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commit cfabdfe48df2add3d1f30cf4370efd0b31990ab0
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 20 05:46:53 2012 +0600
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Assorted fixes for keyframe selection:
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- Biggest error was in cost functors used for F and H refirement,
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- Use natural logarithms, since it's actually makes sense from
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math papers point of view and error is somewhere else.
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- Disabled rho for GRIC, for now use non-clamped error for tests.
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- Made SymmetricEpipolarDistance returning non-squared distance
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Keyframe selection is currently the only used of this function
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and it seems using non-squared distance makes much more sense.
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Also would think to append suffix "Squared" to functions which
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returns squared distances.
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- Removed templated version of SymmetricEpipolarDistance, since
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it's not needed actually.
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This is actually even worse working than previous implementation,
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but commit it needed for further review.
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commit 35d8c57626ad74818f155e6e5960c663ea84e032
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 20 03:00:40 2012 +0600
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Euclidean resection cost function didn't use correct constructor
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It was storing a reference to initial rotation passed by value,
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leading to pointer being pointing to a stack variable, leading to
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wrong memory access in residuals computing.
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Apparently was visible in optimized builds only with inline
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commit 0798d3162bb49cee7e1c423ceccbca1326ad5650
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 20 02:50:52 2012 +0600
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Automatic keyframe selection based on Pollefeys's criteria
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This commit implements automatic keyframe selection algorithm
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based on Pollefeys's criteria (F-GRIC is smaller than H-GRIC
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and correspondence ratio is more then 90%).
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It is implemented as a part of simple pipeline and returns
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vector of keyframe images for a given Tracks structure.
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For simple pipeline reconstruction two best keyframes are
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expected to be selected from all detected candidates.
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Criteria for this selection could be reprojection error of
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solution from two candidate keyfames.
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Unfortunately, it's not fully workable yet, hopefully would
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commit e943985552f0598ae122252876f305d72c25c2f9
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 17:47:11 2012 +0600
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Camera Tracking: allow fallback to reprojection resection
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This fixes some "regressions" introduced in previous commit
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which lead to much worse solution in some cases. Now it's
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possible to bring old behavior back.
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Perhaps it's more like temporal solution for time being smarter
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solution is found. But finding such a solution isn't so fast,
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so let's bring manual control over reprojection usage.
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But anyway, imo it's now nice to have a structure which could
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be used to pass different settings to the solver.
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commit 5a23d01dd531d1e0798298d17ba42a3397effb82
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Sep 20 18:55:44 2012 +0000
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Make Euclidean resection "always" succeed.
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The Euclidean resection code had a magical constant, 1e-3, used to
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compare the results of solving an equation. This failure detection
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was well-intended, trying to prevent poor solutions from getting
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made without notifying the caller. Unfortunately in practice, this
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threshold is too conservative. Furthermore, it is not clear the
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threshold should exist at all; the purpose of the Euclidean
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resection is to come up with the best solution it can; other
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methods (e.g. reprojection error) should be used to compare
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whether the method succeeded.
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This commit changes the Euclidean EPnP code to always succeed,
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causing the previous fallback to projective resection to never
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run. In most cases, this will result in better reconstructions.
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This should, in most cases, fix the dreaded "flipping" problem.
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commit 57dad861d2a7f9d058c6d8edde1a2d51d7225a51
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Sep 20 02:27:34 2012 +0000
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Fix variable naming in the planar tracker.
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commit e9392fd3b46f5668662935696e7d9afac3390ca4
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu Sep 20 02:10:33 2012 +0000
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Add smarter tolerance checking in the planar tracker.
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The planar tracker uses Ceres for the refinement stage. During
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refinement, Ceres iteratively updates the parameters with the
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latest best guess. If the change in the parameters falls below a
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threshold, Ceres will abort successfully ("converged").
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For the case of pure translation tracking, the parameters are
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exactly the two pixel shifts (dx, dy), and measuring the change in
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these parameters gives a meaningful termination criterion.
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However, for all the other parameterizations like affine, where
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the parameterization involves affine parameters that have no
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physical interpretation, Ceres is left with no way to terminate
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the solver early. With the existing code, often many iterations
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are run long after Ceres has found a solution sufficiently
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accurate for all tracking needs. No one needs tracking with
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a quadrillionth of a pixel accuracy; that time is wasted.
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This patch extends the existing iteration callback that is passed
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in to Ceres to check if the pattern has fallen out of the search
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window, to also check if the optimizer has made a tiny step. In
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particular, if the maximum shift of any patch corner between two
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successful optimizer steps is less than a threshold (currently
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0.005 pixels), the track is declared successful and tracking
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This leads to dramatic speed increases in some cases, with little
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to no loss in track quality. This is especially apparent when
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tracking patches with affine or perspective motion models. For
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example, on some tracking cases I tried, the iterations Ceres took
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commit 36729c19bf90cb767e9adb96ba7dd48a5ace2be1
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Author: Keir Mierle <mierle@gmail.com>
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Date: Wed Sep 19 22:25:02 2012 +0000
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Detect too-small planar tracking patches.
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The planar tracker did not detect very skinny patches which have
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effectively zero area and are untrackable. This adds detection and
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rejection of patterns with zero area. This fixes a crash found by
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during Mango production.
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commit 5cf2bae255a5a0f2e36ea0516670782cb88b589d
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 17:33:53 2012 +0600
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Real fix for previous commit from Keir. He's comment;
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Cleanup for when trackers fall out of the search window.
