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Improvements to weighted tracks behavior 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
2014-01-28 11:25:47 +00:00
commit cd7eb3eff2e69ce5e08570ead83ae6d35ee48857
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Jan 28 17:23:47 2014 +0600
Improvements to weighted tracks behavior
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.
Reviewers: keir
Reviewed By: keir
CC: sebastian_k
Differential Revision: https://developer.blender.org/D265
commit 6559b36dc14369175bfa0830323146acd3426483
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.
2013-10-08 13:53:59 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
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.
2014-01-28 10:50:04 +00:00
Date: Tue Jan 28 16:39:14 2014 +0600
Improvements to weighted tracks behavior 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
2014-01-28 11:25:47 +00:00
Fixes for keyframe selection
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.
2014-01-28 10:50:04 +00:00
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 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.
2013-10-08 13:53:59 +00:00
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.
Reviewers: keir
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.
2014-01-28 10:50:04 +00:00
Reviewed By: keir
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.
2013-10-08 13:53:59 +00:00
Differential Revision: https://developer.blender.org/D258
commit 6458915f64fceba108c5279b7320ca8c76e8a742
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Jan 24 19:14:18 2014 +0600
Add arcanist configuration file
Fix compilation error on NetBSD Original patch is by Jeorg Sonnenberger, thanks!
2014-01-09 10:03:02 +00:00
commit 0a69fadadc5aacbd339f839ac5bd12c3571278b1
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Jan 9 15:50:11 2014 +0600
Fix compilation error on NetBSD
- NetBSD doesn't provide sincos(3) in libm, so don't try to use it
- Use posix_memalign on NetBSD
Original patch is by Jeorg Sonnenberger to Blender patch tracker, thanks!
Code and style cleanup 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.
2014-01-02 09:14:47 +00:00
commit b0df3e291e6c85f791658be04334efafc41989f5
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Jan 2 15:12:18 2014 +0600
Fix build configuration warnings
Those warnings were mainly caused by installation
configuration of Ceres. Made some tweaks to make
CMake happy for now.
But for sure bigger cleanup here is needed.
commit b68de6acd20f3ffab92e0cd450198a700cd109ab
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Jan 2 15:04:05 2014 +0600
Code and style cleanup
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.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit b9e467e7c077b58199c4110f6967b7c18d1e7bf7
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 20:34:39 2013 +0600
Update Ceres to the latest upstream
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.
commit 3aeb2367e50b52ca2b9d59d4f0f0b4bbfd6a05e8
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 20:43:24 2013 +0600
Update gtest to latest version 1.7.0
Also reshuffled CMakeLists in order to avoid
conflicts happening between gflags bundled to
Ceres and third_party.
commit 30aaa9cd0b4a4eb0948a17824e7e7622d8ebcb41
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 20:10:06 2013 +0600
Changes for VC2013
Solves compilation error when using msvc2013
Original patch is by Alexandr Kuznetsov to blender.git
commit b204c0d25065a2b149de256929ff37d8f00f45bb
Author: Keir Mierle <mierle@gmail.com>
Date: Tue Dec 31 20:05:58 2013 +0600
Eagerly attempt to refine a track before doing a brute search
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.
commit 5361513f0328ff94b53125d29129561bb03132e8
Author: Keir Mierle <mierle@gmail.com>
Date: Tue Dec 31 20:04:46 2013 +0600
Fix bug where libmv tracking incorrectly succeeds on failure
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.
commit ba9e63eed09e33a48bbcb081058f45ac16f8738e
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 20:00:46 2013 +0600
Implementation of weighted tracks
Added a weight field to Track structure which means
how much affect this track will have on the final
reconstruction.
Currently it affects on BA step only which in most
cases will work just fine. However, it worth looking
into weight support for intersection/resection.
commit 4600df8b685ca8c4daa22d6c3b0125fd42c3bc67
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 19:30:14 2013 +0600
Code cleanup: move function prototype to header file
commit 0ce5b6efde774b3f042acf9e42c95674548f1c01
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 19:26:48 2013 +0600
Get rid of Allow Fallback option for euclidean resection
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.
commit 5d063426f4809000c27f38ed798e4224bbd09a6d
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 19:24:05 2013 +0600
Use explicit declaration of int types sign
Mainly needs to make blender happy with this custom
header which used to run into conflict with other int
types headers.
