diff options
| author | Sergey Sharybin <sergey.vfx@gmail.com> | 2012-02-17 19:39:32 +0400 |
|---|---|---|
| committer | Sergey Sharybin <sergey.vfx@gmail.com> | 2012-02-17 19:39:32 +0400 |
| commit | 17f6f7e2af6d725522176d9c665cd220ede3e6ca (patch) | |
| tree | 2807108988a53be9adb200694d001743fc49ab2d /extern | |
| parent | b7f3887a3a8a66aeba3a16ae5d76b934af3ccc7c (diff) | |
Camera tracking: switch to own repo of libmv where most of patches are applied
and which includes latest changes from Keir's branch.
Hopefully it'll make backporting of changes back to main libmv repo easier.
Diffstat (limited to 'extern')
22 files changed, 494 insertions, 1329 deletions
diff --git a/extern/libmv/CMakeLists.txt b/extern/libmv/CMakeLists.txt index 075ff15a798..73c2baa0207 100644 --- a/extern/libmv/CMakeLists.txt +++ b/extern/libmv/CMakeLists.txt @@ -41,107 +41,107 @@ set(INC_SYS set(SRC libmv-capi.cpp + libmv/image/array_nd.cc + libmv/image/convolve.cc + libmv/multiview/conditioning.cc + libmv/multiview/euclidean_resection.cc + libmv/multiview/fundamental.cc + libmv/multiview/projection.cc + libmv/multiview/triangulation.cc libmv/numeric/numeric.cc libmv/numeric/poly.cc + libmv/simple_pipeline/bundle.cc libmv/simple_pipeline/callbacks.cc - libmv/simple_pipeline/reconstruction.cc - libmv/simple_pipeline/resect.cc - libmv/simple_pipeline/intersect.cc - libmv/simple_pipeline/initialize_reconstruction.cc libmv/simple_pipeline/camera_intrinsics.cc - libmv/simple_pipeline/pipeline.cc libmv/simple_pipeline/detect.cc + libmv/simple_pipeline/initialize_reconstruction.cc + libmv/simple_pipeline/intersect.cc + libmv/simple_pipeline/pipeline.cc + libmv/simple_pipeline/reconstruction.cc + libmv/simple_pipeline/resect.cc libmv/simple_pipeline/tracks.cc - libmv/simple_pipeline/bundle.cc - libmv/image/convolve.cc - libmv/image/array_nd.cc - libmv/tracking/pyramid_region_tracker.cc - libmv/tracking/sad.cc libmv/tracking/brute_region_tracker.cc - libmv/tracking/hybrid_region_tracker.cc libmv/tracking/esm_region_tracker.cc - libmv/tracking/trklt_region_tracker.cc + libmv/tracking/hybrid_region_tracker.cc libmv/tracking/klt_region_tracker.cc libmv/tracking/lmicklt_region_tracker.cc + libmv/tracking/pyramid_region_tracker.cc libmv/tracking/retrack_region_tracker.cc - libmv/multiview/projection.cc - libmv/multiview/conditioning.cc - libmv/multiview/fundamental.cc - libmv/multiview/euclidean_resection.cc - libmv/multiview/triangulation.cc + libmv/tracking/sad.cc + libmv/tracking/trklt_region_tracker.cc - third_party/ssba/Geometry/v3d_metricbundle.cpp - third_party/ssba/Math/v3d_optimization.cpp - third_party/gflags/gflags.cc - third_party/gflags/gflags_reporting.cc - third_party/gflags/gflags_completions.cc - third_party/fast/fast_9.c third_party/fast/fast_10.c third_party/fast/fast_11.c third_party/fast/fast_12.c + third_party/fast/fast_9.c third_party/fast/fast.c third_party/fast/nonmax.c + third_party/gflags/gflags.cc + third_party/gflags/gflags_completions.cc + third_party/gflags/gflags_reporting.cc third_party/ldl/Source/ldl.c + third_party/ssba/Geometry/v3d_metricbundle.cpp + third_party/ssba/Math/v3d_optimization.cpp libmv-capi.h + libmv/base/id_generator.h + libmv/base/scoped_ptr.h + libmv/base/vector.h + libmv/base/vector_utils.h + libmv/image/array_nd.h + libmv/image/convolve.h + libmv/image/image.h + libmv/image/sample.h + libmv/image/tuple.h libmv/logging/logging.h + libmv/multiview/conditioning.h + libmv/multiview/euclidean_resection.h + libmv/multiview/fundamental.h + libmv/multiview/nviewtriangulation.h + libmv/multiview/projection.h + libmv/multiview/resection.h + libmv/multiview/triangulation.h libmv/numeric/dogleg.h - libmv/numeric/levenberg_marquardt.h - libmv/numeric/poly.h libmv/numeric/function_derivative.h + libmv/numeric/levenberg_marquardt.h libmv/numeric/numeric.h + libmv/numeric/poly.h + libmv/simple_pipeline/bundle.h libmv/simple_pipeline/callbacks.h - libmv/simple_pipeline/resect.h - libmv/simple_pipeline/reconstruction.h libmv/simple_pipeline/camera_intrinsics.h - libmv/simple_pipeline/tracks.h libmv/simple_pipeline/detect.h - libmv/simple_pipeline/pipeline.h - libmv/simple_pipeline/intersect.h - libmv/simple_pipeline/bundle.h libmv/simple_pipeline/initialize_reconstruction.h - libmv/image/convolve.h - libmv/image/tuple.h - libmv/image/array_nd.h - libmv/image/sample.h - libmv/image/image.h - libmv/tracking/region_tracker.h + libmv/simple_pipeline/intersect.h + libmv/simple_pipeline/pipeline.h + libmv/simple_pipeline/reconstruction.h + libmv/simple_pipeline/resect.h + libmv/simple_pipeline/tracks.h libmv/tracking/brute_region_tracker.h + libmv/tracking/esm_region_tracker.h libmv/tracking/hybrid_region_tracker.h + libmv/tracking/klt_region_tracker.h + libmv/tracking/lmicklt_region_tracker.h + libmv/tracking/pyramid_region_tracker.h + libmv/tracking/region_tracker.h libmv/tracking/retrack_region_tracker.h libmv/tracking/sad.h - libmv/tracking/pyramid_region_tracker.h - libmv/tracking/esm_region_tracker.h libmv/tracking/trklt_region_tracker.h - libmv/tracking/klt_region_tracker.h - libmv/tracking/lmicklt_region_tracker.h - libmv/base/id_generator.h - libmv/base/vector.h - libmv/base/scoped_ptr.h - libmv/base/vector_utils.h - libmv/multiview/nviewtriangulation.h - libmv/multiview/resection.h - libmv/multiview/euclidean_resection.h - libmv/multiview/triangulation.h - libmv/multiview/projection.h - libmv/multiview/fundamental.h - libmv/multiview/conditioning.h - third_party/ssba/Geometry/v3d_metricbundle.h - third_party/ssba/Geometry/v3d_cameramatrix.h - third_party/ssba/Geometry/v3d_distortion.h - third_party/ssba/Math/v3d_linear_utils.h - third_party/ssba/Math/v3d_optimization.h - third_party/ssba/Math/v3d_mathutilities.h - third_party/ssba/Math/v3d_linear.h - third_party/gflags/gflags_completions.h - third_party/gflags/mutex.h + third_party/fast/fast.h third_party/gflags/config.h + third_party/gflags/gflags_completions.h third_party/gflags/gflags.h - third_party/fast/fast.h + third_party/gflags/mutex.h third_party/ldl/Include/ldl.h - third_party/msinttypes/stdint.h third_party/msinttypes/inttypes.h + third_party/msinttypes/stdint.h + third_party/ssba/Geometry/v3d_cameramatrix.h + third_party/ssba/Geometry/v3d_distortion.h + third_party/ssba/Geometry/v3d_metricbundle.h + third_party/ssba/Math/v3d_linear.h + third_party/ssba/Math/v3d_linear_utils.h + third_party/ssba/Math/v3d_mathutilities.h + third_party/ssba/Math/v3d_optimization.h ) if(WIN32) @@ -152,23 +152,23 @@ if(WIN32) third_party/glog/src/vlog_is_on.cc third_party/glog/src/windows/port.cc - third_party/glog/src/config.h - third_party/glog/src/stacktrace.h + third_party/glog/src/utilities.h third_party/glog/src/stacktrace_generic-inl.h - third_party/glog/src/stacktrace_libunwind-inl.h - third_party/glog/src/stacktrace_powerpc-inl.h - third_party/glog/src/stacktrace_x86-inl.h + third_party/glog/src/stacktrace.h third_party/glog/src/stacktrace_x86_64-inl.h - third_party/glog/src/utilities.h - third_party/glog/src/base/commandlineflags.h third_party/glog/src/base/googleinit.h third_party/glog/src/base/mutex.h - third_party/glog/src/windows/config.h - third_party/glog/src/windows/port.h - third_party/glog/src/windows/glog/log_severity.h - third_party/glog/src/windows/glog/logging.h + third_party/glog/src/base/commandlineflags.h + third_party/glog/src/stacktrace_powerpc-inl.h + third_party/glog/src/stacktrace_x86-inl.h + third_party/glog/src/config.h + third_party/glog/src/stacktrace_libunwind-inl.h third_party/glog/src/windows/glog/raw_logging.h third_party/glog/src/windows/glog/vlog_is_on.h + third_party/glog/src/windows/glog/logging.h + third_party/glog/src/windows/glog/log_severity.h + third_party/glog/src/windows/port.h + third_party/glog/src/windows/config.h ) list(APPEND INC @@ -190,34 +190,34 @@ if(WIN32) endif() else() list(APPEND SRC - third_party/glog/src/utilities.cc - third_party/glog/src/symbolize.cc - third_party/glog/src/vlog_is_on.cc - third_party/glog/src/signalhandler.cc - third_party/glog/src/logging.cc third_party/glog/src/demangle.cc + third_party/glog/src/logging.cc third_party/glog/src/raw_logging.cc + third_party/glog/src/signalhandler.cc + third_party/glog/src/symbolize.cc + third_party/glog/src/utilities.cc + third_party/glog/src/vlog_is_on.cc - third_party/glog/src/config.h + third_party/glog/src/base/commandlineflags.h + third_party/glog/src/base/googleinit.h + third_party/glog/src/base/mutex.h third_party/glog/src/config_freebsd.h + third_party/glog/src/config.h third_party/glog/src/config_linux.h third_party/glog/src/config_mac.h third_party/glog/src/demangle.h - third_party/glog/src/stacktrace.h + third_party/glog/src/glog/logging.h + third_party/glog/src/glog/log_severity.h + third_party/glog/src/glog/raw_logging.h + third_party/glog/src/glog/vlog_is_on.h third_party/glog/src/stacktrace_generic-inl.h + third_party/glog/src/stacktrace.h