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Sergey originally left a TODO() here, but his fix is the correct
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one. I removed the TODO and fixed some comment issues.
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commit a11533918720e5b43dc1e95895db0eb36c8c06aa
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 17:31:16 2012 +0600
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Fix crash when tracking in planar motion model (and maybe some other)
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It was an Abort() caused by check for solver result not equal to USER_ABORT.
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In some cases solver returns USER_ABORT due to BoundaryCheckingCallback
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detects coordinates does not belong to image.
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Somehow this callback wasn't called in previous version of Ceres and
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in the same case marker was jumping. Now when the callback is called
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it seems we could simply return failure of tracking without aborting
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Probably this is in fact some issue somewhere else, would double
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check with Keir about this.
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commit 4be2306bcc664b259aaf7068b9f32ab60124a509
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 17:29:39 2012 +0600
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Resolved some compilation warnings (missed prototypes)
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In some cases it was missed include of header file, in some other
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cases symbol could be static.
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commit bef729ba5c12683d13584d2a728b8b6506b7ca90
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 17:27:17 2012 +0600
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Code cleanup: silence some -Wnarrowing warnings from C++11
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commit add1415d896818367087c784a3013dd8f1bb2095
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 17:25:18 2012 +0600
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Changes to SamplePlanarPatch to support mask input and
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added output for pattern center.
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commit daa354c0735b954b0cd7725626e9a3d67416d46b
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sat Jun 9 19:22:39 2012 +0000
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Change libmv's bilinear sampling to assume the same
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pixel conventions as Blender. This fixes the preview
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widget in Blender, and should make tracking slightly
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commit 99b6222873fbfbe248316316956720376a58f438
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sat Jun 9 18:58:51 2012 +0000
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Add new warp regularization scheme for planar tracking.
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This adds a new term to the tracking cost function that
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restricts how much the optimizer can warp the patch (as
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opposed to merely adjusting the translation). This should
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reduce the "jumpiness" that is sometimes seen when doing
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It is disabled in this commit; a subsequent commit will add
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controls to the tracking dialog for this.
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commit a1c5a70badd11cba0470700bad2eac2b2bd30c86
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sat Jun 9 06:55:21 2012 +0000
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Planar tracker polish.
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- Fixes the correlation checking code that was broken in the
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previous commit. The bug was a transpose error.
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- Fixes a memory leak of the warp functor, found by Sameer.
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- Various cleanups done at Sameer's suggestion.
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Thanks to Sameer Agarwal for a code review.
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commit 2cb784caa854a77cdd43620ab133f26b87ed0d83
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Author: Keir Mierle <mierle@gmail.com>
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Date: Fri Jun 8 17:42:17 2012 +0000
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Make planar tracking much faster.
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- This makes planar tracking around 2-3x or more faster than
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before, by rearranging how the sampling is done.
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Previously, the source patch was sampled repeatedly on
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every optimizer iteration; this was done for
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implementation speed, but was wasteful in computation.
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- This also contains some additions to Ceres to help
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deailing with mixed numeric / automatic differentation. In
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particular, there is now a "Chain::Rule" operator that
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facilitates calling a function that takes Jet arguments,
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yet does numeric derivatives internally. This is used to
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mix the numeric differentation of the images with the warp
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parameters, passed as jets by Ceres to the warp functor.
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There is also a new "JetOps" object for doing operations
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on types which may or may not be jets, such as scaling
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the derivative part only, or extracting the scalar part
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This patche is aimed at Ceres upstream.
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- A new function for sampling a patch is now part of the
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track_region.h API; this will get used to make the preview
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widget properly show what is getting tracked. Currently
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the preview widget does not handle perspective tracks.
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This patch introduces a bug such that the "Minimum
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Correlation" flag does not work; if it is enabled, tracking
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aborts immediately. The workaround for now is to disable the
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correlation checking, and examine your tracks carefully. A
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fix will get added shortly.
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commit 81d028f13738ebe2304287dfce90e91bc782e2cf
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Author: Keir Mierle <mierle@gmail.com>
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Date: Fri May 18 20:04:43 2012 +0000
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Remove an unnecessary template<> line in libmv. Convert debug logs to LG.
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commit 238aaba241ef99995d254aadc974db719da04b96
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Author: Keir Mierle <mierle@gmail.com>
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Date: Fri May 18 12:05:10 2012 +0000
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Support normalization in the tracking prepass
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The last tracker commit added normalized tracking. This makes
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tracking patches undergoing uniform illumination change easier.
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However, the prepass which computes a quick translation-only
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estimate of the warp did not take this into account. This commit
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This works reasonably well but in some examples the brute
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initialization fails. I suspect this is due to the warped template
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estimate in the current frame being too different from the
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original, so there are multiple peaks in the normalized-SAD
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correlation function.
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The solution is to use the previous frame for the brute
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initialization and the keyframe for refinement, but that requires
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architecture changes.
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commit 981ca4f6a679cd9ac3d086eae3cd946ce72ca8a5
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Author: Keir Mierle <mierle@gmail.com>
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Date: Fri May 18 02:12:47 2012 +0000
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Add light-normalized tracking to the planar tracker
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This commit adds the ability to normalize patterns by their
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average value while tracking, to make them invariant to global
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illumination changes.