Wouldn't harm being more explicit here anyway.
commit c5be59dee94f94de369006c544080282cfb245cc
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Dec 31 14:50:00 2013 +0600
Implement refinement of estimated homography/fundamental matrices
It was only possible to perform algebraic estimation, which didn't
give so much accurate results.
Implemented a way to perform algebraic estimation followed with
refinement step using Ceres minimizer.
The code was actually mostly already there since keyframe selection
patch. Made such estimation a generic function in multiview/ and
hanged API for estimation in order to pass all additional options via
an options structure (the same way as it's done fr Ceres).
Most of the options are straight-forward to understand,but some
deserves more description here:
* expected_average_symmetric_distance is used 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.
* There' an 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
commit 1cdad972c4a9005e78891524cbd6d65600ca7e99
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Sep 25 16:12:29 2013 +0600
Code cleanup: Minor function capitalization fix
Original patch by Joseph Mansfield to the Blender repository.
commit 434316d084e8a41fd452f03610d7244d664948dc
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Sep 25 16:07:43 2013 +0600
Code cleanup: spelling correction
Original patch by Joseph Mansfield to the Blender repository.
commit 5cfe8465ac70407c0959c53bcd5206657a1322a2
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Sep 25 16:02:48 2013 +0600
Fix for uninitialized covariance matrix
Lead to unpredictable tracking termination criteria.
commit fd86b77d413489649a989f075b061714ed9a72fc
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Sep 25 16:01:19 2013 +0600
Add Procrustes PNP ("PPnP") resection algorithm to libmv
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".
Original patch by Keir Mierle made to Blender repository.
commit 0d98e9bbde5d57f6cd9515ce8ff2786d322f29ea
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Jun 18 19:24:07 2013 +0600
Compilation error when using clang
Where couple of issues:
- Overloaded assignment operator usage ambiguity
around some of the Eigen matrix assignment.
- Using -O4 flag here on linux ended up in lots
of cryptic linker issues, even when using recently
release clang 3.3.
Disabled forcing optimization flag for now.
We could end up with something smarter in the
future, but for now i'm not as much fan of
forcing compiler's flag.
commit 2b90b3915671cb629f7aabed30a88f28450294f8
Update libmv from own branch Fixes compilation error on win32 and shall give few cpu ticks boost by passing vectors by reference rather than by value.
2013-06-01 10:30:46 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Jun 1 16:20:35 2013 +0600
Pass vectors by a reference
Saves couple of time which used to waste on copying objects,
also solves win32 compilation errors caused by alignment.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 994c02d0ec55e9ae14a93a3ada6e5d4939247fc3
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
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu May 30 18:00:03 2013 +0600
Code cleanup
- Made some arguments passing to detector const.
- Remove unneeded include from track_region header.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 7d0c5325a38e61929f44206761b8aa3565631af5
Cleanup and small improvements to libmv - 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.
2013-05-13 14:39:06 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon May 13 04:44:14 2013 +0600
Pass ApplyRadialDistortionCameraIntrinsics input arguments by reference
This shall save some CPU time on calling copy constructor and give
some boost of bundle adjuster (where jet could take some time to
be passed by value).
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit eb2e567df4567a54887d602aa95d6744aa154d8b
Cleanup and small improvements to libmv - 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.
2013-05-13 14:39:06 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon May 13 04:22:05 2013 +0600
Minor code style cleanup.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit ad3dbaaef10ea721230694311a359df152c7a44a
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sun May 12 22:34:54 2013 +0600
Cleanup in simple pipeline's bundler
- Better match Google's code style conventions.
- Move evaluation part into own function, makes
bundling itself easier to follow.
- Made evaluation an optional parameter.
- Removed note about unsupported camera intrinsics
refining flags. Technically, all combinations
are possible.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 4432eb80f27e929f8750229aaada625d4f3ac5ee
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sun May 12 22:19:31 2013 +0600
Remove check for zero focal length in BA cost functor
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.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 34a91c9b8acb0dba3382866fbd29bb9884edb98a
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat May 11 20:33:54 2013 +0600
Fix compilation error with msvc2012
Using change from glog's upstream for this.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 87be4f030d025e4b29d9243d12bc458b2bb6762a
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat May 11 19:50:57 2013 +0600
Style cleanup, mainly pointed by Sameer in Ceres's codereview
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 7fa9c0b83d5e0fbd331add2952045076c2028d1b
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri May 10 18:30:40 2013 +0600
Keyframe selection improvements
Added additional criteria, which ignores
keyframe pair if success intersection factor
is lower than current candidate pair factor.
