Blender Git Loki

Git Commits -> Revision cf5e979

Revision cf5e979 by Sergey Sharybin (master)
May 30, 2013, 09:03 (GMT)
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.

Commit Details:

Full Hash: cf5e979fb4cef064f60d901c89c2a8a2f039d410
SVN Revision: 57133
Parent Commit: 9fb3d3e
Lines Changed: +778, -20

2 Added Paths:

/extern/libmv/libmv/simple_pipeline/keyframe_selection.cc (+579, -0) (View)
/extern/libmv/libmv/simple_pipeline/keyframe_selection.h (+52, -0) (View)

8 Modified Paths:

/extern/libmv/CMakeLists.txt (+2, -0) (Diff)
/extern/libmv/files.txt (+2, -0) (Diff)
/extern/libmv/libmv-capi.cc (+98, -5) (Diff)
/extern/libmv/libmv-capi.h (+3, -1) (Diff)
/release/scripts/startup/bl_ui/space_clip.py (+2, -1) (Diff)
/source/blender/blenkernel/intern/tracking.c (+30, -11) (Diff)
/source/blender/makesdna/DNA_tracking_types.h (+3, -2) (Diff)
/source/blender/makesrna/intern/rna_tracking.c (+7, -0) (Diff)
Tehnyt: Miika HämäläinenViimeksi päivitetty: 07.11.2014 14:18MiikaH:n Sivut a.k.a. MiikaHweb | 2003-2021