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To see this in action, check out the "Lobby" scene from Hollywood
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VFX. If you track the markers that are shadowed by the actress,
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previously they would not track. With the scale adaption on, the
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tracker would shrink the area to compensate for the changed
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illumination, losing the track. With "Normalize" turned on, the
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patch is correctly tracked and scale is maintained.
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A remaining problem is that only the Ceres cost function is
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updated to handle the normalization. The brute translation search
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does not take this into account. Perhaps "Prepass" (see below)
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should get disabled if normalization is enabled until I fix the
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prepass to normalize as well.
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There are a few other changes:
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- Bail out of the sampling loop early if the mask is zero; this
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saves expensive samples of the image derivatives.
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- Fix a bug where the mask was ignored when sampling in the cost
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commit e9384b15fb2a6a5b81346d5758fa136f0911e945
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu May 17 23:53:32 2012 +0000
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Implement support for affine tracking in the planar tracker; cleanups.
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commit 021d41eed8b4ce6a4e37786ccd357ed5dc83a13f
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu May 17 21:26:06 2012 +0000
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For the planar tracker, initialize the warp from the four correspondences
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after brute force translation search.
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commit 003d1bf6145cfd30938b35f6e10d43708dbf916c
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 16:56:01 2012 +0600
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Correction to region tracker options initialization.
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Based on patch from Keir to Blender:
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https://svn.blender.org/svnroot/bf-blender/branches/soc-2011-tomato@46743
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commit 6af47b218cfdf5219f0ebb3cb95459817cf9abf2
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Author: Keir Mierle <mierle@gmail.com>
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Date: Thu May 17 02:31:52 2012 +0000
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Add new planar tracker features and use the new planar API
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This commit removes the use of the legacy RegionTracker API from
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Blender, and replaces it with the new TrackRegion API. This also
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adds several features to the planar tracker in libmv:
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- Do a brute-force initialization of tracking similar to "Hybrid"
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mode in the stable release, but using all floats. This is slower
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but more accurate. It is still necessary to evaluate if the
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performance loss is worth it. In particular, this change is
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necessary to support high bit depth imagery.
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- Add support for masks over the search window. This is a step
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towards supporting user-defined tracker masks. The tracker masks
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will make it easy for users to make a mask for e.g. a ball.
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- Add Pearson product moment correlation coefficient checking (aka
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"Correlation" in the UI. This causes tracking failure if the
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tracked patch is not linearly related to the template.
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- Add support for warping a few points in addition to the supplied
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points. This is useful because the tracking code deliberately
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does not expose the underlying warp representation. Instead,
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warps are specified in an aparametric way via the correspondences.
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- Remove the "num_samples_xy" concept and replace it with
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automatic determination of the number of samples. This makes the
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API easier for users.
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- Fix various bugs in the parameterizations.
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There remains a bug with subpixel precision tracking when in
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"keyframe" mode; this will get fixed shortly.
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commit 16a46db104468cec80bd31ca9d5f8bffbe3e003e
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Author: Keir Mierle <mierle@gmail.com>
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Date: Mon May 14 12:15:38 2012 +0000
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"Efficient Second-order Minimization" for the planar tracker
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This implements the "Efficient Second-order Minimization"
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scheme, as supported by the existing translation tracker.
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This increases the amount of per-iteration work, but
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decreases the number of iterations required to converge and
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also increases the size of the basin of attraction for the
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commit 23243b1b1f3e1ab3ef862b47bca06ee876ac2cf4
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Author: Keir Mierle <mierle@gmail.com>
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Date: Sun May 13 23:08:56 2012 +0000
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Add a planar tracking implementation to libmv
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This adds a new planar tracking implementation to libmv. The
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tracker is based on Ceres[1], the new nonlinear minimizer that
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myself and Sameer released from Google as open source. Since
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the motion model is more involved, the interface is
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different than the RegionTracker interface used previously
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The ESM tracker, also known as the KLT tracker in the UI, is
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temporarily changed to use the new Ceres-based planar
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tracker in translation-only mode. Currently it is a bit
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slower than ESM and also doesn't have all the bells and
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whistles implemented. Those will come soon. Longer term,
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both trackers will remain since Ceres is unlikely to be as
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fast as ESM for pure translation solving, due to its
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The next step is to implement a new tracking UI. The current
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UI assumes a translational motion model; the new one must
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support arbitrary perspective transforms of the pattern
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[1] http://code.google.com/p/ceres-solver
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commit 52be92b53eb4decb1a316690b162196f227cc441
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Dec 6 16:06:08 2012 +0600
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Initial Ceres integration
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Currently only put sources to src/third_party/ceres and made sure they're
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not giving compilation issues.
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Used Ceres upstream version 1.3.0.
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Needed to make some modifications to it's CMakeLists.txt also to glog and
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fglags. They're described in README.libmv of this libraries.
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- Added -fPIC to glog/gflags, so shared ceres library could be linked
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statically against this libraries.
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- Tweaked Ceres's build rules to use needed libraries from libmv's
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commit b13f9d13122e091cb85855c2094386ccdef6e5a4
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Dec 5 19:05:34 2012 +0600
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Update Eigen to version 3.1.2
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Mainly because of lots of warnings generating by gcc-4.7 which are
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resolved in newer eigen version.
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commit 1f0dd94e8e37d3fe2df89282ec16a6a685fdde0b
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri May 25 16:36:44 2012 +0600
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- Added avutil to qt-tracker linking when building with FFmpeg support.
