This brings new copyright header which supports GPL2 and 3.
It wasn't really an issue before because we had agreement with
Tobias, but now it's all documented in sources.
Brings new bounds limiting and also prepares build system
for the changes in the upstream.
Namely shared_ptr header and namespace is now being detected
by a build system rather than by hacks in the code.
This commit includes some changes to auto-detection flags
in SCons, presumably adding more consistency there. This
is main changes which are suppoed to be reviewed here.
Reviewers: campbellbarton
Differential Revision: https://developer.blender.org/D581
In the future i'd rather have this reported to an
upstream instead of adding local changes. It's really
easy to override this changes if patchset is not added
and this is to be fixed in upstream. Also the function
was never used so it was rather totally harmless warning
for us.
Pass the arrays by reference rather than by value,
should give some percent of speedup.
Also don't pass the dimensions to the function but
get them from the images themselves.
Hopefully this will give some %% of tracker speedup.
This means if one makes change to either SConscript or CMakeLists.txt
there he MUST update bundle.sh.
Also made it so *.cc files from intern/libmv are matching which would
make it easier to add more .cc files there if needed.
And one more thing is removing 'simple_pipeline/distortion_models.cc'
which doesn't match any of the files.
This commit makes it so CameraIntrinsics is no longer hardcoded
to use the traditional polynomial radial distortion model. Currently
the distortion code has generic logic which is shared between
different distortion models, but had no other models until now.
This moves everything specific to the polynomial radial distortion
to a subclass PolynomialDistortionCameraIntrinsics(), and adds a
new division distortion model suitable for cameras such as the
GoPro which have much stronger distortion due to their fisheye lens.
This also cleans up the internal API of CameraIntrinsics to make
it easier to understand and reduces old C-style code.
New distortion model is available in the Lens panel of MCE.
- Polynomial is the old well-known model
- Division is the new one which s intended to deal better with huge
distortion.
Coefficients of this model works independent from each other
and for division model one probably want to have positive values
to have a barrel distortion.
This gives a huge speedup gain for cases when you've got
rather huge markers on a byte images.
Done by skipping IMB_float_from_rect()/IMB_rect_from_float()
for such cases. We can sample the buffers without color space
conversion.
This was a nasty bug which was caused by specific of how face-edge
attributes are stored in Carve.
Face pointer is used in the map key which works just fine in all
cases except for the cases when some face is getting freed after
it was stored in the map.
This might give real issues when new face is allocating because
it's possible new face would have the same address as the freed
one.
Such cases used to happen when union of separate manifolds is
needed for the operands AND jemalloc is enabled.
Solved by dropping attributes for the freed faces from the map.
Maybe not the fastest ever approach, but not sure how to make
it faster actually. Should work just fine. It only happens for
complex setups with intersecting manifolds in the operands.
-ffast-math is evil, not sure why it was enabled...
I seems to work better on OSX but it's still not a good idea.
The SConscript for bullet is a mess, I don't understand why
we use different flags for different platforms in the first place.
Seems to be a historical artifact but I don't know enough about scons
to try and clean it up.
Using unordered_map and unordered_set C++ container types currently
requires careful testing or usage of boost, due to the various confusing
C++ version differences in include paths and namespaces.
Libmv defines tests for these cases in cmake and scons, such that ceres
can use any available implementation, or fall back too std::map/std::set
if none can be found.
This patch generalizes this buildfile code by providing a Blender macro.
* cmake: defines both the variables used by libmv at them moment as well
as 2 variables UNORDERED_MAP_INCLUDE_PREFIX and UNORDERED_MAP_NAMESPACE,
which can later be used in other C++ parts for convenience.
* scons: adds a tool script returning the include prefix and namespace.
Libmv checks these to define the appropriate definitions for ceres.
Differential Revision: https://developer.blender.org/D425
This is mainly a maintaince commit which syncs changes
between Blender and Libmv upstream also bringing new
GLog version.
This GLog version is presumably have better support of
MinGW from "the box".