This solves issue with keyframe pair at which
most of the tracks are intersecting behind the
camera is accepted (because variance in this
case is really small),
Also tweaked generalized inverse function,
which now doesn't scale epsilon by maximal
matrix element. This gave issues at really bad
candidates with unstable covariance. In this
case almost all eigen values getting zeroed
on inverse leading to small expected error.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 0477ef1aa8fc92848f03c45e32539210be583b80
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri May 10 17:59:40 2013 +0600
Keyframe selection code cleanup
- Updated comments in code.
- Removed currently unused functions.
Actually, they'd better be moved to some generic
logging module, but we don't have it now so was
lazy to create one now. Could happen later using
code from git history
- Renamed function to match better to what's going
on in it.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit fee2d7cc6003942f628c9a24b74008fd491b85b9
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri May 10 17:44:49 2013 +0600
Optimization for reconstruction variance
Achieved by replacing SVD-based pseudo-inverse with
an eigen solver pseudo inverse.
New function works in the same way: it decomposes
matrix to V*D*V^-1, then inverts diagonal of D
and composes matrix back.
The same way is used to deal with gauges - last
7 eigen values are getting zeroed.
In own tests gives approx 2x boost, without
visible affect on selected keyframe quality.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit b735649ead4d3d61f7896e46f35b1f7e0cecea3d
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Mar 14 14:53:42 2013 +0600
Initial commit of reconstruction variance criteria
which is an addition for GRIC-based keyframe selection.
Uses paper Keyframe Selection for Camera Motion and Structure
Estimation from Multiple Views,
ftp://ftp.tnt.uni-hannover.de/pub/papers/2004/ECCV2004-TTHBAW.pdf
as a basis.
Currently implemented camera positions reconstructions,
bundle positions estimation and bundle adjustment step.
Covariance matrix is estimating using generalized inverse
with 7 (by the number of gauge freedoms) zeroed eigen values
of J^T * J.
Additional changes:
- Added utility function FundamentalToEssential to extract
E from F matrix, used by both final reconstruction pipeline
and reconstruction variance code.
- Refactored bundler a bit, so now it's possible to return
different evaluation data, such as number of cameras and
points being minimized and also jacobian.
Jacobian currently contains only camera and points columns,
no intrinsics there yet. It is also currently converting to
an Eigen dense matrix. A bit weak, but speed is nice for
tests.
Columns in jacobian are ordered in the following way:
first columns are cameras (3 cols for rotation and 3 cols
for translation), then goes 3D point columns.
- Switched F and H refining to normalized space. Apparently,
refining F in pixel space squeezes it a lot making it wrong.
- EuclideanIntersect will not add point to reconstruction if
it happened to be behind the camera.
- Cleaned style a bit.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 8bee982972a0b5bded3555b60e0987af685f85bd
Update bundled version of libmv - 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.
2013-05-12 17:06:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri May 10 13:27:21 2013 +0600
Left extra debugging print in reconstruction scale by accident.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 7971967d24e3d8d505bd6e54523161ab5dd5b728
Synchronize changes between bunded libmv and own libmv branch.
2013-05-10 06:26:01 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri May 10 12:23:03 2013 +0600
Add check for points behind camera in euclidan BA cost functor
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.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit f34e73f6bd0041a31f779a78e1c2324f9799a4a2
Synchronize changes between bunded libmv and own libmv branch.
2013-05-10 06:26:01 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Apr 24 22:06:38 2013 +0600
Forgot to add reconstruction scale to CMakeLists
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit de08cbaebe1b95673c4bc8f639aa0228414cf4a2
Synchronize changes between bunded libmv and own libmv branch.
2013-05-10 06:26:01 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Apr 24 19:40:39 2013 +0600
Reconstructed scene scale ambiguity improvement
Added a function EuclideanScaleToUnity() which is
aimed to solve scale ambiguity by scaling solution
in a way cameras centers variance in unity.