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On some platforms it seems to be required
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- Synchronized QT Creator project for qt-tracker with changes in sources,
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so no it might be compiled from QT Creator.
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commit b813dbe3f46bbbc7e73ac791d4665622e4fc7ba5
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed May 9 19:01:10 2012 +0600
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Modal solver: Detect rigid transformation between initial frame and current
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instead of detecting it between two neighbour frames.
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This prevents accumulation of error and seems to be working better in footages i've tested.
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commit 9254621c76daaf239ec1f535e197ca792eea97b6
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed May 9 18:57:00 2012 +0600
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Backport changes made by Keir in Blender:
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- Enhance logging in libmv's trackers.
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- Cleanups in brute_region_tracker.cc.
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commit d9c56b9d3c63f886d83129ca0ebed1e76d9c93d7
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Apr 27 16:20:41 2012 +0600
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Fixes for MinGW64 support by Caleb Joseph with slight modifications by Antony Riakiotakis
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- Functions snprintf and sincos shouldn't be redefined for MinGW64
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- Type pid_t shouldn't be re-defined for MinGW64
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commit e1902b6938676011607ac99986b8b140bdbf090e
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Apr 27 16:04:19 2012 +0600
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Fixes for Qt calibration tool
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- Passing directory with images via command line argument now isn't
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required -- it there's no such directory specified standard open
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dialog might be used for this (before application used to abort
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due to accessing to non-existing list element).
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- Conversion of source images to grayscale now happens correct.
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It was needed to build grayscale palette for 8bit indexed buffer.
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commit 05f1a0a78ad8ff6646d1e8da97e6f7575b891536
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat Apr 14 17:21:29 2012 +0600
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Make QtTracker compilable again porting it to recent API change and code cleanup:
531
- It was using SAD tracker with own API, now it's using standard RegionTracker API
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which should make it easier to switch between different trackers.
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- Restored LaplaceFilter from old SAD module which convolves images with the
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discrete laplacian operator.
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commit a44312a7beb2963b8e3bf8015c516d2eff40cc3d
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Apr 12 13:56:02 2012 +0600
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Added solver for modal camera motion, currently supports only tripod solving
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This solver is intended to deal with such camera motions as tripod and panning,
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where it's impossible to reconstruct exact position of markers in 3d view.
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It projects markers onto sphere and uses rigid registration of rotation to
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find rotation angles which makes bundles from previous and current frame be
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as closest as it's possible.
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commit fa3842e472e3b9c789e47bf6d8f592aa40a84f16
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
551
Date: Thu Apr 12 12:32:48 2012 +0600
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implementation of some basic algorithms for point cloud orientation:
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- Implementation of rigid registration algorithm which searches transformation
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form one point cloud to another assuming that points in this clouds are
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already paired (points with the same index in different clouds belongs to
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the same pair) which minimizes average distance between points in pairs.
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Algorithm uses Levenberg-Marquardt solver to find such transformation.
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Supports registration of rotation-scale-transform (which is probably most
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common usage) and rotation only (which might be useful for basic modal
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- Implementation of Iterative-Point-Clouds algorithm which searches
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transformation from one arbitrary point cloud to another making
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points as closest to each other as possible.
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This algorithm doesn't require points be initially paired, but for
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good result clouds should have rough initial orientation. If they're
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arbitrary oriented from the very beginning, algorithm might fail
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producing good resold.
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Iteration is based on building pairs of closest to each other points
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and registering rigid transformation between them which incrementally
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constructs final result.
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TODO: building pairs might be speedup a lot using data structures like
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AABB trees, K-D trees or so.
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commit 9618d9a1d48bb3c28da605d9027f57a74f462785
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Apr 11 14:17:14 2012 +0600
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Added configuration file for glog to compile smooth on Hurd platform.
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Patch by Pino Toscano <pino@debian.org>, thanks!
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commit 63b2bd20237c8599fa73ce42556e4fb99b9f7cca
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Mar 22 17:03:34 2012 +0600
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Trackers refactoring:
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- Deduplicate pattern sampling used in esm and lmicklt trackers
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and move SamplePattern to image/sample.h
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- Move computation of Pearson product-moment correlation into
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own function in new file image/correlation.h so all trackers
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can use it to check final correlation.
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- Remove SAD tracker. It's almost the same as brute tracker,
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with only two differences:
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1. It does brute search of affine transformation which in some cases
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helps to track rotating features
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2. It didn't use common tracker api which probably gave some speed
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advantage, but lead to a real headache to use it together with
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other trackers leading to duplicated code in 3d-party software.
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commit 9fe49c32e990f28c83f2bbb1d18057aed8879af7
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Mar 12 09:36:15 2012 +0600
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Code cleanup: convert line endings to Unix style (native on my platform) so it
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wouldn't confuse other versioning systems used for project where libmv is bundled to,
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Also change mode to +x for glog's windows-related script.
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commit fe74ae2b53769389b0ed9d7e604c8e60be81077d
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Author: Sergey I. Sharybin <g.ulairi@gmail.com>
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Date: Sun Mar 11 20:34:15 2012 +0600
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Replace "third_party/glog/src/glog/logging.h" with <glog/logging.h>
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It was needed because of how build systems is setup in Blender but think
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this will be helpful change for other applications too because it makes
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it's easier to move libraries around and even use libraries installed
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on the operation system.