This commit is also aimed to make further 3d part libs
update easier.
This re-applied patch from 25cbd13 which was lost at some point
since missing patchset in series.
This revision is to be back-ported to the final release.
I overlooked in cmake my fix same time changed the optimization level to 0,
so not use optimization is the real fix ( postponed for after 2.70 ).
I appears we should investigate scons anyway: compileflags does not apply to c and c++ same time as expected.
This was caused by static variables used in plNearestPoints().
For now solved by making the solvers allocated in the stack,
seems no noticeable affect on the simulation speed so far.
There were loads of issues in the code still which are mow likely fixed:
- Hole resolver hook had memory leak -- it didn't free face with holes
when triangulating it.
- Original edge mapping didn't work correct. old code related on the fact
that loop order is not changing when constructing the MeshSet class, but
in fact it does change.
Currently used edge map for this because it was easiest way to do it now,
but after the release we're to change it. Main reason is that face mapping
is not correct as well (and it was never correct actually). So we'll need
to construct Mesh structures by our own to be sure we're using correct
original index mapping.
- Carve might produce faces with ears, which is forbidden in Blender.
it wasn't an issue in old integration because triangulation will remove
the ears. So for now simply added ears removing back as a hook.
But actual reason of the ears is to be investigated really.
This hook will only work for NGons, quads are assumed not be able to
have ears. So this additional hook shouldn't slow down things much.
- Carve's hole resolver produces duplicated faces in some cases. Still not
sure what is the reason of this. Code here is not so much straightforward,
this is to be investigated later.
For now solved the issue as own hole resolver which checks for duplicated
faces after the hole resolving.
The additional checks here will only run if the mesh actually have hole
and wouldn't introduce slowdown for faces which doesn't have holes.
- Made it so if edge user triangulation gets a split (for example, in cases
when this edge intersects with the second operand) it wouldn't be dissolved.
This prevents cases of crappy topology after dissolving in several cases.
- Edge dissolver didn't check for whether edge is a non-manifold. We couldn't
really dissolve open manifold edges.
The bad thing about this is that mesh triangulation might produce non-manifold
edges and they wouldn't be dissolved. Not worst case in the world, but would
be nice to have it solved somehow.
- Exporting mesh form Carve to Blender might have produced duplicated edges
in cases when several non-manifold faces shared the edge. This is also fixed
now.
- Mesh triangulation might have produced duplicated faces, which is really bad.
Fixed by keeping a track on which faces we've created and skipping adding new
triangle if we already have one.
This all might introduce some slowdown, but we're too close to the release now,
so would rather have it slower but robust. After the release we might look into
ways to speed things up.
This is needed to minimize their reprojection error over the footage.
Without this extra step positions of such tracks were calculated by
algebraic intersection code only, which doesn't give best precision.
Avoid zero-sized problem when doing euclidean intersection
Zero-sized problem might occur when intersecting track with
constant zero weight. For such tracks we'll just use result
of algebraic intersection.
TODO: We probably need to have a separate BA step to adjust
positions of tracks with constant zero weight.
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 gives much worse results on mango footage (see 04_2e)
so disabling for now for until proper prediction model is landed.
The thing is, currently blender sends input coordinates as the guess to
region tracker and in case of fast motion such an early out ruins the track.
This commit implements dissolving of edges which were used
to triangulate non-flat faces. This slows things down a bit
(around 5% on heave mesh with all faces triangulated).
We could improve speed of dissolve a bit here (so not a bell
to add an option for triangulation yet).
Also fixed wrong edge origindex mapping.
Goal of this commit is to support NGons for boolean modifier
(currently mesh is being tessellated before performing boolean
operation) and also solve the limitation of loosing edge custom
data layers after boolean operation is performed.
Main idea is to make it so boolean modifier uses Carve library
directly via it's C-API, avoiding BSP intermediate level which
was doubling amount of memory needed for the operation and which
also used quite reasonable amount of overhead time.
