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blender/extern/libmv/ChangeLog
Sergey Sharybin efb9b6c1c3 libmv: bundle new upstream version of libmv from own branch 
Added modal solver module which is needed for tripod solving.
For details of this solver read changelog of libmv.
2012-04-14 12:02:39 +00:00

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commit a44312a7beb2963b8e3bf8015c516d2eff40cc3d
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Apr 12 13:56:02 2012 +0600
Added solver for modal camera motion, currently supports only tripod solving
This solver is intended to deal with such camera motions as tripod and panning,
where it's impossible to reconstruct exact position of markers in 3d view.
It projects markers onto sphere and uses rigid registration of rotation to
find rotation angles which makes bundles from previous and current frame be
as closest as it's possible.
commit fa3842e472e3b9c789e47bf6d8f592aa40a84f16
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Apr 12 12:32:48 2012 +0600
implementation of some basic algorithms for point cloud orientation:
- Implementation of rigid registration algorithm which searches transformation
form one point cloud to another assuming that points in this clouds are
already paired (points with the same index in different clouds belongs to
the same pair) which minimizes average distance between points in pairs.
Algorithm uses Levenberg-Marquardt solver to find such transformation.
Supports registration of rotation-scale-transform (which is probably most
common usage) and rotation only (which might be useful for basic modal
tripod solver).
- Implementation of Iterative-Point-Clouds algorithm which searches
transformation from one arbitrary point cloud to another making
points as closest to each other as possible.
This algorithm doesn't require points be initially paired, but for
good result clouds should have rough initial orientation. If they're
arbitrary oriented from the very beginning, algorithm might fail
producing good resold.
Iteration is based on building pairs of closest to each other points
and registering rigid transformation between them which incrementally
constructs final result.
TODO: building pairs might be speedup a lot using data structures like
AABB trees, K-D trees or so.
commit 9618d9a1d48bb3c28da605d9027f57a74f462785
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Wed Apr 11 14:17:14 2012 +0600
Added configuration file for glog to compile smooth on Hurd platform.
Patch by Pino Toscano <pino@debian.org>, thanks!
commit 63b2bd20237c8599fa73ce42556e4fb99b9f7cca
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Thu Mar 22 17:03:34 2012 +0600
Trackers refactoring:
- Deduplicate pattern sampling used in esm and lmicklt trackers
and move SamplePattern to image/sample.h
- Move computation of Pearson product-moment correlation into
own function in new file image/correlation.h so all trackers
can use it to check final correlation.
- Remove SAD tracker. It's almost the same as brute tracker,
with only two differences:
1. It does brute search of affine transformation which in some cases
helps to track rotating features
2. It didn't use common tracker api which probably gave some speed
advantage, but lead to a real headache to use it together with
other trackers leading to duplicated code in 3d-party software.
commit 9fe49c32e990f28c83f2bbb1d18057aed8879af7
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Mon Mar 12 09:36:15 2012 +0600
Code cleanup: convert line endings to Unix style (native on my platform) so it
wouldn't confuse other versioning systems used for project where libmv is bundled to,
Also change mode to +x for glog's windows-related script.
commit fe74ae2b53769389b0ed9d7e604c8e60be81077d
Author: Sergey I. Sharybin <g.ulairi@gmail.com>
Date: Sun Mar 11 20:34:15 2012 +0600
Replace "third_party/glog/src/glog/logging.h" with <glog/logging.h>
It was needed because of how build systems is setup in Blender but think
this will be helpful change for other applications too because it makes
it's easier to move libraries around and even use libraries installed
on the operation system.
commit 37fc726701479f2d321d6af878fa93f3176278d5
Author: Sergey I. Sharybin <g.ulairi@gmail.com>
Date: Sun Mar 11 19:27:41 2012 +0600
Upgrade gflags and glog libraries - stage 2 (final)
Changes to upstream code which are needed to make libmv compile smooth on all platforms
* Replace <gflags/gflags.h> with "third_party/gflags/gflags/gflags.h" which is easier
to setup things in libmv and also helps with setting up building libmv into
external applications.
* Replace "glog/logging.h" and "glog/logging.h" with <glog/logging.h> and <glog/logging.h>
which is needed on Windows platform because otherwise files like logging.cc will be using
relative path which points to headers used by linux instead of headers need to be used
on Windows.
* Replace _asm int 3 with __debugbreak(). Such assembler code is obsolete and doesn't work
with 64bit versions of MSVC compilers.
* Do not use stacktrace for MinGW and FreeBSD because it leads into issues accessing
some specific data on this platforms.
* Define HAVE_LIB_GFLAGS for Windows builds.
* Do not define __declspec(dllimport) for MinGW platforms.
