[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [56719] trunk/blender/extern/libmv: Update bundled version of libmv
Sergey Sharybin
sergey.vfx at gmail.com
Sun May 12 19:06:00 CEST 2013
Revision: 56719
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=56719
Author: nazgul
Date: 2013-05-12 17:06:00 +0000 (Sun, 12 May 2013)
Log Message:
-----------
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.
Modified Paths:
--------------
trunk/blender/extern/libmv/ChangeLog
trunk/blender/extern/libmv/libmv/multiview/fundamental.cc
trunk/blender/extern/libmv/libmv/multiview/fundamental.h
trunk/blender/extern/libmv/libmv/simple_pipeline/bundle.cc
trunk/blender/extern/libmv/libmv/simple_pipeline/bundle.h
trunk/blender/extern/libmv/libmv/simple_pipeline/initialize_reconstruction.cc
trunk/blender/extern/libmv/libmv/simple_pipeline/intersect.cc
trunk/blender/extern/libmv/libmv/simple_pipeline/pipeline.cc
trunk/blender/extern/libmv/libmv-capi.cpp
trunk/blender/extern/libmv/third_party/glog/src/windows/port.h
Modified: trunk/blender/extern/libmv/ChangeLog
===================================================================
--- trunk/blender/extern/libmv/ChangeLog 2013-05-12 16:52:42 UTC (rev 56718)
+++ trunk/blender/extern/libmv/ChangeLog 2013-05-12 17:06:00 UTC (rev 56719)
@@ -1,3 +1,151 @@
+commit f003b9e3031db4592c2d91b1ea2538c73b7e767d
+Author: Sergey Sharybin <sergey.vfx at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at 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 at gmail.com>
Date: Fri May 10 12:23:03 2013 +0600
@@ -493,157 +641,3 @@
Use threaded cost function, jacobian and linear solver
computation, so bundling is as fast as it could be with
current parameter block structure.
-
-commit 931fe37a10212b91b525d4f6eb753990a338b471
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Fri Mar 1 17:29:21 2013 +0600
-
- Fixed comment for euclidean bundling,
- which is now supports raidal bundling independently
- from other intrinsics.
-
-commit 217d8e6edc3de1a853fb84275d2d2dd898e7529c
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Tue Feb 26 18:19:01 2013 +0600
-
- Allow K1,K2 refirement combination
-
- It is now possible to refine only radial distortion
- with new Ceres based bundler and this new combination
- is already used in Blender.
-
-commit d8850addc944d400f7a9c358396c437d9e4acc70
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Tue Feb 26 18:17:09 2013 +0600
-
- Switch euclidean intersection code to use Ceres
-
- Would not expect any significant changes in solver
- behavior, but it could be more accurate in some cases.
-
- Switching projective intersection to ceres is marked
- as a TODO for now.
-
-commit 6990b7946ec96b3cb2dcfc8a1beaaba9538b0802
-Author: Keir Mierle <mierle at gmail.com>
-Date: Mon Feb 25 20:00:48 2013 +0000
-
- Switch motion tracker bundle adjustment to Ceres.
-
- Patch originally written by me, then finished by Sergey. Big
- thanks to Sergey for troopering through and fixing the many issues
- with my original (not compilable) patch.
-
- The Ceres implementation uses 2 parameter blocks for each camera
- (1 for rotation and 1 for translation), 1 parameter block for
- common intrinsics (focal length etc) and 1 parameter block for
- each track (e.g. bundle or 3D point).
-
- We turn on some fancy optimizer options to get better performance,
- in particular:
-
- options.preconditioner_type = ceres::SCHUR_JACOBI;
- options.linear_solver_type = ceres::ITERATIVE_SCHUR;
- options.use_inner_iterations = true;
- options.use_nonmonotonic_steps = true;
- options.max_num_iterations = 100;
-
- Special thanks to Sameer Agarwal of Ceres fame for splitting out
- the SCHUR_JACOBI preconditioner so that it didn't depend on
- CHOLMOD. Previously we could not use that preconditioner in
- Blender because CHOLMOD is too large of a dependency for Blender.
-
- BundleIntrinsicsLogMessage:
- - Moved bunch of if(foo) LG << "bar" into this function, to make
- EuclideanBundleCommonIntrinsics a little bit easier to follow.
-
- EuclideanBundle:
- - Fix RMSE logging.
-
-commit 1696342954614b54133780d74d6ee0fbcbe224f0
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Tue Feb 26 18:10:33 2013 +0600
-
- Upgrade ceres to latest upstream version
-
- This is needed because of some features of new Ceres
- for further development.
-
-commit 575336f794841ada90aacd783285014081b8318c
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Mon Jan 7 15:58:40 2013 +0600
-
- Fixed for keyframe selection
-
- - Calculate residuals for GRIC in pixel space rather than
- in normalized space.
-
- This seems to be how it's intended to be used.
-
- Algebraic H and F will still use normalized coordinates which
- are more stable, after this matrices are converted to pixel
- space and Ceres refinement happens in pixel space.
-
- - Standard deviation calculation was wrong in GRIC. It shouldn't
- be deviation of residuals, but as per Torr it should be deviation
- of measurement error, which is constant (in our case 0.1)
-
- Not sure if using squared cost function is correct for GRIC,
- but cost function is indeed squared and in most papers cost
- function is used for GRIC. After some further tests we could
- switch GRIC residuals to non-squared distance.
-
- - Bring back rho part of GRIC, in unit tests it doesn't make
- sense whether it's enabled or not, lets see how it'll behave
- in real-life footage.
-
- - Added one more unit test based on elevator scene and manual
- keyframe selection.
-
-commit 24117f3c3fc5531beb6497d79bb6f1780a998081
-Author: Sergey Sharybin <sergey.vfx at gmail.com>
-Date: Sun Jan 6 19:07:06 2013 +0600
-
- Added test for keyframe selection based on manual selection
-
- Additional changes:
-
- - Reduce minimal correspondence to match real-world manually
- tracked footage
-
@@ Diff output truncated at 10240 characters. @@
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