Currently only available for euclidean pipeline,
projective one is not finished anyway.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 30ecb7dd075527c0e49220744bae65ec208dbdf5
Synchronize changes between bunded libmv and own libmv branch.
2013-05-10 06:26:01 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Apr 23 01:41:29 2013 +0600
Use epsilon in modal solver test
Default epsilon for isApprox was too small,
leading to some false test failures.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit d03b303c171b0b0a33ed0b31c9a744c9676492a9
Synchronize changes between bunded libmv and own libmv branch.
2013-05-10 06:26:01 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Apr 23 01:35:56 2013 +0600
Update Ceres to current HEAD
Brings optimization for DENSE_NORMAL_CHOLESKY and
also fixes threading issues with BLAS.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 0a352686de0e87d59a2e37dbd0fddb351cbea2b7
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon Apr 15 05:35:33 2013 +0600
Fix for bundle adjusting with motion restricted
Was a bug introduced in previous commit, which
was trying to set parameterization for non-existing
camera->t parameter block.
Replaced with subset parameterization.
Also added basic synthetic unit test for modal solver.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 1742515b89ad5da53be95bfc574cbeffc51dc0e2
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon Apr 8 23:33:20 2013 +0600
Bundle adjustment improvements
- 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.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 74bbeabf1c4570bfe04f3034afcde95134b3e161
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon Apr 8 23:31:57 2013 +0600
Update Ceres to current HEAD
Brings up some noticeable speed improvements. In particular
the automatic differentiation and bundle adjustment solvers.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit e47519b0442527533ee046dd9881212d169561da
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon Apr 8 02:21:26 2013 +0600
Corrected path to gflags
Currently tools/track.cc is not used, but let's
keep things a bit more up-to-date :)
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit f617741b1f2a0ac7981dd71144eba187521d9ac4
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon Apr 8 02:17:16 2013 +0600
Re-enable tests for multiview and image
For as long code is in repo and used by some tools
better to have it covered by tests.
Some of them are failing tho, but that's completely
different story to be addressed later.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 7dbb5a37333fb6c5a729b8bafb317ea210735cbc
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon Apr 8 02:10:07 2013 +0600
Do not modify cache's CMAKE_CXX_FLAGS_RELEASE when configuring Ceres
Otherwise you'll have infinite appending of Ceres-specific flags
on every saving of any CmakeLists.txt.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit b413d22280de2481a2e2acdcda8431f601d65448
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sun Apr 7 21:53:23 2013 +0600
Fixed compilation with BUILD_TOOLS enabled
This commit mainly reverts parts of following commits:
0eebc21db831211738acc938566bbc29d68d45db
d8109b7a4fede1660e0dbd73735f1a9e3fd79eec
e59595806c045916ab4ef15ef7047c1a728b2da9
2d6cd58ee1cd7c5073980f358c71b2898ad16b4c
They declared lots of stuff deprecated, but in
fact it's not deprecated just a bit different
usage pipeline. Anyway, deprecation shall not
happen spontaneously as a part of other changes.
And for sure shall not break anything.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit c9eb9d36bb1ca5d3037ce66633d812a224f77958
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 20:49:05 2013 +0600
Revert "Change libmv's bilinear sampling to assume the same"
Revert changes to bilinear sampler which were originally
aimed to match blender's pixel center (where integer coord
is a left-bottom corner, x.5 coords are centers.
The reason of revert is changing this assumption in only
sampler didn't work well and lead to wrong results of
BlurredImageAndDerivativesChannels for example.
Discovered when was doing unit-tests for brute region tracker.
This reverts commit daa354c0735b954b0cd7725626e9a3d67416d46b.
Re-bundle libmv from new upstream repository No functional changes, just to make sure all the patches are ported nicely and that update scripts works fine.
2013-12-30 13:03:13 +00:00
commit 5bd89d9b8fb620e7e88bcbfa74165309b872f529
Fix for bundle adjusting with motion restricted 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)
2013-04-14 23:43:00 +00:00
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 18:37:37 2013 +0600
Added basic test for brute region tracker
It is failing at this moment and this is caused because
of how SampleLinear works - seems it's assumption about
pixel center is not correct for internal sampling.
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