[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [56053] trunk/blender/extern/libmv: Fix for bundle adjusting with motion restricted
Sergey Sharybin
sergey.vfx at gmail.com
Mon Apr 15 01:43:00 CEST 2013
Revision: 56053
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=56053
Author: nazgul
Date: 2013-04-14 23:43:00 +0000 (Sun, 14 Apr 2013)
Log Message:
-----------
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)
Modified Paths:
--------------
trunk/blender/extern/libmv/ChangeLog
trunk/blender/extern/libmv/libmv/simple_pipeline/bundle.cc
Modified: trunk/blender/extern/libmv/ChangeLog
===================================================================
--- trunk/blender/extern/libmv/ChangeLog 2013-04-14 21:42:58 UTC (rev 56052)
+++ trunk/blender/extern/libmv/ChangeLog 2013-04-14 23:43:00 UTC (rev 56053)
@@ -1,3 +1,199 @@
+commit 03cbc88ce7f51aa26ba503acea2e984bcb78873c
+Author: Sergey Sharybin <sergey.vfx at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at gmail.com>
Date: Thu Apr 4 02:59:58 2013 +0600
@@ -495,207 +691,3 @@
But anyway, imo it's now nice to have a structure which could
be used to pass different settings to the solver.
-
-commit 5a23d01dd531d1e0798298d17ba42a3397effb82
-Author: Keir Mierle <mierle at gmail.com>
-Date: Thu Sep 20 18:55:44 2012 +0000
-
- Make Euclidean resection "always" succeed.
-
- The Euclidean resection code had a magical constant, 1e-3, used to
- compare the results of solving an equation. This failure detection
- was well-intended, trying to prevent poor solutions from getting
- made without notifying the caller. Unfortunately in practice, this
- threshold is too conservative. Furthermore, it is not clear the
- threshold should exist at all; the purpose of the Euclidean
- resection is to come up with the best solution it can; other
- methods (e.g. reprojection error) should be used to compare
- whether the method succeeded.
-
- This commit changes the Euclidean EPnP code to always succeed,
- causing the previous fallback to projective resection to never
- run. In most cases, this will result in better reconstructions.
-
- This should, in most cases, fix the dreaded "flipping" problem.
-
-commit 57dad861d2a7f9d058c6d8edde1a2d51d7225a51
-Author: Keir Mierle <mierle at gmail.com>
-Date: Thu Sep 20 02:27:34 2012 +0000
-
- Fix variable naming in the planar tracker.
-
-commit e9392fd3b46f5668662935696e7d9afac3390ca4
-Author: Keir Mierle <mierle at gmail.com>
-Date: Thu Sep 20 02:10:33 2012 +0000
-
- Add smarter tolerance checking in the planar tracker.
-
- The planar tracker uses Ceres for the refinement stage. During
- refinement, Ceres iteratively updates the parameters with the
- latest best guess. If the change in the parameters falls below a
- threshold, Ceres will abort successfully ("converged").
-
- For the case of pure translation tracking, the parameters are
- exactly the two pixel shifts (dx, dy), and measuring the change in
- these parameters gives a meaningful termination criterion.
- However, for all the other parameterizations like affine, where
- the parameterization involves affine parameters that have no
- physical interpretation, Ceres is left with no way to terminate
- the solver early. With the existing code, often many iterations
- are run long after Ceres has found a solution sufficiently
- accurate for all tracking needs. No one needs tracking with
- a quadrillionth of a pixel accuracy; that time is wasted.
-
- This patch extends the existing iteration callback that is passed
- in to Ceres to check if the pattern has fallen out of the search
- window, to also check if the optimizer has made a tiny step. In
- particular, if the maximum shift of any patch corner between two
- successful optimizer steps is less than a threshold (currently
- 0.005 pixels), the track is declared successful and tracking
- is terminated.
-
- This leads to dramatic speed increases in some cases, with little
- to no loss in track quality. This is especially apparent when
- tracking patches with affine or perspective motion models. For
- example, on some tracking cases I tried, the iterations Ceres took
- went from 50 to 3.
-
-commit 36729c19bf90cb767e9adb96ba7dd48a5ace2be1
-Author: Keir Mierle <mierle at gmail.com>
@@ Diff output truncated at 10240 characters. @@
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