* Setup proper includes and datatypes for int32, uint32, int64 and uint64 for MinGW
* Do not define va_copy for MinGW platforms (it's already defined there).
* Patch localtime_r to be working fine with MinGW, disable strerror_r for MinGW because
of lack of needed functions.
commit 8ed07abfa49d1e0511752021c972e0715e5a1383
Author: Sergey I. Sharybin <g.ulairi@gmail.com>
Date: Sun Mar 11 19:06:33 2012 +0600
Upgrade gflags and glog libraries - stage 1
This commit copies sources from latest original release of gflags and glog
over currently bundled versions of this libraries without any modifications.
This revision can't b compiled, all needed changes to make new libraries working
fine will be done with next commit to make it clear which changes were necessary
for easier bundling further newer version and extract patches and put them to
gflags/glog upstream repo.
Such upgrade of libraries is needed to make it able to compile libmv
with clang compilers. Currently used versions:
- gflags is version 2.0
- glog is version 0.3.2
commit 75b9af405964ff2c7d3f0a44500e27e63b37c91b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 23:29:11 2012 +0600
_USE_MATH_DEFINES is needed to define constants like M_E when building with msvc
Occasionally was removed, but now added comment about this so hopefully it
wouldn't removed again.
commit f85b1232a9b929f69443b5eed6e7a39908cd6551
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 21:34:40 2012 +0600
Picky edit: corrected mode for ssba readme file.
commit f8c2b223f01551fd81a85f6d5221646165147035
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 21:32:05 2012 +0600
Picky edits: corrected EOL
commit 3f2a4205ec5adadcdfa306b161c705c868a7be93
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 21:30:07 2012 +0600
Fixed incorrect access to ucontext on linux. Caused by incorrect merge conflict resolve.
commit d360a21a5aa125cf9e83dd26b302508688ff7007
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:54:13 2012 +0600
More Windows -> Unix EOL conversions
commit 18aeda58bec9556140ba617724e31ada6f5b67c0
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:15:42 2012 +0600
Looks like this debug output was removed accidentally.
commit 189dc0cacdee3c1eab68c43263ecb038ed244c09
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:11:56 2012 +0600
Made V3D verbose again by default
commit 8b3422d3eec5e450d76243886bf07fb0a3e83a81
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:08:01 2012 +0600
SAD tracker now can deal with pattern size any size,
Very quick implementation came from Blender before Hybrid tracker was added.
Better to be replaced with brute tracker.
commit d547c9cfe37d5d3397d33c8b0e58471e1e1c1634
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:03:52 2012 +0600
Just convert end of lines to unix style.
commit eb73ddbaec5b9e1ad30331bbf858a6ebc266c4aa
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 20:02:20 2012 +0600
Made some function static. Resolves possible linking issues when building with MinGW.
commit 2930681fafd86e4f4a958054b1db8bfff29623d1
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:59:45 2012 +0600
Missed this in commit with improvements in camera intrinsics.
commit 8d31bc767019b05c5bf8c9f309f9545b3428afa1
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:57:51 2012 +0600
Another step of syncing codebase with Blender.
Mainly fixes for freebsd/osx compilation and aligned memory allocation.
commit 3214a2df5bfd98021f25d0f1a626a86318bb245f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:48:02 2012 +0600
Support compilation on FreeBSD platform
commit 0e5abe96f543687ccfb3a923ec639cb8f45d54f8
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:44:18 2012 +0600
Implementation of basic system for progress reporting into callee stuff
Implemented by using simple callbacks classes which are getting invoked from
places where lots of calculation happens, so applications which are using
libmv may display nice progress bar.
commit c5e18fe35464618055e0e9761be8d22fae56db49
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:25:45 2012 +0600
Add support for detecting tracking failure in the ESM tracker component of
libmv. Since both KLT and Hybrid rely on ESM underneath, KLT and Hybrid now
have a minimum correlation setting to match. With this fix, track failures
should get detected quicker, with the issue that sometimes the tracker will
give up too easily. That is fixable by reducing the required correlation (in
the track properties).
commit ea0fed736ecdcc8c020227aeef8ef4cd3be5e63d
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:23:50 2012 +0600
Add a new hybrid region tracker for motion tracking to libmv, and
add it as an option (under "Hybrid") in the tracking settings. The
region tracker is a combination of brute force tracking for coarse
alignment, then refinement with the ESM/KLT algorithm already in
libmv that gives excellent subpixel precision (typically 1/50'th
of a pixel)
This also adds a new "brute force" region tracker which does a
brute force search through every pixel position in the destination
for the pattern in the first frame. It leverages SSE if available,
similar to the SAD tracker, to do this quickly. Currently it does
some unnecessary conversions to/from floating point that will get
fixed later.
