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blender/extern/libmv/ChangeLog
Sergey Sharybin 5637b0d39b 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

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commit f003b9e3031db4592c2d91b1ea2538c73b7e767d
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 f0e68f69e5c5f0fd82334246d382e59f1eb20164
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 7ed5e4da65d2c0df63a08b1e1f4b4de1855f1bf0
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 7e162266f96abc25d80e2352cd77f21ed93593b7
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 42da053c6410b4f3fb13798c7e9c5f4a861b6825
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 f3eb090f7240f86799099fe86ce9386eb2bd3007
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 b917b48bd877eedd17dec907cacf0b27a36e717d
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 041b4b54fff66311347a307a5922c2516c76ee44
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.
commit 94c4654f1145f86779bd0a7e8cda1fd2c751d27d
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.
commit 3886b488575ec5e79debce7b9f2e9824f5297c0f
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.
commit a5699d7dbe126024673f51aaa570f9f244f8da2f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Apr 24 22:06:38 2013 +0600
Forgot to add reconstruction scale to CMakeLists
commit 2b7d2b44e6446bbcc23038f5dbb824feca888069
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.
commit ed1f650576dc6f5b648a026a2861c54827b0f5c9
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.
commit c44679a9a0fafdde6a0a22e7e5c8496fc9c93cd0
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.
commit 03cbc88ce7f51aa26ba503acea2e984bcb78873c
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.
commit c78a68f980e778d40ce836fa1d7471cb7264d4a0
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.
commit 28c7566629c2cf5b03a787c9509856e87472eb2f
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.
commit efde9faa21e70b031d3cbcb2dcdcd38e597bf56e
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 :)
commit f8b5ea196fb00ab07d577e9738a60cdd1de16509
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.
commit d2a7ee60a5845738f76b88bfc373eefc2cc8501a
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.
commit 45edb507bf46194dd55b7fc46a7d90ee3853834d
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.
commit 7a9c83d3ccaa2f0015f88b9156d7662c46244b4a
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.
commit 15f3bb00340933ce753a1a55e9cde9383352e259
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.
commit 1146602972c07e99a9e4ab37d35ac83aec490e60
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 16:54:08 2013 +0600
Tweak to KLT region tracker test
KLT is usually used to track relatively small
motions, and in this case motion almost equals
to half window size. This confuses math and
leads to not so much expected result.
Further, not actually sure this is nice idea
to use KLT in such synthetic case.
commit 1e22cbcac480863b6b5abc5c85f23dc70748933a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 16:40:59 2013 +0600
Pyramid tracker unit test fix
Issue was caused by trackers modifying guessed
point location even in case of failure. So made
id so both level 0 and level 3 of pyramid are
starting from the same initial guessed location.
Modifying locations in case tracker returns false
is not actually a bug - someone could still want
to use that location. False in this case means
more like "returned location is not so much
accurate".
commit 3ad5e0efa071f202ee7c2034d70dd97aa62b13aa
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 00:38:40 2013 +0600
Intersect unit test fix
EuclideanIntersect is not aware of camera calibration
matrix yet and always assumes it to be an identity.
So using non-identity matrix to construct sample case
leads to wrong projection results.
For now made it so test case uses identity matrix for
calibration.
Also fixed variable shadowing which lead to wrong
markers positions (were either zero or undefined).
commit 3a153c2b65f38653a36c36975018f68d42d60670
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Sat Apr 6 00:12:12 2013 +0600
Camera intrinsics unit tests fixes
- Existing test ApplyIsInvertibleSimple was not
doing right thing - distortion model used there
was ininvertible.
Tweaked parameters in a way model is invertible now.
- Added some own tests which tests;
* Principal point always maps from pixel space to
zero normalized position.
* Some basic tests to check whether individual
apply/invert works correct.
commit e3b2bccba6145290738a6677c14f7369ec7a38cd
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Apr 4 02:59:58 2013 +0600
Suppress strict compiler warnings in glags/glog libraries
commit 5fca459adcf0a3419fa9cd8d983dc2c952d02647
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Apr 4 01:20:18 2013 +0600
Lint cleanup, mostly white space and line width.
Also moved own includes to the top of files.
Should be no functional changes :)
commit 9a9dd458a622928b91dbd3c79900577923283838
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 29 00:20:29 2013 +0600
Fix for TransformTracks in uncalibrated pipeline
Transformation matrix was completely ignored by
TransformTracks() and final marker coordinate
exactly matched it's source coordinates.
Seems to be just a typo in vector usage: need to
use "b" (which is transformed one) instead of "a"
when converting projective coordinate to 2D space.
commit d35766cc9901609e32f4d80faba715695bea3c40
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 29 00:19:11 2013 +0600
Revert part of e2eb58c4230f94ef0c72fb4005e5434088d52e80
That commit included one change which shall have been
go as separate commit with more detailed description.
commit e8d71b4e96fd78eb60773b6557d66da672e65753
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Mar 27 20:37:05 2013 +0600
Silenced more warnings
- Added includes of own header to fast implementation files.
