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Updates to libmv's bundle.sh to make sure libmv upstream

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is copying properly to our sources.
This commit is contained in:
Sergey Sharybin
2013-03-01 11:52:38 +00:00
parent 032923a9f5
commit 9da36d3ab1
5 changed files with 155 additions and 160 deletions
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300
extern/libmv/ChangeLog vendored
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@@ -1,3 +1,158 @@
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.
commit 931fe37a10212b91b525d4f6eb753990a338b471
Author: Sergey Sharybin <sergey.vfx@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@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@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@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@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@gmail.com>
Date: Mon Jan 7 15:58:40 2013 +0600
@@ -643,148 +798,3 @@ Date: Thu Apr 12 13:56:02 2012 +0600
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

1
extern/libmv/SConscript vendored
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@@ -11,7 +11,6 @@ Import('env')
defs = []
defs.append('V3DLIB_ENABLE_SUITESPARSE')
defs.append('GOOGLE_GLOG_DLL_DECL=')
src = env.Glob("*.cpp")

1
extern/libmv/bundle.sh vendored
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@@ -124,7 +124,6 @@ cat > CMakeLists.txt << EOF
set(INC
.
../colamd/Include
third_party/ceres/include
)

1
extern/libmv/patches/series vendored
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@@ -1 +0,0 @@
v3d_verbosity.patch

12
extern/libmv/patches/v3d_verbosity.patch vendored
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@@ -1,12 +0,0 @@
diff --git a/src/libmv/simple_pipeline/bundle.cc b/src/libmv/simple_pipeline/bundle.cc
index fa0b6cc..d382cd5 100644
--- a/src/libmv/simple_pipeline/bundle.cc
+++ b/src/libmv/simple_pipeline/bundle.cc
@@ -194,7 +194,6 @@ void EuclideanBundleCommonIntrinsics(const Tracks &tracks,
double v3d_inlier_threshold = 500000.0;
// Finally, run the bundle adjustment.
- V3D::optimizerVerbosenessLevel = 1;
V3D::CommonInternalsMetricBundleOptimizer opt(v3d_bundle_intrinsics,
v3d_inlier_threshold,
v3d_K,