third_party/glog/src/stacktrace_libunwind-inl.h third_party/glog/src/stacktrace_powerpc-inl.h - third_party/glog/src/stacktrace_x86-inl.h third_party/glog/src/stacktrace_x86_64-inl.h + third_party/glog/src/stacktrace_x86-inl.h third_party/glog/src/symbolize.h third_party/glog/src/utilities.h - third_party/glog/src/base/commandlineflags.h - third_party/glog/src/base/googleinit.h - third_party/glog/src/base/mutex.h - third_party/glog/src/glog/log_severity.h - third_party/glog/src/glog/logging.h - third_party/glog/src/glog/raw_logging.h - third_party/glog/src/glog/vlog_is_on.h ) list(APPEND INC diff --git a/extern/libmv/ChangeLog b/extern/libmv/ChangeLog index 7e10abfead6..522ae5cd809 100644 --- a/extern/libmv/ChangeLog +++ b/extern/libmv/ChangeLog @@ -1,3 +1,345 @@ +commit f8c2b223f01551fd81a85f6d5221646165147035 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 21:32:05 2012 +0600 + + Picky edits: corrected EOL + +commit 3f2a4205ec5adadcdfa306b161c705c868a7be93 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 21:30:07 2012 +0600 + + Fixed incorrect access to ucontext on linux. Caused by incorrect merge conflict resolve. + +commit d360a21a5aa125cf9e83dd26b302508688ff7007 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 20:54:13 2012 +0600 + + More Windows -> Unix EOL conversions + +commit 18aeda58bec9556140ba617724e31ada6f5b67c0 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 20:15:42 2012 +0600 + + Looks like this debug output was removed accidentally. + +commit 189dc0cacdee3c1eab68c43263ecb038ed244c09 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 20:11:56 2012 +0600 + + Made V3D verbose again by default + +commit 8b3422d3eec5e450d76243886bf07fb0a3e83a81 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 20:08:01 2012 +0600 + + SAD tracker now can deal with pattern size any size, + Very quick implementation came from Blender before Hybrid tracker was added. + Better to be replaced with brute tracker. + +commit d547c9cfe37d5d3397d33c8b0e58471e1e1c1634 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 20:03:52 2012 +0600 + + Just convert end of lines to unix style. + +commit eb73ddbaec5b9e1ad30331bbf858a6ebc266c4aa +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 20:02:20 2012 +0600 + + Made some function static. Resolves possible linking issues when building with MinGW. + +commit 2930681fafd86e4f4a958054b1db8bfff29623d1 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 19:59:45 2012 +0600 + + Missed this in commit with improvements in camera intrinsics. + +commit 8d31bc767019b05c5bf8c9f309f9545b3428afa1 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 19:57:51 2012 +0600 + + Another step of syncing codebase with Blender. + Mainly fixes for freebsd/osx compilation and aligned memory allocation. + +commit 3214a2df5bfd98021f25d0f1a626a86318bb245f +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 19:48:02 2012 +0600 + + Support compilation on FreeBSD platform + +commit 0e5abe96f543687ccfb3a923ec639cb8f45d54f8 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 19:44:18 2012 +0600 + + Implementation of basic system for progress reporting into callee stuff + + Implemented by using simple callbacks classes which are getting invoked from + places where lots of calculation happens, so applications which are using + libmv may display nice progress bar. + +commit c5e18fe35464618055e0e9761be8d22fae56db49 +Author: Keir Mierle <mierle@gmail.com> +Date: Fri Feb 17 19:25:45 2012 +0600 + + Add support for detecting tracking failure in the ESM tracker component of + libmv. Since both KLT and Hybrid rely on ESM underneath, KLT and Hybrid now + have a minimum correlation setting to match. With this fix, track failures + should get detected quicker, with the issue that sometimes the tracker will + give up too easily. That is fixable by reducing the required correlation (in + the track properties). + +commit ea0fed736ecdcc8c020227aeef8ef4cd3be5e63d +Author: Keir Mierle <mierle@gmail.com> +Date: Fri Feb 17 19:23:50 2012 +0600 + + Add a new hybrid region tracker for motion tracking to libmv, and + add it as an option (under "Hybrid") in the tracking settings. The + region tracker is a combination of brute force tracking for coarse + alignment, then refinement with the ESM/KLT algorithm already in + libmv that gives excellent subpixel precision (typically 1/50'th + of a pixel) + + This also adds a new "brute force" region tracker which does a + brute force search through every pixel position in the destination + for the pattern in the first frame. It leverages SSE if available, + similar to the SAD tracker, to do this quickly. Currently it does + some unnecessary conversions to/from floating point that will get + fixed later. + + The hybrid tracker glues the two trackers (brute & ESM) together + to get an overall better tracker. The algorithm is simple: + + 1. Track from frame 1 to frame 2 with the brute force tracker. + This tries every possible pixel position for the pattern from + frame 1 in frame 2. The position with the smallest + sum-of-absolute-differences is chosen. By definition, this + position is only accurate up to 1 pixel or so. + 2. Using the result from 1, initialize a track with ESM. This does + a least-squares fit with subpixel precision. + 3. If the ESM shift was more than 2 pixels, report failure. + 4. If the ESM track shifted less than 2 pixels, then the track is + good and we're done. The rationale here is that if the + refinement stage shifts more than 1 pixel, then the brute force + result likely found some random position that's not a good fit. + +commit a07fff8431621c01d81ae52595d8dd91a295a776 +Author: Keir Mierle <mierle@gmail.com> +Date: Fri Feb 17 19:19:58 2012 +0600 + + Assorted camera tracker improvements + + - Add support for refining the camera's intrinsic parameters + during a solve. Currently, refining supports only the following + combinations of intrinsic parameters: + + f + f, cx, cy + f, cx, cy, k1, k2 + f, k1 + f, k1, k2 + + This is not the same as autocalibration, since the user must + still make a reasonable initial guess about the focal length and + other parameters, whereas true autocalibration would eliminate + the need for the user specify intrinsic parameters at all. + + However, the solver works well with only rough guesses for the + focal length, so perhaps full autocalibation is not that + important. + + Adding support for the last two combinations, (f, k1) and (f, + k1, k2) required changes to the library libmv depends on for + bundle adjustment, SSBA. These changes should get ported + upstream not just to libmv but to SSBA as well. + + - Improved the region of convergence for bundle adjustment by + increasing the number of Levenberg-Marquardt iterations from 50 + to 500. This way, the solver is able to crawl out of the bad + local minima it gets stuck in when changing from, for example, + bundling k1 and k2 to just k1 and resetting k2 to 0. + + - Add several new region tracker implementations. A region tracker + is a libmv concept, which refers to tracking a template image + pattern through frames. The impact to end users is that tracking + should "just work better". I am reserving a more detailed + writeup, and maybe a paper, for later. + + - Other libmv tweaks, such as detecting that a tracker is headed + outside of the image bounds. + + This includes several changes made directly to the libmv extern + code rather expecting to get those changes through normal libmv + channels, because I, the libmv BDFL, decided it was faster to work + on libmv directly in Blender, then later reverse-port the libmv + changes from Blender back into libmv trunk. The interesting part + is that I added a full Levenberg-Marquardt loop to the region + tracking code, which should lead to a more stable solutions. I + also added a hacky implementation of "Efficient Second-Order + Minimization" for tracking, which works nicely. A more detailed + quantitative evaluation will follow. + +commit 0bf66c009d5022eacfc473d247884a73ffeefa8f +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 19:13:49 2012 +0600 + + Rest of compilation fix with FAST library. + +commit 71b578ca2ba34c528363c514cd1fcc85791d01f3 +Author: Keir Mierle <mierle@gmail.com> +Date: Fri Feb 17 19:00:28 2012 +0600 + + Improve the KLT tracking behaviour and UI + + - Remove the overly-conservative use of libmv's re-track tracker. The re-track + tracker would take a normal tracker such as TRKLT or KLT or pyramid KLT, and + track from frame 1 to 2, then back from the position found in 2 back to 1. + Then, when the reverse-track doesn't match the original track with high + precision, the track is considered "failed". This is a good approach for + fully automatic reconstruction, but is too conservative for supervised + tracking. + + The retrack-tracker will return when fully automatic tracking is added. + + - Always solve for (dx, dy) in