- Camera intrinsics wouldn't complain about unknown pragma when
building without OpenMP support.
TODO: Make it a CMake option to build libmv with OpenMP support.
Currently multi-threaded intrinsics only available when
using custom CMake rules for bundled libmv version
(as it's done in Blender).
commit ad442812654f270dc088394410fda1b81b8dc450
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Mar 27 20:18:51 2013 +0600
Multithreaded camera intrinsics
Implemented multithreaded buffer (un)distortion
for camera intrinsics using OpenMP.
By default, (un)distortion is single-threaded,
but it is possible to as CameraIntrinsics to
use more threads by calling SetThreads method.
commit c88b4881096174a16a9f9e6fc2c9dcad3e255b25
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Mar 27 18:45:09 2013 +0600
Movie functions implementation from panography header
into own CC implementation file.
Before this all panography functions were declared as
static, which is not so much useful from re-useability
point of view.
commit 2d2faf9104bc035722cff6775e1b8e7c93143aba
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Mar 27 18:37:36 2013 +0600
Build shared Ceres library only if BUILD_SHARED_LIBS is enabled
commit daa3ddd3260ccaf2bf9c72eadb89213d91e549ec
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Mar 27 18:21:52 2013 +0600
Update Ceres to upstream version 1.5.0
commit cf5dc678878345ea3f221ce50cb2b9e539c2ab38
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Mar 27 15:06:24 2013 +0600
Code cleanup: removed more deprecated FFmpeg API usage
This time in qt-tracker application.
commit e2eb58c4230f94ef0c72fb4005e5434088d52e80
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 26 17:19:51 2013 +0600
Code cleanup: silent unused variables warnings
commit af89bb24667e39b7e655173ea807fdcfbeef4422
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 26 16:54:14 2013 +0600
Code cleanup: no need to declare empty body for ProgressUpdateCallback:invoke
Make force this method to be overridden by derivative classes.
Also removed currently unneeded callbacks.cc.
commit 0441d4ee06fad0219256a5704f931eec916a3868
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 26 16:37:27 2013 +0600
Code cleanup: silent type narrowing in qt-tracker
commit cd4b61c976448d0fdedefb3ed4b21d70e078f94b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 26 16:26:39 2013 +0600
Changes to unit testing
- Move ceres test binaries to ${LIBMV_TESTS_OUTPUT_DIR}/ceres,
so they don't mess with libmv's application binaries and
tests.
- Removed ceres_ prefix from ceres unit tests, only use this
prefix for targets (targets need to be unique name).
- Added unit tests data for ceres, otherwise system_test fails.
- Restored "test" makefile target.
commit cf704ada08acc8b26167e7bfb3e1e88fd278de23
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 26 15:01:15 2013 +0600
Code cleanup: use rw-rw-r-- mode for source files
commit 64b31e3e43acb52aaf6f591b9d1c2449bf6ef3bd
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 26 14:57:46 2013 +0600
Code cleanup: don't use deprecated FFmpeg API functions
commit 2a3676499548ad5dba5a5c5eadf3bb71e640b612
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 5 17:40:52 2013 +0600
Switch from DENSE_NORMAL_CHOLESKY to DENSE_QR
DENSE_QR is better behaved numerically and after recent
changes from Sameer there's no big difference in speed.
commit bcb920df02133da5b7e55fbc74edb9222004eecc
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Tue Mar 5 17:15:43 2013 +0600
Update Ceres to 1.5RC3
It brings optimization of DENSE_QR and DENSE_SCHUR solvers.
commit 473996468a4e67e7c860169181a4ff31ce9b8c80
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 1 17:44:54 2013 +0600
Fixed incorrect order of arguments passing
to EXPECT_EQ in keyframe selection tests.
commit d38ebb74693fdf5b8f0fecf62a3d8c9c53b0b84a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 1 17:40:38 2013 +0600
Modal (aka tripod) solver rework
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!
commit 5d6c2e7a27bdd1a1b23bf289d70a9b8f62514c9a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 1 17:37:35 2013 +0600
Increase verbosity level for reprojected markers info
This information is useful, but in cases when you, say,
working on a bundler it's annoying to scroll all the
information up.
commit ac252bb1250b3028b9c94736b644e7ab4e7b14b8
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 1 17:36:19 2013 +0600
Move radial distortion code to own templated function
This shall not lead to any functional changes, just
avoids radial distortion code duplicated in camera
intrinsics and bundling code.
For fancier bundle adjustment support of 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.
commit c253b794612dd529e1d3a9bd7a7c41c32c9a9abb
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Mar 1 17:33:27 2013 +0600
Use threaded cost function, jacobian and linear solver
computation, so bundling is as fast as it could be with
current parameter block structure.
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