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356ec42bda
blender/extern/libmv/ChangeLog
Sergey Sharybin 356ec42bda Attempt to fix compilation error with msvc2013
2014-03-21 16:06:30 +06:00

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commit d14a372dfe09c7339f267c4904a541fbe2efec43
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 21 16:02:41 2014 +0600
Attempt to fix compilation error with msvc2013
commit 933531580b4dc4b65601d785cedc16506d615d7b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Mar 20 23:07:34 2014 +0600
Compilation fixes for MinGW
Many thanks to Antony Riakiotakis for the patch!
commit f1aefcbf58fe04ea2967434f39f703bb486777c8
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Feb 27 16:21:19 2014 +0600
Implement separate BA step for tracks which have constant zero weight
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.
commit bcf7f9470b2ea33cf89a31a72037ec03be631637
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Feb 27 14:16:42 2014 +0600
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.
commit f884bb20a93189b8210639f3de939c64177d66b3
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Feb 26 18:00:40 2014 +0600
Ignore zero weighted markers in keyframe selection
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.
commit 74db5175cdbcabe673b82eef59c88fb7f342c43f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Feb 26 13:23:02 2014 +0600
Tweaks to make bundling into Blender warning-less
Mainly issue i caused by conflicts in include directories,
so glog used to include config.h from gflags. It might be
fixed by splitting gflags/glog from Libmv in Blender build
system but that's not something fun to work on. Fixed by
making include directories bit more explicit.
Also solved no-previous-prototype warnings.
commit bc4bc66af0115069562b79e837ccf4fd95c8f97e
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 21 14:55:13 2014 +0600
Raise epsilon used for model solver test
It was too much small leading to false failure triggering
caused simply by precision issues.
commit bf750590a6af4af3622c01fd1004c44da60484a7
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Feb 18 23:35:52 2014 +0600
Made it possible to link against Ceres installed on the system
Main purpose of this is to get away from bundled Ceres library
which is not so trivial to re-bundle and takes some to do this
(not talking about CMake options conflicts and pollution).
Enabled by setting WITH_SYSTEM_CERES=ON. Default paths to search
Ceres library:
- /usr/local
- /sw
- /opt/local
- /opt/csw
- /opt/lib/ceres
You might also specify Ceres root directory using CERES_ROOT_DIR
variable (both CMake and environment variables are supported).
If your Ceres is build statically, you're to control all additional
libraries needed to link against using CMAKE_EXE_LINKER_FLAGS.
commit c9156fbf80c86853806844b754b1e48f45c5ec11
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Feb 18 19:38:22 2014 +0600
Remove .orig file which was added by accident
commit 62597e3cf0f266a2fefec415c89759e502793e06
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Jan 2 16:02:08 2014 +0600
Upgrade glog to latest svn r139
The intention of this upgrade is to get rid of custom patches
we've been having to support compilation on different platforms
and compilers.
commit 2452d5d42b390c7ab853e6fe60e58bdd7a01a004
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Feb 18 18:46:08 2014 +0600
Tweak Ceres CMake to detect uninstall target properly on Windows
commit 98a281d58ce2301f3dd239a97a448e53f48d0258
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 14 00:36:44 2014 +0600
Fix order of third party libs compilation and options used by them
WITH_FAST_DETECTOR was defined too late and third_party folder
didn't see this option.
commit 4962bccd643ec0f2aed3035170d5f20e8f6efc85
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Feb 13 23:55:03 2014 +0600
Disable Ceres unit tests and examples by default
Actually we're to switch to external Ceres rather than
bundled one, would make life much easier actually.
commit b1381540305d69c702eb2f051bd543fb5c1c3e2c
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Feb 6 18:01:58 2014 +0600
Made FAST detector optional
This way it's possible to bundle Libmv sources subset
to applications which doesn't need FAST detector.
Mainly this is done for Blender integration.
commit da4607f010bca0b3532cd4444afbb10bc774fc32
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Jan 28 18:32:39 2014 +0600
Implemented scoped_array and use it in detector
scoped_array is pretty much the same as scoped_ptr
with the only difference that it'll free memory using
delete[] operator.
It also gives some additional API functions to access
array elements.
Currently it only used to manage images denoted as byte
arrays in detector.
Reviewers: keir
Reviewed By: keir
Differential Revision: https://developer.blender.org/D266
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
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Jan 28 16:39:14 2014 +0600
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.
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.
Reviewers: keir
Reviewed By: keir
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
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!
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.
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
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.
commit 994c02d0ec55e9ae14a93a3ada6e5d4939247fc3
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.
commit 7d0c5325a38e61929f44206761b8aa3565631af5
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).
commit eb2e567df4567a54887d602aa95d6744aa154d8b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon May 13 04:22:05 2013 +0600
Minor code style cleanup.
commit ad3dbaaef10ea721230694311a359df152c7a44a
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.
commit 4432eb80f27e929f8750229aaada625d4f3ac5ee
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.
commit 34a91c9b8acb0dba3382866fbd29bb9884edb98a
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.
commit 87be4f030d025e4b29d9243d12bc458b2bb6762a
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
commit 7fa9c0b83d5e0fbd331add2952045076c2028d1b
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.
commit 0477ef1aa8fc92848f03c45e32539210be583b80
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.
commit fee2d7cc6003942f628c9a24b74008fd491b85b9
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.
commit b735649ead4d3d61f7896e46f35b1f7e0cecea3d
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.
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