Perhaps memory usage and CPU usage are the same after all the
features are implemented but we've got support now:
- ORIGINDEX for all the geometry
- Interpolation of edge custom data (seams, crease)
- NGons support
Triangulation rule is changed now as well, so now non-flat
polygons are not being merged back after Carve work. This is
so because it's not so trivial to support for NGons and
having different behavior for quads and NGons is even more
creepy.
Reviewers: lukastoenne, campbellbarton
Differential Revision: https://developer.blender.org/D274
First thing changed by this commit is making it so
Euclidean intersection takes track weight into account
when solving minimization problem. This behaves the
same exact way as it is for BA step.
Second thing is related on how average reprojection error
is being calculated. It didn't take track weight into
account which could confuse users. Now average reprojection
error will give the same result as intersection/BA uses
during minimization which gives much more predictable
behavior.
Differential Revision: https://developer.blender.org/D265
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.
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.
Fixes some issues with NaN vertices in special cases.
Also adds edge interpolation routines which are currently
unused but which are requires to implement edge CD interpolation.
Mainly fixed some style warnings reported by cpplint.
Also changed how camera (un)distortion happens internally
by replacing number of channels as a template argument
with number as channels passing as function argument.
Makes code easier to follow by eliminating loads checks
how much channels are used and which argument to pass to
the template.
Summary:
This brings up much easier termination type usage,
which for us means we might use:
ceres::Summary::IsSolutionUsable()
instead of doing manual funky enum values check.
Reviewers: keir
Differential Revision: https://developer.blender.org/D153
Changes for VC2013
Now, I can build Blender with VC2013 with Cycles, Collada, OpenExr,OpenImageIO disabled. Also, you need VC2008 sp1 installed to make old libs compatible.
The issue was caused by the fact that in this version
of MSVC unordered_map class is defined in <unordered_map>
header file, but this file declares the class int std::tr1
namespace.
This confused existing assumption that if there's an
existing <unordered_map> file then class is declared
in std namespace.
Added an extra check to CMake which detects whether
it's std or std::tr1 which actually contains class
of unordered_map.
This might be changed/cleaned in the future, for
now committing to our repository to solve compilation
error on windows.
Details of the patch in upstream can be found there:
https://ceres-solver-review.googlesource.com/#/c/4371/
- A richer Problem API.
- DynamicNumericDiffCostFunction.
- Faster ITERATIVE_SCHUR solver.
- Faster SCHUR_JACOBI preconditioner.
- Faster Jacobian evaluation.
- Faster visibility based preconditioning using single linkage clustering.
Also re-wrote rules for unordered collections detection,
should work on all platforms and compilers now :)
- random.hpp was only removed from actual include
directory, but not from patches/files.
- Files list generator didn't ignore config.h file
which in fact is not needed.
- A bit more reasonable name for the estimation option
structure and estimation functions.
- Get rid of unclear function and parameter tolerance,
it wasn't clear at all in which units they are.
Now we've got expected_average_symmetric_distance as
an early output check and as soon as average symmetric
error goes below this threshold refining finishes.
This distance is measured in the same units as input
points are.
It is arguable whether we need callback for this or not,
but seems Ceres doesn't have some kind of absolute
threshold for function value and function_tolerance
behaves different from logic behind expected symmetric
error.
- Added option to normalize correspondences before
estimating the homography in order to increase estimation
stability. See
R. Hartley and A. Zisserman. Multiple View Geometry in Computer
Vision. Cambridge University Press, second edition, 2003.
https://www.cs.ubc.ca/grads/resources/thesis/May09/Dubrofsky_Elan.pdf
Before the refinement phase of tracking, a brute force SAD search
is run across the search area. This works well but is slow;
especially if the guess for the track's location is accurate.
This patch runs a refinement phase before running a brute force
search, hoping that the guessed position (in x2, y2) is close to
the best answer. If it is, then no brute search is done. If it is
not, then a normal brute force search followed by refinement is
done.
In some cases this may produce worse tracks than before; the
regressions will need investigation. The predictive motion model
(to be implemented) will reduce the probability of that happening.