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commit 37fc726701479f2d321d6af878fa93f3176278d5
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Author: Sergey I. Sharybin <g.ulairi@gmail.com>
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Date: Sun Mar 11 19:27:41 2012 +0600
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Upgrade gflags and glog libraries - stage 2 (final)
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Changes to upstream code which are needed to make libmv compile smooth on all platforms
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* Replace <gflags/gflags.h> with "third_party/gflags/gflags/gflags.h" which is easier
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to setup things in libmv and also helps with setting up building libmv into
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external applications.
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* Replace "glog/logging.h" and "glog/logging.h" with <glog/logging.h> and <glog/logging.h>
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which is needed on Windows platform because otherwise files like logging.cc will be using
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relative path which points to headers used by linux instead of headers need to be used
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* Replace _asm int 3 with __debugbreak(). Such assembler code is obsolete and doesn't work
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with 64bit versions of MSVC compilers.
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* Do not use stacktrace for MinGW and FreeBSD because it leads into issues accessing
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some specific data on this platforms.
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* Define HAVE_LIB_GFLAGS for Windows builds.
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* Do not define __declspec(dllimport) for MinGW platforms.
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* Setup proper includes and datatypes for int32, uint32, int64 and uint64 for MinGW
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* Do not define va_copy for MinGW platforms (it's already defined there).
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* Patch localtime_r to be working fine with MinGW, disable strerror_r for MinGW because
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of lack of needed functions.
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commit 8ed07abfa49d1e0511752021c972e0715e5a1383
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Author: Sergey I. Sharybin <g.ulairi@gmail.com>
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Date: Sun Mar 11 19:06:33 2012 +0600
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Upgrade gflags and glog libraries - stage 1
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This commit copies sources from latest original release of gflags and glog
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over currently bundled versions of this libraries without any modifications.
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This revision can't b compiled, all needed changes to make new libraries working
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fine will be done with next commit to make it clear which changes were necessary
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for easier bundling further newer version and extract patches and put them to
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gflags/glog upstream repo.
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Such upgrade of libraries is needed to make it able to compile libmv
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with clang compilers. Currently used versions:
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- gflags is version 2.0
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- glog is version 0.3.2
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commit 75b9af405964ff2c7d3f0a44500e27e63b37c91b
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 23:29:11 2012 +0600
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_USE_MATH_DEFINES is needed to define constants like M_E when building with msvc
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Occasionally was removed, but now added comment about this so hopefully it
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wouldn't removed again.
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commit f85b1232a9b929f69443b5eed6e7a39908cd6551
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 21:34:40 2012 +0600
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Picky edit: corrected mode for ssba readme file.
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commit f8c2b223f01551fd81a85f6d5221646165147035
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 21:32:05 2012 +0600
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Picky edits: corrected EOL
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commit 3f2a4205ec5adadcdfa306b161c705c868a7be93
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 21:30:07 2012 +0600
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Fixed incorrect access to ucontext on linux. Caused by incorrect merge conflict resolve.
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commit d360a21a5aa125cf9e83dd26b302508688ff7007
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 20:54:13 2012 +0600
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More Windows -> Unix EOL conversions
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commit 18aeda58bec9556140ba617724e31ada6f5b67c0
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 20:15:42 2012 +0600
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Looks like this debug output was removed accidentally.
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commit 189dc0cacdee3c1eab68c43263ecb038ed244c09
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 20:11:56 2012 +0600
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Made V3D verbose again by default
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commit 8b3422d3eec5e450d76243886bf07fb0a3e83a81
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Feb 17 20:08:01 2012 +0600
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SAD tracker now can deal with pattern size any size,
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Very quick implementation came from Blender before Hybrid tracker was added.
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Better to be replaced with brute tracker.
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commit 2cd653e2952379da7daf56edcd9e71b0aa929f90
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat Jun 1 16:20:35 2013 +0600
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Pass vectors by a reference
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Saves couple of time which used to waste on copying objects,
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also solves win32 compilation errors caused by alignment.
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commit f61b8198b9bddd8d2fa53feae7924aa23df48cbd
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu May 30 18:00:03 2013 +0600
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- Made some arguments passing to detector const.
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- Remove unneeded include from track_region header.
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commit 61ac890908a397860cabc60207500039876532cc
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon May 13 04:44:14 2013 +0600
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Pass ApplyRadialDistortionCameraIntrinsics input arguments by reference
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This shall save some CPU time on calling copy constructor and give
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some boost of bundle adjuster (where jet could take some time to
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commit 4d005ff0771e0e28159be25f8da69d983641384f
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon May 13 04:22:05 2013 +0600
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Minor code style cleanup.
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commit f003b9e3031db4592c2d91b1ea2538c73b7e767d
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sun May 12 22:34:54 2013 +0600
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Cleanup in simple pipeline's bundler
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- Better match Google's code style conventions.
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- Move evaluation part into own function, makes
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bundling itself easier to follow.
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- Made evaluation an optional parameter.
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- Removed note about unsupported camera intrinsics
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refining flags. Technically, all combinations
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commit f0e68f69e5c5f0fd82334246d382e59f1eb20164
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sun May 12 22:19:31 2013 +0600
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Remove check for zero focal length in BA cost functor
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This check is actually redundant, because empty intrinsics
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will have focal length of 1.0, which means original comment
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about BundleIntrinsics was not truth.
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It is possible that external user will send focal length of
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zero to be refined, but blender prevents this from happening.
