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Fixes for keyframe selection 

Using tracks with constant zero weight used to crash
keyframe selection since it was trying to use missing
parameter blocks for Jacobian evaluation,

Also fixed possible issues with wrong camera block being
marked as variable. This could technically happen when
having zero weighted tracks. Made it so all camera blocks
are marked as variable for now.
This commit is contained in:
Sergey Sharybin 2014-01-28 16:50:04 +06:00
parent 98f5f989c9
commit 1c0cdc385f
2 changed files with 47 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

62
extern/libmv/ChangeLog vendored
View File

@ -1,6 +1,27 @@
commit b63b8d6989f460fda7d963a2c8b21e8ffa6f8066
commit f71f7c59d4d13574ea4dc3a196cc22eef1c192df
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Jan 24 19:32:34 2014 +0600
Date: Tue Jan 28 16:39:14 2014 +0600
Fixed for keyframe selection
Using tracks with constant zero weight used to crash
keyframe selection since it was trying to use missing
parameter blocks for Jacobian evaluation,
Also fixed possible issues with wrong camera block being
marked as variable. This could technically happen when
having zero weighted tracks. Made it so all camera blocks
are marked as variable for now.
commit 557d531b061aa69d114e89cbb325c5175389afec
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Jan 28 16:10:33 2014 +0600
Style cleanup: wrong indentation of wrapped line
commit ca15262cf07a873268173965ee1fb84f9729b744
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Jan 28 15:21:36 2014 +0600
Rework detector API and implement Harris detector
@ -17,6 +38,8 @@ Date: Fri Jan 24 19:32:34 2014 +0600
Reviewers: keir
Reviewed By: keir
Differential Revision: https://developer.blender.org/D258
commit 6458915f64fceba108c5279b7320ca8c76e8a742
@ -651,38 +674,3 @@ Date: Sat Apr 6 16:54:08 2013 +0600
Further, not actually sure this is nice idea
to use KLT in such synthetic case.
commit 1e54624875284e9532f4880c067e80e474444b2e
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 16:40:59 2013 +0600
Pyramid tracker unit test fix
Issue was caused by trackers modifying guessed
point location even in case of failure. So made
id so both level 0 and level 3 of pyramid are
starting from the same initial guessed location.
Modifying locations in case tracker returns false
is not actually a bug - someone could still want
to use that location. False in this case means
more like "returned location is not so much
accurate".
commit b46c48e0e1862828df6dca711148c11b1f60777c
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 00:38:40 2013 +0600
Intersect unit test fix
EuclideanIntersect is not aware of camera calibration
matrix yet and always assumes it to be an identity.
So using non-identity matrix to construct sample case
leads to wrong projection results.
For now made it so test case uses identity matrix for
calibration.
Also fixed variable shadowing which lead to wrong
markers positions (were either zero or undefined).

37
extern/libmv/libmv/simple_pipeline/bundle.cc vendored
View File

@ -262,10 +262,24 @@ void EuclideanBundlerPerformEvaluation(const Tracks &tracks,
int num_cameras = all_cameras_R_t->size();
int num_points = 0;
vector<EuclideanPoint*> minimized_points;
for (int i = 0; i <= max_track; i++) {
const EuclideanPoint *point = reconstruction->PointForTrack(i);
EuclideanPoint *point = reconstruction->PointForTrack(i);
if (point) {
num_points++;
// We need to know whether the track is constant zero weight,
// and it so it wouldn't have parameter block in the problem.
//
// Getting all markers for track is not so bac currently since
// this code is only used by keyframe selection when there are
// not so much tracks and only 2 frames anyway.
vector<Marker> markera_of_track = tracks.MarkersForTrack(i);
for (int j = 0; j < markera_of_track.size(); j++) {
if (markera_of_track.at(j).weight != 0.0) {
minimized_points.push_back(point);
num_points++;
break;
}
}
}
}
@ -275,35 +289,28 @@ void EuclideanBundlerPerformEvaluation(const Tracks &tracks,
evaluation->num_cameras = num_cameras;
evaluation->num_points = num_points;
if (evaluation->evaluate_jacobian) {
// Evaluate jacobian matrix.
if (evaluation->evaluate_jacobian) { // Evaluate jacobian matrix.
ceres::CRSMatrix evaluated_jacobian;
ceres::Problem::EvaluateOptions eval_options;
// Cameras goes first in the ordering.
int max_image = tracks.MaxImage();
bool is_first_camera = true;
for (int i = 0; i <= max_image; i++) {
const EuclideanCamera *camera = reconstruction->CameraForImage(i);
if (camera) {
double *current_camera_R_t = &(*all_cameras_R_t)[i](0);
// All cameras are variable now.
if (is_first_camera) {
problem->SetParameterBlockVariable(current_camera_R_t);
is_first_camera = false;
}
problem->SetParameterBlockVariable(current_camera_R_t);
eval_options.parameter_blocks.push_back(current_camera_R_t);
}
}
// Points goes at the end of ordering,
for (int i = 0; i <= max_track; i++) {
EuclideanPoint *point = reconstruction->PointForTrack(i);
if (point) {
eval_options.parameter_blocks.push_back(&point->X(0));
}
for (int i = 0; i < minimized_points.size(); i++) {
EuclideanPoint *point = minimized_points.at(i);
eval_options.parameter_blocks.push_back(&point->X(0));
}
problem->Evaluate(eval_options,
@ -405,7 +412,7 @@ void EuclideanBundleCommonIntrinsics(const Tracks &tracks,
if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
problem.SetParameterization(current_camera_R_t,
constant_translation_parameterization);
constant_translation_parameterization);
}
}