the TRKLT loop even if the linear system is + ill-conditioned. The client (Blender in this case) can still use the solved + position, even though it is less reliable. + +commit 7d8a8762f2bc2e36f95b0b6f4fb4ca996f9f0db7 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 18:46:24 2012 +0600 + + Changes in camera intrinsics distortion/undistortion: + + - Distortion/undistortion of scaled images wasn't happening right, + because camera intrinsics are calibrated on an original frame which + has got some particular resolution and trying to apply this model on + an image with another resolution gives totally wrong result. + This is needed to be able to do post-prccessing of render, running + distortion on a scene which might be rendered with higher resolution + than footage itself and then be scaled down. + - Fixed incorrect calculation/applying of precomputed grid when + distortion is high high enough and produces pixel offset higher + than 127 pixels. This might be still not very distorted image, + but if it's a 4K footage "normal" camera will easily give such + a distortion. + - Added support of overscan distortion/undistortion. + +commit ed080785d63bb8e3a13dde51a2dc94fe59b059bb +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 18:38:51 2012 +0600 + + Fast headers now can be included from C++ sources. + Was needed to make it working fine when bundling in Blender but might also + be needed to bundle into another applications. + +commit 5f5a7aa46a2d87b96c8098dfc8682f4d01b5cd40 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 18:36:16 2012 +0600 + + Bring back FAST detector which seems to be working much nicer than Morravec. + Both of them are available in API. + +commit 2cab13c18216fb684b270cec077f7300262584af +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 18:27:36 2012 +0600 + + Revert "Make CameraIntrinsics (and thus Qt tracker) compilable without linking libmv." + + This reverts commit 81613ee0cc94b315f333c9632b18b95d426aad05. + + That commit made inverting intrinsics totally unworkable, so reverted this and + made needed tweaks to qt-tracker project file to make it compilable (was needed + to make it linking together with glog). + + Conflicts: + + src/ui/tracker/tracker.cc + src/ui/tracker/tracker.pro + +commit ec46cae041401b17afb4fe4d9c9343d10797090f +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 17:59:55 2012 +0600 + + Fix compilation error using official MinGW + +commit 6fbc370e922c47cfa35381662b6c439f4891ed74 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 17:38:20 2012 +0600 + + Fix compilation error with MSVC 2010 which is more picky for "missed" STL headers + +commit be9e6b63691d83b551a085f0766878bd84220767 +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 17:36:18 2012 +0600 + + Fix compilation with MSVC where snprintf function is declared as unsafe and _snprintf should be used instead. + + Better to switch to own implementation will ensure string is correctly NULL-terminated. + +commit 1847d9e414ed763cd80668775d7d9f79575fc8ca +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 17:34:45 2012 +0600 + + Fix compilation error on OSX caused by incorrect access to ucontext + +commit 90579b6ffad07672172a1c240499615b30b25549 +Merge: b9aac30 531c79b +Author: Sergey Sharybin <sergey.vfx@gmail.com> +Date: Fri Feb 17 18:32:52 2012 +0600 + + Merge remote-tracking branch 'Matthias-Fauconneau/master' into devel + + Conflicts: + src/libmv/tracking/CMakeLists.txt + +commit b9aac30a9ca6bc8362c09a0e191040964f7c6de2 +Merge: 198894e 6969e1a +Author: Keir Mierle <mierle@gmail.com> +Date: Sat Nov 5 17:38:30 2011 -0700 + + Merge pull request #3 from nathanwiegand/master + + Just a few tiny cleanups + +commit 6969e1a9534291a982749baa5a3672c97bfa506d +Author: Nathan Wiegand <nathanwiegand@gmail.com> +Date: Sat Nov 5 14:26:54 2011 -0700 + + I've added cleaned up a few style issues here an there. Also, I've updated the CMakeLists.txt file so that it can build the image_io library. Note, it's only been tested on OSX 10.6 + +commit 4763f851299050140757bfaa069107a0cf639e56 +Author: Nathan Wiegand <nathanwiegand@gmail.com> +Date: Fri Nov 4 23:59:08 2011 -0700 + + Removed a superfulous comment + +commit a44577c0162e273681e4a9a3cc5f5b37d4315b67 +Author: Nathan Wiegand <nathanwiegand@gmail.com> +Date: Fri Nov 4 23:55:52 2011 -0700 + + Removed a duplicate entry for an author. + +commit 198894e4c4f51c2c1784ad7c02eb45d2d1ada9bc +Merge: c4c67db 6e797d6 +Author: Keir Mierle <mierle@gmail.com> +Date: Fri Nov 4 21:47:05 2011 -0700 + + Merge pull request #2 from nathanwiegand/master + + CMake changes for OSX + +commit 6e797d678c4c19f6a9e21657d66183f412cc995b +Author: Nathan Wiegand <nathanwiegand@gmail.com> +Date: Fri Nov 4 21:43:28 2011 -0700 + + Uncomment the GUI part of the CMake file + +commit 33ef88a33860345d8906f3c9dd22d8dbce3df53e +Author: Nathan Wiegand <nathanwiegand@gmail.com> +Date: Fri Nov 4 21:31:22 2011 -0700 + + Fixed build error on OSX by adding 'glog' to the dependencies in the tracker CMake + commit 531c79bf95fddaaa70707d1abcd4fdafda16bbf0 Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> Date: Sat Aug 20 00:00:42 2011 +0200 @@ -103,210 +445,3 @@ Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> Date: Thu Aug 18 16:18:44 2011 +0200 UI and API support for affine tracking. - -commit a4876d8c40dcde615b44009c38c49e9a1b1d4698 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Aug 17 20:26:01 2011 +0200 - - Hack to make sad.cc compile with MSVC on system without support for the SSE instruction set. - -commit 0de723dfce5bbe44dbd19be8cd6dd6e9b03b7924 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Aug 17 20:10:46 2011 +0200 - - Fix slow path (for computers without SSE2). - Heap allocate scores in detect.cc - -commit 65a9d496f81e8b37eae39a4063957b8be9a4e6f0 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Aug 17 19:25:17 2011 +0200 - - Fix compilation on OSX. - -commit d22720e618456329388d2c107422c3b371657cba -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Aug 17 14:14:45 2011 +0200 - - Improve Detect and SAD Tracker API and documentation. - -commit 5d6cd4ad365b061901bad40695b51d568487a0cf -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Aug 17 11:57:29 2011 +0200 - - MSVC support fixes. - -commit 50f0323173c6deebd6aaf9c126f0b51b2a79c3c1 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 16 23:21:37 2011 +0200 - - Detector can detect features similar to a given pattern. - -commit 5734cc27bbf84c2b6edcfcc1ea736798e12d5820 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 16 22:53:54 2011 +0200 - - Ensure SAD Tracker is C compatible. - Update Detect API documentation. - -commit 701c42842574064fea992f8822e3899cb9066108 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 16 21:56:42 2011 +0200 - - Remove FAST detector. - Add Moravec detector. - This detector is more suited to tracking since it try to choose patterns which are unlikely to drift by computing SAD with neighbouring patches. - It could be improved to better avoid edges. - -commit 9bdf93e13fc880c78b6f34397da673388c16040e -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 16 21:55:08 2011 +0200 - - Fix Qt Tracker GL to work with AMD drivers. - -commit 81613ee0cc94b315f333c9632b18b95d426aad05 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 16 21:54:12 2011 +0200 - - Make CameraIntrinsics (and thus Qt tracker) compilable without linking libmv. - -commit a1d9a8fa8b01ef7cf2a79b3b891633fc333fc9cf -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 16 21:24:51 2011 +0200 - - Fix SAD tracker. Pattern was transposed by affine pattern sampler. - -commit c3b794da2e7fd23f2fbdf90dbd71de0e6b3bc811 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 16 21:19:02 2011 +0200 - - Fix SAD tracker. Pattern was transposed by affine pattern sampler. - -commit a9b61bf3356f27174cdd983f562f99c3a6a2cc35 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Sun Aug 14 09:56:51 2011 +0200 - - Clarify CameraIntrinsics documentation. - Edit CameraInstrinsics test to fail. - -commit 10bdad9ad2cea2603896263cde5a5339169a9af0 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Fri Aug 12 21:05:32 2011 +0200 - - Fix out of bound access in warp bilinear sampling. - -commit dd9a418db021a28af2c1198d5e5b9e68fe048a03 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Fri Aug 12 19:14:36 2011 +0200 - - Fix compilation with -funsigned-char. - -commit bd1a268ede39b67f2ba4b360f6fc693419e7cd7f -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Fri Aug 12 18:39:27 2011 +0200 - - CameraIntrinsics fixes. - -commit ae513b39fb779632f96ceff7c1e014fb8e68702a -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 9 19:38:58 2011 +0200 - - Remove stray QDebug include. - -commit 1e58f55078ce6009a885be30ae0316aec6ed8239 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 9 14:16:31 2011 +0200 - - Make API future-proof (for an eventual affine or