Before this patch, if Ceres returned USER_SUCCESS indicating that
Ceres was only changing the tracked quad slightly between
iterations (indicating convergence), no final correlation check
was done. This leads to incorrectly returning that the tracking
was successful, when it actually failed.
Added a weight slider to track which defines
how much particular track affects in a final
reconstruction. This weight is for sure
animateable.
Currently it affects on BA step only which in
most cases will work just fine.
The usecase of this slider is to have it set
to 1.0 most of the time where the track is
good, but blend it's weight down to 0 when
tracker looses the track. This will prevent
camera from jump.
Tutorial is to be done by Sebastian.
It was rather confusing from the user usage point
of view and didn't get so much improvement after
new bundle adjuster was added.
In the future we might want to switch resection
to PPnP algorithm, which could also might be a
nice alternative to fallback option.
- Tweaked typedefs in stdint so they match
what we've got in BLI_sys_types (needed to
explicitly tell sign to MSVC).
Not so much harmful to be more explicit here,
but we really better to have single stdint
int blender.
- Tweaked allocations macros so MSVC is happy
with structures allocation.
Also made libmv-capi use guarded objetc allocation.
Run into some suspecious cases when it was not so
clear whether memory is being freed or not.
Now we'll know for sure whether there're leaks or not :)
Having this macros in a guardedalloc header helps
using them in other areas (for now it's OCIO and libmv,
but in the future it'll be more places).
Jittering was caused by homography not being estimated
accurate enough.
Before this, only algebraic estimation was used, which
is indeed not so much great, Now use algebraic estimation
followed with refinement step using Ceres minimizer.
The code was already there since keyframe selection patch,
made such estimation a generic function in multiview/ and
changed API for estimation in order to pass all additional
options via an options structure (the same way as it's
done fr Ceres).
This includes changes to both homography and fundamental
estimation.
TODO:
- Need to document Ceres functors better.
- Need to support homogeneous coordinates (currently
only euclidean coords are supported).
For Blender this release is interesting because of:
- Covariance estimation (not used in Blender yet, but now we
might use it for keyframe selection instead of havingown
implementation).
- Significant performance improvements to loss function and
dense linear solvers and automatic differentiation.
Unfortunately, didn't notice speedup of tracking itself,
but camera reconstruction now happens around 2 times faster
on my laptop,
- Better inner iteration step acceptance and stopping.
Particle system code used global variable to sort hair by orig index,
which is not safe for threading at all.
Replaced this with usage of reentrant version of qsort, which is
now implemented in BLI. It was moved from recast navigation code
to BLI, so more areas could use it (if needed).
--
svn merge -r59086:59087 ^/branches/soc-2013-depsgraph_mt
This commit includes all the changes made for plane tracker
in tomato branch.
Movie clip editor changes:
- Artist might create a plane track out of multiple point
tracks which belongs to the same track (minimum amount of
point tracks is 4, maximum is not actually limited).
When new plane track is added, it's getting "tracked"
across all point tracks, which makes it stick to the same
plane point tracks belong to.
- After plane track was added, it need to be manually adjusted
in a way it covers feature one might to mask/replace.
General transform tools (G, R, S) or sliding corners with
a mouse could be sued for this. Plane corner which
corresponds to left bottom image corner has got X/Y axis
on it (red is for X axis, green for Y).
- Re-adjusting plane corners makes plane to be "re-tracked"
for the frames sequence between current frame and next
and previous keyframes.
- Kayframes might be removed from the plane, using Shit-X
(Marker Delete) operator. However, currently manual
re-adjustment or "re-track" trigger is needed.
Compositor changes:
- Added new node called Plane Track Deform.
- User selects which plane track to use (for this he need
to select movie clip datablock, object and track names).
- Node gets an image input, which need to be warped into
the plane.
- Node outputs:
* Input image warped into the plane.
* Plane, rasterized to a mask.