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commit 7ed5e4da65d2c0df63a08b1e1f4b4de1855f1bf0
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat May 11 20:33:54 2013 +0600
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Fix compilation error with msvc2012
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Using change from glog's upstream for this.
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commit 7e162266f96abc25d80e2352cd77f21ed93593b7
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat May 11 19:50:57 2013 +0600
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Style cleanup, mainly pointed by Sameer in Ceres's codereview
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commit 42da053c6410b4f3fb13798c7e9c5f4a861b6825
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri May 10 18:30:40 2013 +0600
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Keyframe selection improvements
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Added additional criteria, which ignores
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keyframe pair if success intersection factor
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is lower than current candidate pair factor.
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This solves issue with keyframe pair at which
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most of the tracks are intersecting behind the
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camera is accepted (because variance in this
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case is really small),
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Also tweaked generalized inverse function,
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which now doesn't scale epsilon by maximal
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matrix element. This gave issues at really bad
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candidates with unstable covariance. In this
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case almost all eigen values getting zeroed
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on inverse leading to small expected error.
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commit f3eb090f7240f86799099fe86ce9386eb2bd3007
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri May 10 17:59:40 2013 +0600
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Keyframe selection code cleanup
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- Updated comments in code.
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- Removed currently unused functions.
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Actually, they'd better be moved to some generic
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logging module, but we don't have it now so was
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lazy to create one now. Could happen later using
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code from git history
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- Renamed function to match better to what's going
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commit b917b48bd877eedd17dec907cacf0b27a36e717d
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri May 10 17:44:49 2013 +0600
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Optimization for reconstruction variance
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Achieved by replacing SVD-based pseudo-inverse with
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an eigen solver pseudo inverse.
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New function works in the same way: it decomposes
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matrix to V*D*V^-1, then inverts diagonal of D
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and composes matrix back.
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The same way is used to deal with gauges - last
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7 eigen values are getting zeroed.
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In own tests gives approx 2x boost, without
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visible affect on selected keyframe quality.
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commit 041b4b54fff66311347a307a5922c2516c76ee44
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Mar 14 14:53:42 2013 +0600
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Initial commit of reconstruction variance criteria
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which is an addition for GRIC-based keyframe selection.
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Uses paper Keyframe Selection for Camera Motion and Structure
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Estimation from Multiple Views,
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ftp://ftp.tnt.uni-hannover.de/pub/papers/2004/ECCV2004-TTHBAW.pdf
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Currently implemented camera positions reconstructions,
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bundle positions estimation and bundle adjustment step.
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Covariance matrix is estimating using generalized inverse
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with 7 (by the number of gauge freedoms) zeroed eigen values
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- Added utility function FundamentalToEssential to extract
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E from F matrix, used by both final reconstruction pipeline
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and reconstruction variance code.
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- Refactored bundler a bit, so now it's possible to return
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different evaluation data, such as number of cameras and
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points being minimized and also jacobian.
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Jacobian currently contains only camera and points columns,
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no intrinsics there yet. It is also currently converting to
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an Eigen dense matrix. A bit weak, but speed is nice for
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Columns in jacobian are ordered in the following way:
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first columns are cameras (3 cols for rotation and 3 cols
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for translation), then goes 3D point columns.
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- Switched F and H refining to normalized space. Apparently,
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refining F in pixel space squeezes it a lot making it wrong.
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- EuclideanIntersect will not add point to reconstruction if
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it happened to be behind the camera.
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- Cleaned style a bit.
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commit 94c4654f1145f86779bd0a7e8cda1fd2c751d27d
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri May 10 13:27:21 2013 +0600
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Left extra debugging print in reconstruction scale by accident.
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commit 3886b488575ec5e79debce7b9f2e9824f5297c0f
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri May 10 12:23:03 2013 +0600
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Add check for points behind camera in euclidan BA cost functor
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In cases keyframes are no so good, algebraic two frames construction
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could produce result, for which more aggressive Ceres-based BA code
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will fall to a solution for which points goes behind the camera,
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which is not so nice.
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Seems in newer Ceres returning false from cost functor wouldn't
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abort solution, but will restrict solver from moving points behind
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Works fine in own tests, but requires more tests.
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commit a5699d7dbe126024673f51aaa570f9f244f8da2f
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Apr 24 22:06:38 2013 +0600
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Forgot to add reconstruction scale to CMakeLists
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commit 2b7d2b44e6446bbcc23038f5dbb824feca888069
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Apr 24 19:40:39 2013 +0600
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Reconstructed scene scale ambiguity improvement
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Added a function EuclideanScaleToUnity() which is
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aimed to solve scale ambiguity by scaling solution
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in a way cameras centers variance in unity.
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Currently only available for euclidean pipeline,
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projective one is not finished anyway.
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commit ed1f650576dc6f5b648a026a2861c54827b0f5c9
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Apr 23 01:41:29 2013 +0600
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Use epsilon in modal solver test
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Default epsilon for isApprox was too small,
226
leading to some false test failures.
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commit c44679a9a0fafdde6a0a22e7e5c8496fc9c93cd0
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Apr 23 01:35:56 2013 +0600
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Update Ceres to current HEAD
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Brings optimization for DENSE_NORMAL_CHOLESKY and
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also fixes threading issues with BLAS.
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commit 03cbc88ce7f51aa26ba503acea2e984bcb78873c
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Apr 15 05:35:33 2013 +0600
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Fix for bundle adjusting with motion restricted
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Was a bug introduced in previous commit, which
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was trying to set parameterization for non-existing
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camera->t parameter block.