The hybrid tracker glues the two trackers (brute & ESM) together
to get an overall better tracker. The algorithm is simple:
1. Track from frame 1 to frame 2 with the brute force tracker.
This tries every possible pixel position for the pattern from
frame 1 in frame 2. The position with the smallest
sum-of-absolute-differences is chosen. By definition, this
position is only accurate up to 1 pixel or so.
2. Using the result from 1, initialize a track with ESM. This does
a least-squares fit with subpixel precision.
3. If the ESM shift was more than 2 pixels, report failure.
4. If the ESM track shifted less than 2 pixels, then the track is
good and we're done. The rationale here is that if the
refinement stage shifts more than 1 pixel, then the brute force
result likely found some random position that's not a good fit.
commit a07fff8431621c01d81ae52595d8dd91a295a776
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:19:58 2012 +0600
Assorted camera tracker improvements
- Add support for refining the camera's intrinsic parameters
during a solve. Currently, refining supports only the following
combinations of intrinsic parameters:
f
f, cx, cy
f, cx, cy, k1, k2
f, k1
f, k1, k2
This is not the same as autocalibration, since the user must
still make a reasonable initial guess about the focal length and
other parameters, whereas true autocalibration would eliminate
the need for the user specify intrinsic parameters at all.
However, the solver works well with only rough guesses for the
focal length, so perhaps full autocalibation is not that
important.
Adding support for the last two combinations, (f, k1) and (f,
k1, k2) required changes to the library libmv depends on for
bundle adjustment, SSBA. These changes should get ported
upstream not just to libmv but to SSBA as well.
- Improved the region of convergence for bundle adjustment by
increasing the number of Levenberg-Marquardt iterations from 50
to 500. This way, the solver is able to crawl out of the bad
local minima it gets stuck in when changing from, for example,
bundling k1 and k2 to just k1 and resetting k2 to 0.
- Add several new region tracker implementations. A region tracker
is a libmv concept, which refers to tracking a template image
pattern through frames. The impact to end users is that tracking
should "just work better". I am reserving a more detailed
writeup, and maybe a paper, for later.
- Other libmv tweaks, such as detecting that a tracker is headed
outside of the image bounds.
This includes several changes made directly to the libmv extern
code rather expecting to get those changes through normal libmv
channels, because I, the libmv BDFL, decided it was faster to work
on libmv directly in Blender, then later reverse-port the libmv
changes from Blender back into libmv trunk. The interesting part
is that I added a full Levenberg-Marquardt loop to the region
tracking code, which should lead to a more stable solutions. I
also added a hacky implementation of "Efficient Second-Order
Minimization" for tracking, which works nicely. A more detailed
quantitative evaluation will follow.
commit 0bf66c009d5022eacfc473d247884a73ffeefa8f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 19:13:49 2012 +0600
Rest of compilation fix with FAST library.
commit 71b578ca2ba34c528363c514cd1fcc85791d01f3
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Feb 17 19:00:28 2012 +0600
Improve the KLT tracking behaviour and UI
- Remove the overly-conservative use of libmv's re-track tracker. The re-track
tracker would take a normal tracker such as TRKLT or KLT or pyramid KLT, and
track from frame 1 to 2, then back from the position found in 2 back to 1.
Then, when the reverse-track doesn't match the original track with high
precision, the track is considered "failed". This is a good approach for
fully automatic reconstruction, but is too conservative for supervised
tracking.
The retrack-tracker will return when fully automatic tracking is added.
- Always solve for (dx, dy) in the TRKLT loop even if the linear system is
ill-conditioned. The client (Blender in this case) can still use the solved
position, even though it is less reliable.
commit 7d8a8762f2bc2e36f95b0b6f4fb4ca996f9f0db7
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:46:24 2012 +0600
Changes in camera intrinsics distortion/undistortion:
- Distortion/undistortion of scaled images wasn't happening right,
because camera intrinsics are calibrated on an original frame which
has got some particular resolution and trying to apply this model on
an image with another resolution gives totally wrong result.
This is needed to be able to do post-prccessing of render, running
distortion on a scene which might be rendered with higher resolution
than footage itself and then be scaled down.
- Fixed incorrect calculation/applying of precomputed grid when
distortion is high high enough and produces pixel offset higher
than 127 pixels. This might be still not very distorted image,
but if it's a 4K footage "normal" camera will easily give such
a distortion.
- Added support of overscan distortion/undistortion.
commit ed080785d63bb8e3a13dde51a2dc94fe59b059bb
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:38:51 2012 +0600
Fast headers now can be included from C++ sources.