Masking changes:
- Mask points might be parented to a plane track, which
makes this point deforming in a way as if it belongs
to the tracked plane.
Some video tutorials are available:
- Coder video: http://www.youtube.com/watch?v=vISEwqNHqe4
- Artist video: https://vimeo.com/71727578
This is mine and Keir's holiday code project :)
This adds a new Euclidean resection method, used to create the
initial reconstruction in the motion tracker, to libmv. The method
is based on the Procrustes PNP algorithm (aka "PPnP"). Currently
the algorithm is not connected with the motion tracker, but it
will be eventually since it supports initialization.
Having an initial guess when doing resection is important for
ambiguous cases where potentially the user could offer extra
guidance to the solver, in the form of "this point is in front of
that point".
--
svn merge -r58821:58822 ^/branches/soc-2011-tomato
Clean up inconsistencies in the libmv C API:
- All type identifiers are libmv_TypeName
- All function identifiers libmv_functionName
- Prefer libmv_nounVerb function names (e.g. libmv_featuresDestroy)
- Match Blender code formatting rather than Google
- Spelling corrections
Code review: https://codereview.appspot.com/11494044/
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.
Will be reverted as soon as the x64 compiler is fixed.
For now it shouldn't have an impact on tracking performance. My test have shown no significant speed difference to official VC2008 build of 2.67.
- Added const modifiers where it makes sense and
helps keep code safe.
- Reshuffled argument to match <inputs>,<outputs>
convention on parameters.
- Pass values to ApplyRadialDistortionCameraIntrinsics
by a constant reference.
This will save lots of CPU ticks passing relatively
heavy jet objects to this function when running
bundle adjustment.
Makes code in tracking.cc much easier to understand and modify,
without worring to breck compulation with Libmv disabled.
It is still possible compilation will break due to libmv-capi
changes, but that's not happening so much often.
- Ensures fix for msvc2012 is applying correct.
- Some code cleanup to match libmv's code style.
- Do not include points which were intersect
behind the camera to a reconstruction.
- Includes changes needed for keyframe selection.
Additional changes:
- Cleaned up sources to reduce mess in some
big functions.
- Removed unused function from libmv c-api.
- Made functions naming more consistent.
- Use bool for internal stuff in tracking.c.
Shall be no functional changes :)
This check is actually redundant, because empty intrinsics
will have focal length of 1.0, which means original comment
about BundleIntrinsics was not truth.
It is possible that external user will send focal length of
zero to be refined, but blender prevents this from happening.
In cases keyframes are no so good, algebraic two frames construction
could produce result, for which more aggressive Ceres-based BA code
will fall to a solution for which points goes behind the camera,
which is not so nice.
Seems in newer Ceres returning false from cost functor wouldn't
abort solution, but will restrict solver from moving points behind
the camera.
Works fine in own tests, but requires more tests.
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.
Remove stray BT_USE_SSE_IN_API definitions.
Was causing problems especially for 32 bit windows.
It's not quite clear why they were added in the first place since
this should be defined in btScalar.h, needs further investigation.
Thanks to Francisco De La Cruz (xercesblue) for looking into this.
Should fix [#35071] Bullet Convex Hull Crashes on Win32 with SSE
In some cases (was noticed on not good enough keyframe
pair) bundle adjuster could have moved bundles behind
the camera.
This could indeed lead to lower rewprojection error but
this is just pointless thing to do.
Now added check to residuals functor which will return
false to Ceres in cases point moved behind the camera
to prevent such issues.
This brings a fixes for threading issue in BLAS
making BA step more robust (there were some in-detemrinacy
caused by this threading issue).
Also brings some optimizations, which does not directly
affect on blender.
This commit bundles new libmv version from own branch
which brings fix for wrong parameter block used for
modal solver parameterization.
Fixes#34985: Crash with Motion tracker (Tripod Motion)
- Get rid of rotation matrix parameterization,
use angle-axis instead.
Also Joined rotation and translation into a
single parameter block.
This made minimization go significantly faster,
like 1.3x times in average.