planar tracker). - -commit c2af303e7bf0dddcb02937323ac5846b1801e6cc -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 9 11:13:29 2011 +0200 - - Remove reconstruction breaking debug code. - -commit 8792a633e5c5f1c1f12e164b9e8897ca0790ac59 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 9 10:49:18 2011 +0200 - - Remove getchar()s. - -commit 63a9bdee0cbd1197e0315d01c27bfc2361bd5656 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 9 10:35:07 2011 +0200 - - Adapt patch to new PipelineRoutines code generation strategy. - -commit 096ff1a4070f7212c50fb0a4b2feec7ca9d97158 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 9 09:54:12 2011 +0200 - - Merge max_image and max_track fix from tomato. - -commit d8450cd3c37278a397482cd36b1e2419f154cfb9 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Tue Aug 9 09:38:49 2011 +0200 - - Synchronize tree with Tomato: Merge patch for better resection, keep deprecated KLT tracker. - -commit e9b2dca920cf9575c15150a4988634b00e343a41 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Mon Aug 8 17:07:08 2011 +0200 - - Fixes, Documentation. - -commit 4fc1c57a2d92442808ac4a3676e6d9a25a51e310 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Sun Aug 7 14:35:08 2011 +0200 - - Improve tracker resilience by penalizing large motion vectors. - -commit cc8e7e8e08cd91f75c080a0091461ca9fe969664 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Sun Aug 7 09:28:09 2011 +0200 - - Leverage SSE2 SAD instruction for 16x speed improvement in integer pixel search resulting in ~1ms per marker for 16x16 pattern on 128x128 region. - -commit f362ab4999a768370fca57552464b459eb9fbddc -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Sun Aug 7 09:06:04 2011 +0200 - - Improve SAD Tracker subpixel precision (avoid drift even when adapting at each frame). - -commit fce7a214c561b5f5f0e17115c31fb48814bde2db -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Sat Aug 6 21:57:06 2011 +0200 - - Track using simple Sum of Absolute Differences matching. - This method is simpler, more robust, faster and accurate. - -commit 620a7a35d9a2818bf6e9dbf5d11debda4be6bc26 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Fri Jul 29 12:35:57 2011 +0200 - - Add Intersect unit test. - -commit a2bf58fa57be11215eb17ff7f7de58f97d480ec3 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Thu Jul 28 11:08:06 2011 +0200 - - Remove tests depending on dead code. - Fix CameraIntrinsics test. - Add Intersect and Resect tests. - -commit 19bddee10b4879c8cd2238ccdf5b8f7620cf8384 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Jul 27 12:07:21 2011 +0200 - - Image Distortion: Fixes and more testing. - -commit 0454d97da328fb0eda8c6c50511ac31864a6d3d6 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Jul 27 10:32:37 2011 +0200 - - Test float image distortion. - -commit 8db01595a8721f766d85931a8d92b780461d8741 -Author: Matthias Fauconneau <matthias.fauconneau@gmail.com> -Date: Wed Jul 27 10:27:07 2011 +0200 - - Image Distortion: Bilinear sampling, Optimization, Instantiate all variants (Distort/Undistort, float/ubyte, 1-4 channels). diff --git a/extern/libmv/bundle.sh b/extern/libmv/bundle.sh index f5cfcc0d488..f259635035e 100755 --- a/extern/libmv/bundle.sh +++ b/extern/libmv/bundle.sh @@ -1,7 +1,8 @@ #!/bin/sh #BRANCH="keir" -BRANCH="Matthias-Fauconneau" +#BRANCH="Matthias-Fauconneau" +BRANCH="Nazg-Gul" if [ -d ./.svn ]; then echo "This script is supposed to work only when using git-svn" @@ -24,7 +25,7 @@ done rm -rf libmv rm -rf third_party -cat "files.txt" | while f=`line`; do +cat "files.txt" | while read f; do mkdir -p `dirname $f` cp $tmp/libmv/src/$f $f done @@ -36,14 +37,14 @@ chmod 664 ./third_party/glog/src/windows/*.cc ./third_party/glog/src/windows/*.h sources=`find ./libmv -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | sed -r 's/^\.\//\t/' | sort -d` headers=`find ./libmv -type f -iname '*.h' | sed -r 's/^\.\//\t/' | sort -d` -third_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep -v glog | sed -r 's/^\.\//\t/' | sort` -third_headers=`find ./third_party -type f -iname '*.h' | grep -v glog | sed -r 's/^\.\//\t/' | sort` +third_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep -v glog | sed -r 's/^\.\//\t/' | sort -d` +third_headers=`find ./third_party -type f -iname '*.h' | grep -v glog | sed -r 's/^\.\//\t/' | sort -d` -third_glog_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep glog | grep -v windows | sed -r 's/^\.\//\t\t/' | sort` -third_glog_headers=`find ./third_party -type f -iname '*.h' | grep glog | grep -v windows | sed -r 's/^\.\//\t\t/' | sort` +third_glog_sources=`find ./third_party -type f -iname '*.cc' -or -iname '*.cpp' -or -iname '*.c' | grep glog | grep -v windows | sed -r 's/^\.\//\t\t/' | sort -d` +third_glog_headers=`find ./third_party -type f -iname '*.h' | grep glog | grep -v windows | sed -r 's/^\.\//\t\t/' | sort -d` -src_dir=`find ./libmv -type f -iname '*.cc' -exec dirname {} \; -or -iname '*.cpp' -exec dirname {} \; -or -iname '*.c' -exec dirname {} \; | sed -r 's/^\.\//\t/' | sort | uniq` -src_third_dir=`find ./third_party -type f -iname '*.cc' -exec dirname {} \; -or -iname '*.cpp' -exec dirname {} \; -or -iname '*.c' -exec dirname {} \; | sed -r 's/^\.\//\t/' | sort | uniq` +src_dir=`find ./libmv -type f -iname '*.cc' -exec dirname {} \; -or -iname '*.cpp' -exec dirname {} \; -or -iname '*.c' -exec dirname {} \; | sed -r 's/^\.\//\t/' | sort -d | uniq` +src_third_dir=`find ./third_party -type f -iname '*.cc' -exec dirname {} \; -or -iname '*.cpp' -exec dirname {} \; -or -iname '*.c' -exec dirname {} \; | sed -r 's/^\.\//\t/' | sort -d | uniq` src="" win_src="" for x in $src_dir $src_third_dir; do @@ -103,7 +104,7 @@ cat > CMakeLists.txt << EOF # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software Foundation, -# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. # # The Original Code is Copyright (C) 2011, Blender Foundation # All rights reserved. diff --git a/extern/libmv/libmv/base/vector.h b/extern/libmv/libmv/base/vector.h index 9dc48676629..c2a3298087a 100644 --- a/extern/libmv/libmv/base/vector.h +++ b/extern/libmv/libmv/base/vector.h @@ -84,6 +84,8 @@ class vector { T& front() { return data_[0]; } const T& operator[](int n) const { return data_[n]; } T& operator[](int n) { return data_[n]; } + const T& at(int n) const { return data_[n]; } + T& at(int n) { return data_[n]; } const T * begin() const { return data_; } const T * end() const { return data_+size_; } T * begin() { return data_; } diff --git a/extern/libmv/libmv/simple_pipeline/pipeline.cc b/extern/libmv/libmv/simple_pipeline/pipeline.cc index 382365e579f..2e4e5a6491d 100644 --- a/extern/libmv/libmv/simple_pipeline/pipeline.cc +++ b/extern/libmv/libmv/simple_pipeline/pipeline.cc @@ -279,25 +279,7 @@ double InternalReprojectionError(const Tracks &image_tracks, PipelineRoutines::ProjectMarker(*point, *camera, intrinsics); double ex = reprojected_marker.x - markers[i].x; double ey = reprojected_marker.y - markers[i].y; -#if 0 - const int N = 100; - char line[N]; - snprintf(line, N, - "image %-3d track %-3d " - "x %7.1f y %7.1f " - "rx %7.1f ry %7.1f " - "ex %7.1f ey %7.1f" - " e %7.1f", - markers[i].image, - markers[i].track, - markers[i].x, - markers[i].y, - reprojected_marker.x, - reprojected_marker.y, - ex, - ey, - sqrt(ex*ex + ey*ey)); -#endif + total_error += sqrt(ex*ex + ey*ey); } LG << "Skipped " << num_skipped << " markers."; diff --git a/extern/libmv/libmv/simple_pipeline/tracks.h b/extern/libmv/libmv/simple_pipeline/tracks.h index 739c3c4f243..aa0fbaa6e4c 100644 --- a/extern/libmv/libmv/simple_pipeline/tracks.h +++ b/extern/libmv/libmv/simple_pipeline/tracks.h @@ -27,13 +27,13 @@ namespace libmv { /*! A Marker is the 2D location of a tracked point in an image. - + \a x, \a y is the position of the marker in pixels from the top left corner in the image identified by \a image. All markers for to the same target form a track identified by a common \a track number. - + \note Markers are typically aggregated with the help of the \l Tracks class. - + \sa Tracks */ struct Marker { @@ -44,18 +44,18 @@ struct Marker { /*! The Tracks class stores \link Marker reconstruction markers \endlink. - + The Tracks container is intended as the store of correspondences between images, which must get created before any 3D reconstruction can take place. - + The container has several fast lookups for queries typically needed for structure from motion algorithms, such as \l MarkersForTracksInBothImages(). - + \sa Marker */ class Tracks { public: - Tracks() {} + Tracks() { } // Copy constructor for a tracks object. Tracks(const Tracks &other); @@ -67,10 +67,10 @@ class Tracks { Inserts a marker into the set. If there is already a marker for the given \a image and \a track, the existing marker is replaced. If there is no marker for the given \a image and \a track, a new one is added. - + \a image