Was needed to make it working fine when bundling in Blender but might also
be needed to bundle into another applications.
commit 5f5a7aa46a2d87b96c8098dfc8682f4d01b5cd40
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:36:16 2012 +0600
Bring back FAST detector which seems to be working much nicer than Morravec.
Both of them are available in API.
commit 2cab13c18216fb684b270cec077f7300262584af
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:27:36 2012 +0600
Revert "Make CameraIntrinsics (and thus Qt tracker) compilable without linking libmv."
This reverts commit 81613ee0cc94b315f333c9632b18b95d426aad05.
That commit made inverting intrinsics totally unworkable, so reverted this and
made needed tweaks to qt-tracker project file to make it compilable (was needed
to make it linking together with glog).
Conflicts:
src/ui/tracker/tracker.cc
src/ui/tracker/tracker.pro
commit ec46cae041401b17afb4fe4d9c9343d10797090f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:59:55 2012 +0600
Fix compilation error using official MinGW
commit 6fbc370e922c47cfa35381662b6c439f4891ed74
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:38:20 2012 +0600
Fix compilation error with MSVC 2010 which is more picky for "missed" STL headers
commit be9e6b63691d83b551a085f0766878bd84220767
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:36:18 2012 +0600
Fix compilation with MSVC where snprintf function is declared as unsafe and _snprintf should be used instead.
Better to switch to own implementation will ensure string is correctly NULL-terminated.
commit 1847d9e414ed763cd80668775d7d9f79575fc8ca
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 17:34:45 2012 +0600
Fix compilation error on OSX caused by incorrect access to ucontext
commit 90579b6ffad07672172a1c240499615b30b25549
Merge: b9aac30 531c79b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date: Fri Feb 17 18:32:52 2012 +0600
Merge remote-tracking branch 'Matthias-Fauconneau/master' into devel
Conflicts:
src/libmv/tracking/CMakeLists.txt
commit b9aac30a9ca6bc8362c09a0e191040964f7c6de2
Merge: 198894e 6969e1a
Author: Keir Mierle <mierle@gmail.com>
Date: Sat Nov 5 17:38:30 2011 -0700
Merge pull request #3 from nathanwiegand/master
Just a few tiny cleanups
commit 6969e1a9534291a982749baa5a3672c97bfa506d
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Sat Nov 5 14:26:54 2011 -0700
I've added cleaned up a few style issues here an there. Also, I've updated the CMakeLists.txt file so that it can build the image_io library. Note, it's only been tested on OSX 10.6
commit 4763f851299050140757bfaa069107a0cf639e56
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 23:59:08 2011 -0700
Removed a superfulous comment
commit a44577c0162e273681e4a9a3cc5f5b37d4315b67
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 23:55:52 2011 -0700
Removed a duplicate entry for an author.
commit 198894e4c4f51c2c1784ad7c02eb45d2d1ada9bc
Merge: c4c67db 6e797d6
Author: Keir Mierle <mierle@gmail.com>
Date: Fri Nov 4 21:47:05 2011 -0700
Merge pull request #2 from nathanwiegand/master
CMake changes for OSX
commit 6e797d678c4c19f6a9e21657d66183f412cc995b
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 21:43:28 2011 -0700
Uncomment the GUI part of the CMake file
commit 33ef88a33860345d8906f3c9dd22d8dbce3df53e
Author: Nathan Wiegand <nathanwiegand@gmail.com>
Date: Fri Nov 4 21:31:22 2011 -0700
Fixed build error on OSX by adding 'glog' to the dependencies in the tracker CMake
commit 531c79bf95fddaaa70707d1abcd4fdafda16bbf0
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Sat Aug 20 00:00:42 2011 +0200
Display warped pattern in marker preview.
commit bb5c27e671b6f8eb56ddf490f0795d59bede591b
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 18:37:48 2011 +0200
Fix CMake build.
commit 2ac7281ff6b9545b425dd84fb03bf9c5c98b4de2
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 17:34:45 2011 +0200
Avoid symbol shadowing.
commit 2a7c3de4acc60e0433b4952f69e30528dbafe0d2
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 17:22:47 2011 +0200
Better dragging behavior when hitting borders.
commit a14eb3953c9521b2e08ff9ddd45b33ff1f8aeafb
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 17:12:12 2011 +0200
Update marker preview to new affine tracking.
commit 5299ea67043459eda147950e589c2d327a8fbced
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 16:05:54 2011 +0200
sqrt takes double precision.
commit 9f9221ce151d788c49b48f6f293ab2e2f8813978
Author: Matthias Fauconneau <matthias.fauconneau@gmail.com>
Date: Fri Aug 19 16:04:37 2011 +0200
MSVC compatibility: heap allocate pattern, explicit float cast.
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