- Fix first camera when bundling. This is to
address orientation ambiguity.
Reconstruction result could still vary in
size, but that's another issue to be addressed
later.
Additional change:
Split EuclideanBundleCommonIntrinsics into
smaller functions, so it's now a bit easier
to follow.
This made preview working but that broke internals
of tracking.
Namely, BlurredImageAndDerivativesChannels is giving
much more blurred image because it was assuming pixel
center is an integer position.
Guess other parts of libmv used to suffer because of
this issue.
Now pixel centering happens in blender side, and
libmv assumes integer position is a pixel center.
Thins brings up some speed improvements:
SPARSE_SCHUR is approx 1.3-1.5x times faster
ITERATIVE_SCHUR is approx 1.2x times faster
For blender this means camera solution go a bit
faster now. Would not have affect on tracking
speed.
- pass string size to BLI_timestr() to avoid possible buffer overrun.
- quiet warning for mingw.
- include guards for windows utf conversion funcs.
- fix for mistage in edge-angle-selection check.
- some style cleanup.
This commit implements multi-threaded calculation of frames
when building proxies. Both scaling and undistortion steps
are now threaded.
Frames and proxy resolution are still handled one-by-one,
saving files after every single step. So if HDD is not so
fast, this commit could have not so much benefit.
Internal changes:
- Added IMB_scaleImBuf_threaded which scales given image
buffer in multiple threads and uses bilinear filtering.
- libmv's camera intrinsics now have SetThreads() method
which is used to specify how many OpenMP threads to use
for buffer distortion/undistortion.
And yeah, this code is using OpenMP for threading.
- Reshuffled a bit libmv-capi calls and added function
BKE_tracking_distortion_set_threads to specify number
of threads used by intrinscis.
This patch allows Blender to display i18n monospace font in the text
editor and the Python interactive console. Wide characters that occupy
multiple columns such as CJK characters can be displayed correctly.
Furthermore, wrapping, selection, suggestion, cursor drawing, and
syntax highlighting should work.
Also fixes a bug [#34543]: In Text Editor false color in comment on cyrillic
To estimate how many columns each character occupies, this patch uses
wcwidth.c written by Markus Kuhn and distributed under MIT-style license:
http://www.cl.cam.ac.uk/~mgk25/ucs/wcwidth.c
wcwidth.c is stored in extern/wcwidth and used as a static library.
This patch adds new API to blenfont, blenlib and blenkernel:
BLF_get_unifont_mono()
BLF_free_unifont_mono()
BLF_draw_mono()
BLI_wcwidth()
BLI_wcswidth()
BLI_str_utf8_char_width()
BLI_str_utf8_char_width_safe()
txt_utf8_offset_to_column()
txt_utf8_column_to_offset()
Apply patches in patches directory, remove patches that were applied
upstream.
If you made changes without adding a patch, please check.
Fixes [#32233] exporting bullet format results in corrupt files.
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.
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.
This information is useful, but in cases when you, say,
working on a bundler it's annoying to scroll all the
information up.
Now behavior would be:
- running `./blender --debug-libmv` will print all the
debug messages
- running `./blender --debug-libmv --verbose 0` will
print only debug messages from solvers, recosntruction
and so, but will bypass final reprojection bunch of
messages
- running `./blender --debug-lib,v --verbose 1` will
include final reprojection messages.
This shall not lead to any functional changes, just
avoids radial distortion code duplicated in camera
intrinsics and bundling code.
For fancier bundle adjustment supprting different
distortion models this is not actually enough and
would need to make some bigger changes, but this
changes makes code a bit easier to maintain already.
Also made it theraded linear solver, seems it makes
sense for iterative schur with inner iterations
enabled.
Use OpenMO's max therads called from bundler code
to detect how many threads to use. Could be changed
in a way that number of threads is passing in options
from blender side in the future.
Also removed redundant V3D definition from compiler's
flags.
This commits adds extra refirenment entry in the menu which is
"K1, K2" and which will apparently refine only this distortion
coefficients.
