Commit Graph

7 Commits

Author SHA1 Message Date
Sergey Sharybin
de6c1c9287 Update Ceres to latest upstream version
- 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 :)
2013-11-28 19:46:23 +06:00
Sergey Sharybin
4228463caa Update Ceres to 1.7.0 release
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.
2013-09-05 10:48:44 +00:00
Sergey Sharybin
d05f5da111 Update Ceres to current upstream version
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.
2013-04-22 09:25:37 +00:00
Sergey Sharybin
43b61fb8bd Bundle current master of ceres-solver
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.
2013-04-05 09:22:54 +00:00
Sergey Sharybin
66cca267b1 Upgrade Ceres library to current master which is current 1.5RC
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.
2013-02-25 08:59:26 +00:00
Sergey Sharybin
a737bc49af Ceres: upgrade to version 1.3.0
This should contain real fixes for Windows, making it more robost and hopefully
faster (due to proper collection port) on that platform.

Also hack to fix Eigen alignment shouldn't be needed anymore.

Also on platforms which have got broken TR1 collections it's better to define
CERES_NO_TR1 instead of using Boost hacks. Made changes to Scons and CMake,
but can not check if this indeed works since i don't have OSX here.
2012-09-16 12:24:37 +00:00
Sergey Sharybin
59ef51aa27 Initial Ceres integration into Blender
Currently only put sources of Ceres library into extern/libmv/third_party and
setup CMake and SCons building systems.

Integration details:

- Even CMake build files are not re-used from Ceres's trunk: they're using some
  automatic stuff detection like glog, pthreads, protobuf and so and it's not
  so clear how to re-use that files without modifications.
  And IMO it's easier if build files are getting re-generated automatically to
  match Blender-specific setup rather than keeping changes made locally in
  Blender in sync when re-bundling Ceres library. Especially in case when it's
  already needed to support SCons build system.
- Integrated only actual sources, all tests were stripped. Probably it'll be nice
  to have them, but they'll need clear integration with current module test stuff
  in Blender.
- Suitesparse was disabled. It'll help a lot having it, but there are some difficulties
  making cholmod working fine on windows. Would be added in future
- collections_port.cc was also stripped. It's not used by Ceres's upstream and
  it gives compilation error (undefined uint32 -- looks like namespace issue).
- Currently all schur eliminators are included. Not sure if it makes sense,
  also not sure if it makes sense having them switchable on and off -- IMO better
  to have single configuration which works and does not require special tweaks
  after everything was set up.

To bundle updated version of Ceres:
- Go to extern/libmv/third_party/ceres folder
- Run ./bundle.sh

This will checkout fresh Ceres snapshot of Windows branch (which is currently
most interesting from integration into Blender POV), apply all patches listed
in patches/series and copy needed files into Blender's working copy. This will
also re-generate CMake/SCons build rules.

If you'll need extra files from Ceres repository which are not present in
Blender, you'll need to copy them manually and then run ./mkfiles.sh from
extern/libmv/third_party/ceres folder which will update list of files used
by Blender.

Thanks to Leir Mierle and Sameer Agarwal (and all others who helped developing
Ceres) this library and thanks to Keir Mierle with help integrating it into Blender!
2012-06-10 15:27:41 +00:00