and \a track are the keys used to retrieve the markers with the other methods in this class. - + \note To get an identifier for a new track, use \l MaxTrack() + 1. */ void Insert(int image, int track, double x, double y); @@ -86,7 +86,7 @@ class Tracks { /*! Returns the markers in \a image1 and \a image2 which have a common track. - + This is not the same as the union of the markers in \a image1 and \a image2; each marker is for a track that appears in both images. */ diff --git a/extern/libmv/libmv/tracking/esm_region_tracker.cc b/extern/libmv/libmv/tracking/esm_region_tracker.cc index 9784b61c068..5ee3950bd71 100644 --- a/extern/libmv/libmv/tracking/esm_region_tracker.cc +++ b/extern/libmv/libmv/tracking/esm_region_tracker.cc @@ -18,8 +18,6 @@ // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS // IN THE SOFTWARE. -#define _USE_MATH_DEFINES - #include "libmv/tracking/esm_region_tracker.h" #include "libmv/logging/logging.h" diff --git a/extern/libmv/libmv/tracking/trklt_region_tracker.h b/extern/libmv/libmv/tracking/trklt_region_tracker.h index 5046e0f069d..26d0621aa02 100644 --- a/extern/libmv/libmv/tracking/trklt_region_tracker.h +++ b/extern/libmv/libmv/tracking/trklt_region_tracker.h @@ -42,7 +42,7 @@ struct TrkltRegionTracker : public RegionTracker { min_update_squared_distance(1e-6), sigma(0.9), lambda(0.05) {} - + virtual ~TrkltRegionTracker() {} // Tracker interface. diff --git a/extern/libmv/patches/bundle_tweaks.patch b/extern/libmv/patches/bundle_tweaks.patch index f7b06b0a2dd..aebc257f7f9 100644 --- a/extern/libmv/patches/bundle_tweaks.patch +++ b/extern/libmv/patches/bundle_tweaks.patch @@ -11,6 +11,36 @@ index 067da52..af86c4b 100644 #define LG LOG(INFO) #define V0 LOG(INFO) +diff --git a/src/libmv/simple_pipeline/pipeline.cc b/src/libmv/simple_pipeline/pipeline.cc +index 2459d05..2e4e5a6 100644 +--- a/src/libmv/simple_pipeline/pipeline.cc ++++ b/src/libmv/simple_pipeline/pipeline.cc +@@ -280,25 +280,6 @@ double InternalReprojectionError(const Tracks &image_tracks, + double ex = reprojected_marker.x - markers[i].x; + double ey = reprojected_marker.y - markers[i].y; + +- const int N = 100; +- char line[N]; +- snprintf(line, N, +- "image %-3d track %-3d " +- "x %7.1f y %7.1f " +- "rx %7.1f ry %7.1f " +- "ex %7.1f ey %7.1f" +- " e %7.1f", +- markers[i].image, +- markers[i].track, +- markers[i].x, +- markers[i].y, +- reprojected_marker.x, +- reprojected_marker.y, +- ex, +- ey, +- sqrt(ex*ex + ey*ey)); +- LG << line; +- + total_error += sqrt(ex*ex + ey*ey); + } + LG << "Skipped " << num_skipped << " markers."; diff --git a/src/third_party/glog/src/glog/logging.h b/src/third_party/glog/src/glog/logging.h index 57615ef..a58d478 100644 --- a/src/third_party/glog/src/glog/logging.h @@ -65,7 +95,7 @@ index 50c6a71..b179a1e 100644 #ifdef HAVE_STACKTRACE diff --git a/src/third_party/glog/src/utilities.h b/src/third_party/glog/src/utilities.h -index ee54f94..2d4e99e 100644 +index c4ae256..5c841a0 100644 --- a/src/third_party/glog/src/utilities.h +++ b/src/third_party/glog/src/utilities.h @@ -79,7 +79,7 @@ @@ -106,7 +136,7 @@ index 114762e..682a1b9 100755 /* define if you have libunwind */ #undef HAVE_LIB_UNWIND diff --git a/src/third_party/glog/src/windows/glog/logging.h b/src/third_party/glog/src/windows/glog/logging.h -index 7a6df74..de51586 100755 +index 4257375..2f41681 100755 --- a/src/third_party/glog/src/windows/glog/logging.h +++ b/src/third_party/glog/src/windows/glog/logging.h @@ -82,8 +82,8 @@ @@ -119,4 +149,4 @@ index 7a6df74..de51586 100755 +#include "third_party/gflags/gflags.h" #endif - namespace google { + #ifdef __MINGW32__ diff --git a/extern/libmv/patches/config_mac.patch b/extern/libmv/patches/config_mac.patch deleted file mode 100644 index 5a880155bfa..00000000000 --- a/extern/libmv/patches/config_mac.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/src/third_party/glog/src/config_mac.h b/src/third_party/glog/src/config_mac.h -index a45575b..5f953d1 100644 ---- a/src/third_party/glog/src/config_mac.h -+++ b/src/third_party/glog/src/config_mac.h -@@ -131,7 +131,7 @@ - #define PACKAGE_VERSION "0.3.1" - - /* How to access the PC from a struct ucontext */ --#define PC_FROM_UCONTEXT uc_mcontext->__ss.__rip -+#undef PC_FROM_UCONTEXT - - /* Define to necessary symbol if this constant uses a non-standard name on - your system. */ diff --git a/extern/libmv/patches/detect.patch b/extern/libmv/patches/detect.patch deleted file mode 100644 index 36fea8427db..00000000000 --- a/extern/libmv/patches/detect.patch +++ /dev/null @@ -1,181 +0,0 @@ -diff --git a/src/libmv/simple_pipeline/detect.cc b/src/libmv/simple_pipeline/detect.cc -index 6fc0cdd..8ac42ab 100644 ---- a/src/libmv/simple_pipeline/detect.cc -+++ b/src/libmv/simple_pipeline/detect.cc -@@ -23,15 +23,89 @@ - ****************************************************************************/ - - #include "libmv/simple_pipeline/detect.h" -+#include <third_party/fast/fast.h> - #include <stdlib.h> --#include <string.h> -+#include <memory.h> -+ -+#ifdef __SSE2__ -+#include <emmintrin.h> -+#endif - - namespace libmv { - - typedef unsigned int uint; - -+int featurecmp(const void *a_v, const void *b_v) -+{ -+ Feature *a = (Feature*)a_v; -+ Feature *b = (Feature*)b_v; -+ -+ return b->score - a->score; -+} -+ -+std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, int stride, -+ int min_trackness, int min_distance) { -+ std::vector<Feature> features; -+ // TODO(MatthiasF): Support targetting a feature count (binary search trackness) -+ int num_features; -+ xy* all = fast9_detect(data, width, height, -+ stride, min_trackness, &num_features); -+ if(num_features == 0) { -+ free(all); -+ return features; -+ } -+ int* scores = fast9_score(data, stride, all, num_features, min_trackness); -+ // TODO: merge with close feature suppression -+ xy* nonmax = nonmax_suppression(all, scores, num_features, &num_features); -+ free(all); -+ // Remove too close features -+ // TODO(MatthiasF): A resolution independent parameter would be better than distance -+ // e.g. a coefficient going from 0 (no minimal distance) to 1 (optimal circle packing) -+ // FIXME(MatthiasF): this method will not necessarily give all maximum markers -+ if(num_features) { -+ Feature *all_features = new Feature[num_features]; -+ -+ for(int i = 0; i < num_features; ++i) { -+ Feature a = { nonmax[i].x, nonmax[i].y, scores[i], 0 }; -+ all_features[i] = a; -+ } -+ -+ qsort((void *)all_features, num_features, sizeof(Feature), featurecmp); -+ -+ features.reserve(num_features); -+ -+ int prev_score = all_features[0].score; -+ for(int i = 0; i < num_features; ++i) { -+ bool ok = true; -+ Feature a = all_features[i]; -+ if(a.score>prev_score) -+ abort(); -+ prev_score = a.score; -+ -+ // compare each feature against filtered set -+ for(int j = 0; j < features.size(); j++) { -+ Feature& b = features[j]; -+ if ( (a.x-b.x)*(a.x-b.x)+(a.y-b.y)*(a.y-b.y) < min_distance*min_distance ) { -+ // already a nearby feature -+ ok = false; -+ break; -+ } -+ } -+ -+ if(ok) { -+ // add the new feature -+ features.push_back(a); -+ } -+ } -+ -+ delete [] all_features; -+ } -+ free(scores); -+ free(nonmax); -+ return features; -+} -+ - #ifdef __SSE2__ --#include <emmintrin.h> - static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strideB) { - __m128i a = _mm_setzero_si128(); - for(int i = 0; i < 16; i++) { -@@ -52,7 +126,7 @@ static uint SAD(const ubyte* imageA, const ubyte* imageB, int strideA, int strid - } - #endif - --void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { -+void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance, ubyte* pattern) { - unsigned short histogram[256]; - memset(histogram,0,sizeof(histogram)); - ubyte* scores = new ubyte[width*height]; -diff --git a/src/libmv/simple_pipeline/detect.h b/src/libmv/simple_pipeline/detect.h -index 23b239b..bbe7aed 100644 ---- a/src/libmv/simple_pipeline/detect.h -+++ b/src/libmv/simple_pipeline/detect.h -@@ -25,27 +25,52 @@ - #ifndef LIBMV_SIMPLE_PIPELINE_DETECT_H_ - #define LIBMV_SIMPLE_PIPELINE_DETECT_H_ - --#ifdef __cplusplus -+#include <vector> -+ - namespace libmv { --#endif - - typedef unsigned char ubyte; - - /*! -- \a Feature is the 2D location of a detected feature in an image. -+ A Feature is the 2D location of a detected feature in an image. - -- \a x, \a y is the position of the center in pixels (from image top-left). -- \a score is an estimate of how well the pattern will be tracked. -- \a size can be used as an initial size to track the pattern. -+ \a x, \a y is the position of the feature in pixels from the top left corner. -+ \a score is an estimate of how well the feature will be tracked. -+ \a size can be used as an initial pattern size to track the feature. - - \sa Detect - */ - struct Feature { -+ /// Position in pixels (from top-left corner) -+ /// \note libmv might eventually support subpixel precision. - float x, y; -+ /// Trackness of the