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Replaced with subset parameterization.
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Also added basic synthetic unit test for modal solver.
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commit c78a68f980e778d40ce836fa1d7471cb7264d4a0
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Apr 8 23:33:20 2013 +0600
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Bundle adjustment improvements
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- Get rid of rotation matrix parameterization,
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use angle-axis instead.
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Also Joined rotation and translation into
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a single parameter block.
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This made minimization go significantly faster,
264
like 1.3x times in average.
266
- Fix first camera when bundling. This is to
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address orientation ambiguity.
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Reconstruction result could still vary in
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size, but that's another issue to be addressed
275
Split EuclideanBundleCommonIntrinsics into
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smaller functions, so it's now a bit easier
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commit 28c7566629c2cf5b03a787c9509856e87472eb2f
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Apr 8 23:31:57 2013 +0600
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Update Ceres to current HEAD
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Brings up some noticeable speed improvements. In particular
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the automatic differentiation and bundle adjustment solvers.
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commit efde9faa21e70b031d3cbcb2dcdcd38e597bf56e
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Apr 8 02:21:26 2013 +0600
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Corrected path to gflags
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Currently tools/track.cc is not used, but let's
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keep things a bit more up-to-date :)
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commit f8b5ea196fb00ab07d577e9738a60cdd1de16509
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Apr 8 02:17:16 2013 +0600
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Re-enable tests for multiview and image
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For as long code is in repo and used by some tools
304
better to have it covered by tests.
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Some of them are failing tho, but that's completely
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different story to be addressed later.
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commit d2a7ee60a5845738f76b88bfc373eefc2cc8501a
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Mon Apr 8 02:10:07 2013 +0600
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Do not modify cache's CMAKE_CXX_FLAGS_RELEASE when configuring Ceres
315
Otherwise you'll have infinite appending of Ceres-specific flags
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on every saving of any CmakeLists.txt.
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commit 45edb507bf46194dd55b7fc46a7d90ee3853834d
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sun Apr 7 21:53:23 2013 +0600
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Fixed compilation with BUILD_TOOLS enabled
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This commit mainly reverts parts of following commits:
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0eebc21db831211738acc938566bbc29d68d45db
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d8109b7a4fede1660e0dbd73735f1a9e3fd79eec
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e59595806c045916ab4ef15ef7047c1a728b2da9
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2d6cd58ee1cd7c5073980f358c71b2898ad16b4c
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They declared lots of stuff deprecated, but in
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fact it's not deprecated just a bit different
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usage pipeline. Anyway, deprecation shall not
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happen spontaneously as a part of other changes.
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And for sure shall not break anything.
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commit 7a9c83d3ccaa2f0015f88b9156d7662c46244b4a
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
338
Date: Sat Apr 6 20:49:05 2013 +0600
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Revert "Change libmv's bilinear sampling to assume the same"
342
Revert changes to bilinear sampler which were originally
343
aimed to match blender's pixel center (where integer coord
344
is a left-bottom corner, x.5 coords are centers.
346
The reason of revert is changing this assumption in only
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sampler didn't work well and lead to wrong results of
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BlurredImageAndDerivativesChannels for example.
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Discovered when was doing unit-tests for brute region tracker.
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This reverts commit daa354c0735b954b0cd7725626e9a3d67416d46b.
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commit 15f3bb00340933ce753a1a55e9cde9383352e259
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat Apr 6 18:37:37 2013 +0600
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Added basic test for brute region tracker
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It is failing at this moment and this is caused because
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of how SampleLinear works - seems it's assumption about
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pixel center is not correct for internal sampling.
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commit 1146602972c07e99a9e4ab37d35ac83aec490e60
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat Apr 6 16:54:08 2013 +0600
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Tweak to KLT region tracker test
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KLT is usually used to track relatively small
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motions, and in this case motion almost equals
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to half window size. This confuses math and
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leads to not so much expected result.
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Further, not actually sure this is nice idea
376
to use KLT in such synthetic case.
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commit 1e22cbcac480863b6b5abc5c85f23dc70748933a
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat Apr 6 16:40:59 2013 +0600
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Pyramid tracker unit test fix
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Issue was caused by trackers modifying guessed
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point location even in case of failure. So made
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id so both level 0 and level 3 of pyramid are
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starting from the same initial guessed location.
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Modifying locations in case tracker returns false
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is not actually a bug - someone could still want
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to use that location. False in this case means
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more like "returned location is not so much
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commit 3ad5e0efa071f202ee7c2034d70dd97aa62b13aa
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
397
Date: Sat Apr 6 00:38:40 2013 +0600
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Intersect unit test fix
401
EuclideanIntersect is not aware of camera calibration
402
matrix yet and always assumes it to be an identity.
404
So using non-identity matrix to construct sample case
405
leads to wrong projection results.
407
For now made it so test case uses identity matrix for
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Also fixed variable shadowing which lead to wrong
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markers positions (were either zero or undefined).
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commit 3a153c2b65f38653a36c36975018f68d42d60670
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Sat Apr 6 00:12:12 2013 +0600
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Camera intrinsics unit tests fixes
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- Existing test ApplyIsInvertibleSimple was not
420
doing right thing - distortion model used there
423
Tweaked parameters in a way model is invertible now.
425
- Added some own tests which tests;
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* Principal point always maps from pixel space to
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zero normalized position.