This would be useful in cases when you know for sure focal length
(which could be obtained from lens, EXIF and so) but not sure
about how good you manual calibration is.
Be careful tho, there're no internal constraints on this
coefficients so distortion model could just screw up into insane
values.
Would not expect any significant changes in solver behavior, but
it could be more accurate in some cases.
Switching projective intersection to ceres is marked as a TODO
for now.
With new bundle adjustment based on Ceres we don't need
SSBA library anymore. This also means we don't need ldl
library and libmv is no longer depends on colamd as well.
Patch originally written by me, then finished by Sergey. Big
thanks to Sergey for troopering through and fixing the many issues
with my original (not compilable) patch.
The Ceres implementation uses 2 parameter blocks for each camera
(1 for rotation and 1 for translation), 1 parameter block for
common intrinsics (focal length etc) and 1 parameter block for
each track (e.g. bundle or 3D point).
We turn on some fancy optimizer options to get better performance,
in particular:
options.preconditioner_type = ceres::SCHUR_JACOBI;
options.linear_solver_type = ceres::ITERATIVE_SCHUR;
options.use_inner_iterations = true;
options.use_nonmonotonic_steps = true;
options.max_num_iterations = 100;
Special thanks to Sameer Agarwal of Ceres fame for splitting out
the SCHUR_JACOBI preconditioner so that it didn't depend on
CHOLMOD. Previously we could not use that preconditioner in
Blender because CHOLMOD is too large of a dependency for Blender.
BundleIntrinsicsLogMessage:
- Moved bunch of if(foo) LG << "bar" into this function, to make
EuclideanBundleCommonIntrinsics a little bit easier to follow.
EuclideanBundle:
- Fix RMSE logging.
structure instead of passing all the parameters to every function.
Makes it much easier to tweak distortion model.
---
svn merge -r52854:52855 ^/branches/soc-2011-tomato
- Moved keyframes and refirement flags into reconstruction options structure
- Moved distortion coefficients and other camera intrinsics into own structure
- Cleaned up reconstruction functions in libmv c-api
---
svn merge -r52853:52854 ^/branches/soc-2011-tomato
This is helpful because it brings CHOLMOB-free ITERATIVE_SCHUR and
SCHUR_JACOBI which is really nice for new upcoming bundle adjustment.
If also includes all the local fixes we made locally.
There're lots of other improvements/fixed which are not currently
would be so much visible in Blender, but which opens doors for some
great improvements in future.
This updates minilzo from version 2.03 to version 2.06 which
is like 3 years newer.
The main reason of this update is that older minilzo had some
strange valgrind warnings. Likely they're harmless, but it was
still annoying to troubleshot bakes with valgrind.
SSBA seemed to be working OK last time i've checked it
with MSVC and optimization enabled.
Also, we'll likely replace it with own BA soon, which
works fine with MSVC anyway.
find ldl symbols because order of libraries seems to be critical
for gcc linker.
A bit stupid, but that's how linker works..
Both CMake and SCons shall work fine on linux now.
Root of the issue goes to SSBA library which didn't work
properly when using optimization in MSVC. It was worked
around by disabling optimization for libmv, which is in
fact shame and shouldn't have been done.
It seems after some changes optimization does not affect
on SSBA code, but enabling optimization could be risky so
close to release.
For now solved by splitting SSBA to separate CMake/SCons
library, disabling optimization only for this particular
library and enabling optimization for rest of libmv.
Tested on all files which used to fail with optimization
enabled in SSBA and all of them works the same as before.
Tracking speed is significantly higher now.
After release we'll enable optimization for SSBA as well,
so there'll be no crappy build setup. Later we'll replace
old SSBA library with new BA code based on Ceres.
Bundle script would be broken for until then, so better
not to use it.
libmv still requires optimization switched off because
of some incompatibility of SSBA and MSVC optimizer which
makes bundle adjustment work just wrong.
This shall not be an issue for Ceres and no need to
disable optimization for extern_ceres