feature - float score; -+ /// Size of the feature in pixels - float size; - }; -- //radius for non maximal suppression -+ -+/*! -+ Detect features in an image. -+ -+ You need to input a single channel 8-bit image using pointer to image \a data, -+ \a width, \a height and \a stride (i.e bytes per line). -+ -+ You can tweak the count of detected features using \a min_trackness, which is -+ the minimum score to add a feature, and \a min_distance which is the minimal -+ distance accepted between two featuress. -+ -+ \note You can binary search over \a min_trackness to get a given feature count. -+ -+ \note a way to get an uniform distribution of a given feature count is: -+ \a min_distance = \a width * \a height / desired_feature_count ^ 2 -+ -+ \return All detected feartures matching given parameters -+*/ -+std::vector<Feature> DetectFAST(const unsigned char* data, int width, int height, -+ int stride, int min_trackness = 128, -+ int min_distance = 120); -+ - /*! - Detect features in an image. - -@@ -63,10 +88,8 @@ struct Feature { - \note \a You can crop the image (to avoid detecting markers near the borders) without copying: - image += marginY*stride+marginX, width -= 2*marginX, height -= 2*marginY; - */ --void Detect(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); -+void DetectMORAVEC(ubyte* image, int stride, int width, int height, Feature* detected, int* count, int distance /*=32*/, ubyte* pattern /*=0*/); - --#ifdef __cplusplus - } --#endif - - #endif diff --git a/extern/libmv/patches/fast.patch b/extern/libmv/patches/fast.patch deleted file mode 100644 index 8e0aeb7e721..00000000000 --- a/extern/libmv/patches/fast.patch +++ /dev/null @@ -1,24 +0,0 @@ -diff --git a/src/third_party/fast/fast.h b/src/third_party/fast/fast.h -index 2b3825a..06fa90e 100644 ---- a/src/third_party/fast/fast.h -+++ b/src/third_party/fast/fast.h -@@ -1,6 +1,10 @@ - #ifndef FAST_H - #define FAST_H - -+#ifdef __cplusplus -+extern "C" { -+#endif -+ - typedef struct { int x, y; } xy; - typedef unsigned char byte; - -@@ -28,4 +32,8 @@ xy* fast12_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b - xy* nonmax_suppression(const xy* corners, const int* scores, int num_corners, int* ret_num_nonmax); - - -+#ifdef __cplusplus -+} -+#endif -+ - #endif diff --git a/extern/libmv/patches/function_derivative.patch b/extern/libmv/patches/function_derivative.patch deleted file mode 100644 index be7ccfc911a..00000000000 --- a/extern/libmv/patches/function_derivative.patch +++ /dev/null @@ -1,21 +0,0 @@ -diff --git a/src/libmv/numeric/function_derivative.h b/src/libmv/numeric/function_derivative.h -index 0075d23..d7bc437 100644 ---- a/src/libmv/numeric/function_derivative.h -+++ b/src/libmv/numeric/function_derivative.h -@@ -24,6 +24,7 @@ - #include <cmath> - - #include "libmv/numeric/numeric.h" -+#include "libmv/logging/logging.h" - - namespace libmv { - -@@ -97,7 +98,7 @@ bool CheckJacobian(const Function &f, const typename Function::XMatrixType &x) { - - typename NumericJacobian<Function>::JMatrixType J_numeric = j_numeric(x); - typename NumericJacobian<Function>::JMatrixType J_analytic = j_analytic(x); -- //LG << J_numeric - J_analytic; -+ LG << J_numeric - J_analytic; - return true; - } - diff --git a/extern/libmv/patches/high_distortion_crash_fix.patch b/extern/libmv/patches/high_distortion_crash_fix.patch deleted file mode 100644 index 54ab66fa27c..00000000000 --- a/extern/libmv/patches/high_distortion_crash_fix.patch +++ /dev/null @@ -1,21 +0,0 @@ -diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc -index 4e88e1f..f9888ff 100644 ---- a/src/libmv/simple_pipeline/camera_intrinsics.cc -+++ b/src/libmv/simple_pipeline/camera_intrinsics.cc -@@ -160,9 +160,13 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) { - if( iy < 0 ) { iy = 0, fy = 0; } - if( ix >= width-2 ) ix = width-2; - if( iy >= height-2 ) iy = height-2; -- //assert( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ); -- Offset offset = { ix-x, iy-y, fx, fy }; -- grid[y*width+x] = offset; -+ if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) { -+ Offset offset = { ix-x, iy-y, fx, fy }; -+ grid[y*width+x] = offset; -+ } else { -+ Offset offset = { 0, 0, 0, 0 }; -+ grid[y*width+x] = offset; -+ } - } - } - } diff --git a/extern/libmv/patches/levenberg_marquardt.patch b/extern/libmv/patches/levenberg_marquardt.patch deleted file mode 100644 index 49ef82d73d2..00000000000 --- a/extern/libmv/patches/levenberg_marquardt.patch +++ /dev/null @@ -1,71 +0,0 @@ -diff --git a/src/libmv/numeric/levenberg_marquardt.h b/src/libmv/numeric/levenberg_marquardt.h -index 6a54f66..4473b72 100644 ---- a/src/libmv/numeric/levenberg_marquardt.h -+++ b/src/libmv/numeric/levenberg_marquardt.h -@@ -33,6 +33,7 @@ - - #include "libmv/numeric/numeric.h" - #include "libmv/numeric/function_derivative.h" -+#include "libmv/logging/logging.h" - - namespace libmv { - -@@ -123,26 +124,40 @@ class LevenbergMarquardt { - Parameters dx, x_new; - int i; - for (i = 0; results.status == RUNNING && i < params.max_iterations; ++i) { -- if (dx.norm() <= params.relative_step_threshold * x.norm()) { -+ VLOG(1) << "iteration: " << i; -+ VLOG(1) << "||f(x)||: " << f_(x).norm(); -+ VLOG(1) << "max(g): " << g.array().abs().maxCoeff(); -+ VLOG(1) << "u: " << u; -+ VLOG(1) << "v: " << v; -+ -+ AMatrixType A_augmented = A + u*AMatrixType::Identity(J.cols(), J.cols()); -+ Solver solver(A_augmented); -+ dx = solver.solve(g); -+ bool solved = (A_augmented * dx).isApprox(g); -+ if (!solved) { -+ LOG(ERROR) << "Failed to solve"; -+ } -+ if (solved && dx.norm() <= params.relative_step_threshold * x.norm()) { - results.status = RELATIVE_STEP_SIZE_TOO_SMALL; - break; -- } -- x_new = x + dx; -- // Rho is the ratio of the actual reduction in error to the reduction -- // in error that would be obtained if the problem was linear. -- // See [1] for details. -- Scalar rho((error.squaredNorm() - f_(x_new).squaredNorm()) -- / dx.dot(u*dx + g)); -- if (rho > 0) { -- // Accept the Gauss-Newton step because the linear model fits well. -- x = x_new; -- results.status = Update(x, params, &J, &A, &error, &g); -- Scalar tmp = Scalar(2*rho-1); -- u = u*std::max(1/3., 1 - (tmp*tmp*tmp)); -- v = 2; -- continue; -- } -- -+ } -+ if (solved) { -+ x_new = x + dx; -+ // Rho is the ratio of the actual reduction in error to the reduction -+ // in error that would be obtained if the problem was linear. -+ // See [1] for details. -+ Scalar rho((error.squaredNorm() - f_(x_new).squaredNorm()) -+ / dx.dot(u*dx + g)); -+ if (rho > 0) { -+ // Accept the Gauss-Newton step because the linear model fits well. -+ x = x_new; -+ results.status = Update(x, params, &J, &A, &error, &g); -+ Scalar tmp = Scalar(2*rho-1); -+ u = u*std::max(1/3., 1 - (tmp*tmp*tmp)); -+ v = 2; -+ continue; -+ } -+ } - // Reject the update because either the normal equations failed to solve - // or the local linear model was not good (rho < 0). Instead, increase u - // to move closer to gradient descent. diff --git a/extern/libmv/patches/mingw.patch b/extern/libmv/patches/mingw.patch deleted file mode 100644 index 029e7d7f979..00000000000 --- a/extern/libmv/patches/mingw.patch +++ /dev/null @@ -1,171 +0,0 @@ -diff --git a/src/libmv/multiview/euclidean_resection.cc b/src/libmv/multiview/euclidean_resection.cc -index 6d918a1..9286251 100644 ---- a/src/libmv/multiview/euclidean_resection.cc -+++ b/src/libmv/multiview/euclidean_resection.cc -@@ -32,6 +32,8 @@ - namespace libmv { - namespace euclidean_resection { - -+typedef unsigned int uint; -+ - bool EuclideanResection(const Mat2X &x_camera, - const Mat3X &X_world, - Mat3 *R, Vec3 *t, -diff --git a/src/libmv/numeric/numeric.h b/src/libmv/numeric/numeric.h -index f39d126..21e0f06 100644 ---- a/src/libmv/numeric/numeric.h -+++ b/src/libmv/numeric/numeric.h -@@ -40,7 +40,7 @@ - } - #endif //_WIN32 || __APPLE__ - --#if _WIN32 -+#if (defined(WIN32) || defined(WIN64)) && !defined(__MINGW32__) - inline long lround(double d) { - return (long)(d>0 ? d+0.5 : ceil(d-0.5)); - } -diff --git a/src/third_party/glog/src/config.h b/src/third_party/glog/src/config.h -index ed8d56e..06ed686 100644 ---- a/src/third_party/glog/src/config.h -+++ b/src/third_party/glog/src/config.h -@@ -4,6 +4,8 @@ - /* Namespace for Google classes */ - #ifdef __APPLE__ - #include "config_mac.h" -+#elif __MINGW32__ -+ #include "windows/config.h" - #elif __GNUC__ - #include "config_linux.h" - #elif _MSC_VER -diff --git a/src/third_party/glog/src/utilities.h b/src/third_party/glog/src/utilities.h -index ee54f94..c4ae256 100644 ---- a/src/third_party/glog/src/utilities.h -+++ b/src/third_party/glog/src/utilities.h -@@ -101,7 +101,9 @@ - // correctly when GetStackTrace() is called with max_depth == 0. - // Some code may do that. - --#if defined(HAVE_LIB_UNWIND) -+#if __MINGW32__ -+# undef STACKTRACE_H -+#elif defined(HAVE_LIB_UNWIND) - # define STACKTRACE_H "stacktrace_libunwind-inl.h" - #elif !defined(NO_FRAME_POINTER) - # if defined(__i386__) && __GNUC__ >= 2 -diff --git a/src/third_party/glog/src/windows/glog/logging.h b/src/third_party/glog/src/windows/glog/logging.h -index 7a6df74..4257375 100755 ---- a/src/third_party/glog/src/windows/glog/logging.h -+++ b/src/third_party/glog/src/windows/glog/logging.h -@@ -59,7 +59,7 @@ - - // Annoying stuff for windows -- makes sure clients can import these functions - #ifndef GOOGLE_GLOG_DLL_DECL --# if defined(_WIN32) && !defined(__CYGWIN__) -+# if defined(_WIN32) && !defined(__CYGWIN__) && !defined(__MINGW32__) - # define GOOGLE_GLOG_DLL_DECL __declspec(dllimport) - # else - # define GOOGLE_GLOG_DLL_DECL -@@ -86,6 +86,15 @@ - #include <gflags/gflags.h> - #endif - -+#ifdef __MINGW32__ -+# include <stdlib.h> -+# include <unistd.h> -+# include <stdint.h> // the normal place uint16_t is defined -+# include <sys/types.h> // the normal place u_int16_t is defined -+# include <inttypes.h> // a third place for uint16_t or u_int16_t -+# define _exit(x) exit(x) -+#endif -+ - namespace google { - - #if 0 // the C99 format -@@ -98,11 +107,16 @@ typedef int32_t int32; - typedef u_int32_t uint32; - typedef int64_t int64; - typedef u_int64_t uint64; --#elif 1 // the windows (vc7) format -+#elif defined(_MSC_VER) - typedef __int32 int32; - typedef unsigned __int32 uint32; - typedef __int64 int64; - typedef unsigned __int64 uint64; -+#elif defined(__MINGW32__) -+typedef int32_t int32; -+typedef uint32_t uint32; -+typedef int64_t int64; -+typedef uint64_t uint64; - #else - #error Do not know how to define a 32-bit integer quantity on your system - #endif -diff --git a/src/third_party/glog/src/windows/port.h b/src/third_party/glog/src/windows/port.h -index d093bf5..d507812 100755 ---- a/src/third_party/glog/src/windows/port.h -+++ b/src/third_party/glog/src/windows/port.h -@@ -59,14 +59,16 @@ - * used by both C and C++ code, so we put all the C++ together. - */ - --/* 4244: otherwise we get problems when substracting two size_t's to an int -- * 4251: it's complaining about a private struct I've chosen not to dllexport -- * 4355: we use this in a constructor, but we do it safely -- * 4715: for some reason VC++ stopped realizing you can't return after abort() -- * 4800: we know we're casting ints/char*'s to bools, and we're ok with that -- * 4996: Yes, we're ok using "unsafe" functions like fopen() and strerror() -- */ --#pragma warning(disable:4244 4251 4355 4715 4800 4996) -+#if _MSC_VER -+ /* 4244: otherwise we get problems when substracting two size_t's to an int -+ * 4251: it's complaining about a private struct I've chosen not to dllexport -+ * 4355: we use this in a constructor, but we do it safely -+ * 4715: for some reason VC++ stopped realizing you can't return after abort() -+ * 4800: we know we're casting ints/char*'s to bools, and we're ok with that -+ * 4996: Yes, we're ok using "unsafe" functions like fopen() and strerror() -+ */ -+# pragma warning(disable:4244 4251 4355 4715 4800 4996) -+#endif - - /* file I/O */ - #define PATH_MAX 1024 -@@ -108,7 +110,9 @@ extern int snprintf(char *str, size_t size, - extern int safe_vsnprintf(char *str, size_t size, - const char *format, va_list ap); - #define vsnprintf(str, size, format, ap) safe_vsnprintf(str, size, format, ap) -+#if !defined(__MINGW32__) - #define va_copy(dst, src) (dst) = (src) -+#endif - - /* Windows doesn't support specifying the number of buckets as a - * hash_map constructor arg, so we leave this blank. -@@ -130,13 +134,30 @@ enum { PTHREAD_ONCE_INIT = 0 }; // important that this be 0! for SpinLock - #define pthread_equal(pthread_t_1, pthread_t_2) ((pthread_t_1)==(pthread_t_2)) - - inline struct tm* localtime_r(const time_t* timep, struct tm* result) { -+#if __MINGW32__ -+ struct tm *local_result; -+ local_result = localtime (timep); -+ -+ if (local_result == NULL || result == NULL) -+ return NULL; -+ -+ memcpy (result, local_result, sizeof (result)); -+ -+ return result; -+#else - localtime_s(result, timep); - return result; -+#endif - } - - inline char* strerror_r(int errnum, char* buf, size_t buflen) { -+#if __MINGW32__ -+ strncpy(buf, "Not implemented yet", buflen); -+ return buf; -+#else - strerror_s(buf, buflen, errnum); - return buf; -+#endif - } - - #ifndef __cplusplus diff --git a/extern/libmv/patches/msvc2010.patch b/extern/libmv/patches/msvc2010.patch deleted file mode 100644 index c090b070628..00000000000 --- a/extern/libmv/patches/msvc2010.patch +++ /dev/null @@ -1,12 +0,0 @@ -diff --git a/src/libmv/simple_pipeline/tracks.cc b/src/libmv/simple_pipeline/tracks.cc -index 0e2a1b6..3fb8ddb 100644 ---- a/src/libmv/simple_pipeline/tracks.cc -+++ b/src/libmv/simple_pipeline/tracks.cc -@@ -20,6 +20,7 @@ - - #include <algorithm> - #include <vector> -+#include <iterator> - - #include "libmv/numeric/numeric.h" - #include "libmv/simple_pipeline/tracks.h" diff --git a/extern/libmv/patches/overscan.patch b/extern/libmv/patches/overscan.patch deleted file mode 100644 index c68f36804ec..00000000000 --- a/extern/libmv/patches/overscan.patch +++ /dev/null @@ -1,182 +0,0 @@ -diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc -index 110a16d..366129d 100644 ---- a/src/libmv/simple_pipeline/camera_intrinsics.cc -+++ b/src/libmv/simple_pipeline/camera_intrinsics.cc -@@ -31,6 +31,7 @@ struct Offset { - struct Grid { - struct Offset *offset; - int width, height; -+ double overscan; - }; - - static struct Grid *copyGrid(struct Grid *from) -@@ -42,6 +43,7 @@ static struct Grid *copyGrid(struct Grid *from) - - to->width = from->width; - to->height = from->height; -+ to->overscan = from->overscan; - - to->offset = new Offset[to->width*to->height]; - memcpy(to->offset, from->offset, sizeof(struct Offset)*to->width*to->height); -@@ -184,17 +186,19 @@ void CameraIntrinsics::InvertIntrinsics(double image_x, - - // TODO(MatthiasF): downsample lookup - template<typename WarpFunction> --void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height) { -- double aspx = (double)width / image_width_; -- double aspy = (double)height / image_height_; -+void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height, double overscan) { -+ double w = (double)width / (1 + overscan); -+ double h = (double)height / (1 + overscan); -+ double aspx = (double)w / image_width_; -+ double aspy = (double)h / image_height_; - - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { -- double src_x = x / aspx, src_y = y / aspy; -+ double src_x = (x - 0.5 * overscan * w) / aspx, src_y = (y - 0.5 * overscan * h) / aspy; - double warp_x, warp_y; - WarpFunction(this,src_x,src_y,&warp_x,&warp_y); -- warp_x = warp_x*aspx; -- warp_y = warp_y*aspy; -+ warp_x = warp_x*aspx + 0.5 * overscan * w; -+ warp_y = warp_y*aspy + 0.5 * overscan * h; - int ix = int(warp_x), iy = int(warp_y); - int fx = round((warp_x-ix)*256), fy = round((warp_y-iy)*256); - if(fx == 256) { fx=0; ix++; } -@@ -264,10 +268,10 @@ struct InvertIntrinsicsFunction { - } - }; - --void CameraIntrinsics::CheckDistortLookupGrid(int width, int height) -+void CameraIntrinsics::CheckDistortLookupGrid(int width, int height, double overscan) - { - if(distort_) { -- if(distort_->width != width || distort_->height != height) { -+ if(distort_->width != width || distort_->height != height || distort_->overscan != overscan) { - delete [] distort_->offset; - distort_->offset = NULL; - } -@@ -278,17 +282,18 @@ void CameraIntrinsics::CheckDistortLookupGrid(int width, int height) - - if(!distort_->offset) { - distort_->offset = new Offset[width*height]; -- ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height); -+ ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height,overscan); - } - - distort_->width = width; - distort_->height = height; -+ distort_->overscan = overscan; - } - --void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height) -+void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height, double overscan) - { - if(undistort_) { -- if(undistort_->width != width || undistort_->height != height) { -+ if(undistort_->width != width || undistort_->height != height || undistort_->overscan != overscan) { - delete [] undistort_->offset; - undistort_->offset = NULL; - } -@@ -299,15 +304,16 @@ void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height) - - if(!undistort_->offset) { - undistort_->offset = new Offset[width*height]; -- ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height); -+ ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height,overscan); - } - - undistort_->width = width; - undistort_->height = height; -+ undistort_->overscan = overscan; - } - --void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) { -- CheckDistortLookupGrid(width, height); -+void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, double overscan, int channels) { -+ CheckDistortLookupGrid(width, height, overscan); - if(channels==1) Warp<float,1>(distort_,src,dst,width,height); - else