructed scene scale ambiguity improvement
Made it so reconstructed scene always scaled in a way
that variance of camera centers is unity.

This solves "issues" when different keyframes will
give the same reprojection error but will give scenes
with different.scale, which could easily have been
considered as a bad keyframe combination.

This change is essential for automatic keyframe
selection algorithm to work reliable for user.
2013-05-09 16:38:43 +00:00
Sergey Sharybin
898ba93a12 Update libmv to current upstream version
- Solves some strict compilation warning
- Style/code cleanup
2013-04-05 09:23:20 +00:00
Sergey Sharybin
3e320a67e3 Remove unused rigid registration code
There're some features planned which would
require rigid registration, but this code
would need to be re-done anyway to use new
minimizer and solving some issues with ICP
algorithm there.
2013-02-28 14:24:52 +00:00
Sergey Sharybin
52f34f017d Modal (aka tripod) solver rework
Several major things are done in this commit:

- First of all, logic of modal solver was changed.
  We do not rely on only minimizer to take care of
  guessing rotation for frame, but we're using
  analytical rotation computation for point clouds
  to obtain initial rotation.

  Then this rotation is being refined using Ceres
  minimizer and now instead of minimizing average
  distance between points of point of two clouds,
  minimization of reprojection error of point
  cloud onto frame happens.

  This gives quite a bit of precision improvement.

- Second bigger improvement here is using bundle
  adjustment for a result of first step when we're
  only estimating rotation between neighbor images
  and reprojecting markers.

  This averages error across the image sequence
  avoiding error accumulation. Also, this will
  tweak bundles themselves a bit for better match.

- And last bigger improvement here is support of
  camera intrinsics refirenment.

  This allowed to significantly improve solution
  for real-life footage and results after such
  refining are much more usable than it were before.

Thanks to Keir for the help and code review.
2013-02-28 14:24:42 +00:00
Sergey Sharybin
0d7e4f3229 Camera tracking: synchronize changes with own branch
Should be no functional changes.
2012-12-20 11:03:39 +00:00
Sergey Sharybin
efb9b6c1c3 libmv: bundle new upstream version of libmv from own branch
Added modal solver module which is needed for tripod solving.
For details of this solver read changelog of libmv.
2012-04-14 12:02:39 +00:00
Sergey Sharybin
e6c45cc1de libmv: bundle new upstream version from own branch with rigid registration implementation
Currently not used in blender code but is needed for some current work.
2012-04-12 11:37:51 +00:00
Sergey Sharybin
ce95b0be1e libmv: bundle new upstream version from own branch which should support
compilation of glog on hurd platform.
2012-04-11 13:51:37 +00:00
Sergey Sharybin
42b3463030 Bundle new upstream version of libmv from own branch
This version of libmv includes new gflags and glog libraries which makes
it possible to compile libmv with clang compiler.

Also remove code from CMakeLists which was disabling libmv if using clang.

Tested on linux with gcc-4.6 and clang-3.0, windows cmake+msvc and scons+mingw.
Could be some issues with other platforms/build system which shall be simple to resolve.
2012-03-11 19:52:25 +00:00
Sergey Sharybin
42ae315aef Added note that cmake/scons rules are automatically generated for extern/libmv
Also updated generation scripts and templates
2011-12-15 12:44:05 +00:00
Sergey Sharybin
27d42c63d9 Camera tracking integration
===========================

Commiting camera tracking integration gsoc project into trunk.

This commit includes:

- Bundled version of libmv library (with some changes against official repo,
  re-sync with libmv repo a bit later)
- New datatype ID called MovieClip which is optimized to work with movie
  clips (both of movie files and image sequences) and doing camera/motion
  tracking operations.
- New editor called Clip Editor which is currently used for motion/tracking
  stuff only, but which can be easily extended to work with masks too.

  This editor supports:
  * Loading movie files/image sequences
  * Build proxies with different size for loaded movie clip, also supports
    building undistorted proxies to increase speed of playback in
    undistorted mode.
  * Manual lens distortion mode calibration using grid and grease pencil
  * Supervised 2D tracking using two different algorithms KLT and SAD.
  * Basic algorithm for feature detection
  * Camera motion solving. scene orientation

- New constraints to "link" scene objects with solved motions from clip:

  * Follow Track (make object follow 2D motion of track with given name
    or parent object to reconstructed 3D position of track)
  * Camera Solver to make camera moving in the same way as reconstructed camera

This commit NOT includes changes from tomato branch:

- New nodes (they'll be commited as separated patch)
- Automatic image offset guessing for image input node and image editor
  (need to do more tests and gather more feedback)
- Code cleanup in libmv-capi. It's not so critical cleanup, just increasing
  readability and understanadability of code. Better to make this chaneg when
  Keir will finish his current patch.

More details about this project can be found on this page:
    http://wiki.blender.org/index.php/User:Nazg-gul/GSoC-2011

Further development of small features would be done in trunk, bigger/experimental
features would first be implemented in tomato branch.
2011-11-07 12:55:18 +00:00