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* Some basic tests to check whether individual
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apply/invert works correct.
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commit e3b2bccba6145290738a6677c14f7369ec7a38cd
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Apr 4 02:59:58 2013 +0600
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Suppress strict compiler warnings in glags/glog libraries
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commit 5fca459adcf0a3419fa9cd8d983dc2c952d02647
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Thu Apr 4 01:20:18 2013 +0600
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Lint cleanup, mostly white space and line width.
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Also moved own includes to the top of files.
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Should be no functional changes :)
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commit 9a9dd458a622928b91dbd3c79900577923283838
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Mar 29 00:20:29 2013 +0600
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Fix for TransformTracks in uncalibrated pipeline
455
Transformation matrix was completely ignored by
456
TransformTracks() and final marker coordinate
457
exactly matched it's source coordinates.
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Seems to be just a typo in vector usage: need to
460
use "b" (which is transformed one) instead of "a"
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when converting projective coordinate to 2D space.
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commit d35766cc9901609e32f4d80faba715695bea3c40
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Mar 29 00:19:11 2013 +0600
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Revert part of e2eb58c4230f94ef0c72fb4005e5434088d52e80
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That commit included one change which shall have been
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go as separate commit with more detailed description.
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commit e8d71b4e96fd78eb60773b6557d66da672e65753
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Mar 27 20:37:05 2013 +0600
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Silenced more warnings
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- Added includes of own header to fast implementation files.
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- Camera intrinsics wouldn't complain about unknown pragma when
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building without OpenMP support.
483
TODO: Make it a CMake option to build libmv with OpenMP support.
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Currently multi-threaded intrinsics only available when
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using custom CMake rules for bundled libmv version
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(as it's done in Blender).
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commit ad442812654f270dc088394410fda1b81b8dc450
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Mar 27 20:18:51 2013 +0600
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Multithreaded camera intrinsics
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Implemented multithreaded buffer (un)distortion
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for camera intrinsics using OpenMP.
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By default, (un)distortion is single-threaded,
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but it is possible to as CameraIntrinsics to
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use more threads by calling SetThreads method.
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commit c88b4881096174a16a9f9e6fc2c9dcad3e255b25
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Mar 27 18:45:09 2013 +0600
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Movie functions implementation from panography header
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into own CC implementation file.
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Before this all panography functions were declared as
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static, which is not so much useful from re-useability
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commit 2d2faf9104bc035722cff6775e1b8e7c93143aba
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Mar 27 18:37:36 2013 +0600
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Build shared Ceres library only if BUILD_SHARED_LIBS is enabled
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commit daa3ddd3260ccaf2bf9c72eadb89213d91e549ec
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Mar 27 18:21:52 2013 +0600
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Update Ceres to upstream version 1.5.0
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commit cf5dc678878345ea3f221ce50cb2b9e539c2ab38
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Wed Mar 27 15:06:24 2013 +0600
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Code cleanup: removed more deprecated FFmpeg API usage
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This time in qt-tracker application.
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commit e2eb58c4230f94ef0c72fb4005e5434088d52e80
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 26 17:19:51 2013 +0600
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Code cleanup: silent unused variables warnings
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commit af89bb24667e39b7e655173ea807fdcfbeef4422
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 26 16:54:14 2013 +0600
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Code cleanup: no need to declare empty body for ProgressUpdateCallback:invoke
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Make force this method to be overridden by derivative classes.
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Also removed currently unneeded callbacks.cc.
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commit 0441d4ee06fad0219256a5704f931eec916a3868
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 26 16:37:27 2013 +0600
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Code cleanup: silent type narrowing in qt-tracker
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commit cd4b61c976448d0fdedefb3ed4b21d70e078f94b
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 26 16:26:39 2013 +0600
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Changes to unit testing
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- Move ceres test binaries to ${LIBMV_TESTS_OUTPUT_DIR}/ceres,
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so they don't mess with libmv's application binaries and
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- Removed ceres_ prefix from ceres unit tests, only use this
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prefix for targets (targets need to be unique name).
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- Added unit tests data for ceres, otherwise system_test fails.
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- Restored "test" makefile target.
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commit cf704ada08acc8b26167e7bfb3e1e88fd278de23
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 26 15:01:15 2013 +0600
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Code cleanup: use rw-rw-r-- mode for source files
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commit 64b31e3e43acb52aaf6f591b9d1c2449bf6ef3bd
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 26 14:57:46 2013 +0600
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Code cleanup: don't use deprecated FFmpeg API functions
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commit 2a3676499548ad5dba5a5c5eadf3bb71e640b612
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 5 17:40:52 2013 +0600
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Switch from DENSE_NORMAL_CHOLESKY to DENSE_QR
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DENSE_QR is better behaved numerically and after recent
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changes from Sameer there's no big difference in speed.
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commit bcb920df02133da5b7e55fbc74edb9222004eecc
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Tue Mar 5 17:15:43 2013 +0600
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Update Ceres to 1.5RC3
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It brings optimization of DENSE_QR and DENSE_SCHUR solvers.
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commit 473996468a4e67e7c860169181a4ff31ce9b8c80
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Author: Sergey Sharybin <sergey.vfx@gmail.com>
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Date: Fri Mar 1 17:44:54 2013 +0600
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Fixed incorrect order of arguments passing
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to EXPECT_EQ in keyframe selection tests.
added
removed
extern/libmv/ChangeLog