if(channels==2) Warp<float,2>(distort_,src,dst,width,height); - else if(channels==3) Warp<float,3>(distort_,src,dst,width,height); -@@ -315,8 +321,8 @@ void CameraIntrinsics::Distort(const float* src, float* dst, int width, int heig - //else assert("channels must be between 1 and 4"); - } - --void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) { -- CheckDistortLookupGrid(width, height); -+void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) { -+ CheckDistortLookupGrid(width, height, overscan); - if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height); - else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height); - else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height); -@@ -324,8 +330,8 @@ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int - //else assert("channels must be between 1 and 4"); - } - --void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, int channels) { -- CheckUndistortLookupGrid(width, height); -+void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, double overscan, int channels) { -+ CheckUndistortLookupGrid(width, height, overscan); - if(channels==1) Warp<float,1>(undistort_,src,dst,width,height); - else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height); - else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height); -@@ -333,8 +339,8 @@ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int he - //else assert("channels must be between 1 and 4"); - } - --void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) { -- CheckUndistortLookupGrid(width, height); -+void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, double overscan, int channels) { -+ CheckUndistortLookupGrid(width, height, overscan); - if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height); - else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height); - else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height); -diff --git a/src/libmv/simple_pipeline/camera_intrinsics.h b/src/libmv/simple_pipeline/camera_intrinsics.h -index f525571..f4bf903 100644 ---- a/src/libmv/simple_pipeline/camera_intrinsics.h -+++ b/src/libmv/simple_pipeline/camera_intrinsics.h -@@ -91,7 +91,7 @@ class CameraIntrinsics { - \note This is the reference implementation using floating point images. - */ - void Distort(const float* src, float* dst, -- int width, int height, int channels); -+ int width, int height, double overscan, int channels); - /*! - Distort an image using the current camera instrinsics - -@@ -101,7 +101,7 @@ class CameraIntrinsics { - \note This version is much faster. - */ - void Distort(const unsigned char* src, unsigned char* dst, -- int width, int height, int channels); -+ int width, int height, double overscan, int channels); - /*! - Undistort an image using the current camera instrinsics - -@@ -111,7 +111,7 @@ class CameraIntrinsics { - \note This is the reference implementation using floating point images. - */ - void Undistort(const float* src, float* dst, -- int width, int height, int channels); -+ int width, int height, double overscan, int channels); - /*! - Undistort an image using the current camera instrinsics - -@@ -121,12 +121,12 @@ class CameraIntrinsics { - \note This version is much faster. - */ - void Undistort(const unsigned char* src, unsigned char* dst, -- int width, int height, int channels); -+ int width, int height, double overscan, int channels); - - private: -- template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height); -- void CheckUndistortLookupGrid(int width, int height); -- void CheckDistortLookupGrid(int width, int height); -+ template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height, double overscan); -+ void CheckUndistortLookupGrid(int width, int height, double overscan); -+ void CheckDistortLookupGrid(int width, int height, double overscan); - void FreeLookupGrid(); - - // The traditional intrinsics matrix from x = K[R|t]X. diff --git a/extern/libmv/patches/scaled_distortion.patch b/extern/libmv/patches/scaled_distortion.patch deleted file mode 100644 index 2da832931d1..00000000000 --- a/extern/libmv/patches/scaled_distortion.patch +++ /dev/null @@ -1,261 +0,0 @@ -diff --git a/src/libmv/simple_pipeline/camera_intrinsics.cc b/src/libmv/simple_pipeline/camera_intrinsics.cc -index f9888ff..110a16d 100644 ---- a/src/libmv/simple_pipeline/camera_intrinsics.cc -+++ b/src/libmv/simple_pipeline/camera_intrinsics.cc -@@ -23,7 +23,32 @@ - - namespace libmv { - --struct Offset { signed char ix,iy; unsigned char fx,fy; }; -+struct Offset { -+ signed char ix, iy; -+ unsigned char fx,fy; -+}; -+ -+struct Grid { -+ struct Offset *offset; -+ int width, height; -+}; -+ -+static struct Grid *copyGrid(struct Grid *from) -+{ -+ struct Grid *to = NULL; -+ -+ if (from) { -+ to = new Grid; -+ -+ to->width = from->width; -+ to->height = from->height; -+ -+ to->offset = new Offset[to->width*to->height]; -+ memcpy(to->offset, from->offset, sizeof(struct Offset)*to->width*to->height); -+ } -+ -+ return to; -+} - - CameraIntrinsics::CameraIntrinsics() - : K_(Mat3::Identity()), -@@ -37,9 +62,22 @@ CameraIntrinsics::CameraIntrinsics() - distort_(0), - undistort_(0) {} - -+CameraIntrinsics::CameraIntrinsics(const CameraIntrinsics &from) -+ : K_(from.K_), -+ image_width_(from.image_width_), -+ image_height_(from.image_height_), -+ k1_(from.k1_), -+ k2_(from.k2_), -+ k3_(from.k3_), -+ p1_(from.p1_), -+ p2_(from.p2_) -+{ -+ distort_ = copyGrid(from.distort_); -+ undistort_ = copyGrid(from.undistort_); -+} -+ - CameraIntrinsics::~CameraIntrinsics() { -- if(distort_) delete[] distort_; -- if(undistort_) delete[] undistort_; -+ FreeLookupGrid(); - } - - /// Set the entire calibration matrix at once. -@@ -146,11 +184,17 @@ void CameraIntrinsics::InvertIntrinsics(double image_x, - - // TODO(MatthiasF): downsample lookup - template<typename WarpFunction> --void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) { -+void CameraIntrinsics::ComputeLookupGrid(Grid* grid, int width, int height) { -+ double aspx = (double)width / image_width_; -+ double aspy = (double)height / image_height_; -+ - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { -+ double src_x = x / aspx, src_y = y / aspy; - double warp_x, warp_y; -- WarpFunction(this,x,y,&warp_x,&warp_y); -+ WarpFunction(this,src_x,src_y,&warp_x,&warp_y); -+ warp_x = warp_x*aspx; -+ warp_y = warp_y*aspy; - int ix = int(warp_x), iy = int(warp_y); - int fx = round((warp_x-ix)*256), fy = round((warp_y-iy)*256); - if(fx == 256) { fx=0; ix++; } -@@ -162,10 +206,10 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) { - if( iy >= height-2 ) iy = height-2; - if ( ix-x > -128 && ix-x < 128 && iy-y > -128 && iy-y < 128 ) { - Offset offset = { ix-x, iy-y, fx, fy }; -- grid[y*width+x] = offset; -+ grid->offset[y*width+x] = offset; - } else { - Offset offset = { 0, 0, 0, 0 }; -- grid[y*width+x] = offset; -+ grid->offset[y*width+x] = offset; - } - } - } -@@ -173,11 +217,11 @@ void CameraIntrinsics::ComputeLookupGrid(Offset* grid, int width, int height) { - - // TODO(MatthiasF): cubic B-Spline image sampling, bilinear lookup - template<typename T,int N> --static void Warp(const Offset* grid, const T* src, T* dst, -+static void Warp(const Grid* grid, const T* src, T* dst, - int width, int height) { - for (int y = 0; y < height; y++) { - for (int x = 0; x < width; x++) { -- Offset offset = grid[y*width+x]; -+ Offset offset = grid->offset[y*width+x]; - const T* s = &src[((y+offset.iy)*width+(x+offset.ix))*N]; - for (int i = 0; i < N; i++) { - dst[(y*width+x)*N+i] = ((s[ i] * (256-offset.fx) + s[ N+i] * offset.fx) * (256-offset.fy) -@@ -188,8 +232,17 @@ static void Warp(const Offset* grid, const T* src, T* dst, - } - - void CameraIntrinsics::FreeLookupGrid() { -- if(distort_) delete distort_, distort_=0; -- if(undistort_) delete undistort_, undistort_=0; -+ if(distort_) { -+ delete distort_->offset; -+ delete distort_; -+ distort_ = NULL; -+ } -+ -+ if(undistort_) { -+ delete undistort_->offset; -+ delete undistort_; -+ undistort_ = NULL; -+ } - } - - // FIXME: C++ templates limitations makes thing complicated, but maybe there is a simpler method. -@@ -211,11 +264,50 @@ struct InvertIntrinsicsFunction { - } - }; - --void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) { -- if(!distort_) { -- distort_ = new Offset[width*height]; -- ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height); -+void CameraIntrinsics::CheckDistortLookupGrid(int width, int height) -+{ -+ if(distort_) { -+ if(distort_->width != width || distort_->height != height) { -+ delete [] distort_->offset; -+ distort_->offset = NULL; -+ } -+ } else { -+ distort_ = new Grid; -+ distort_->offset = NULL; -+ } -+ -+ if(!distort_->offset) { -+ distort_->offset = new Offset[width*height]; -+ ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height); - } -+ -+ distort_->width = width; -+ distort_->height = height; -+} -+ -+void CameraIntrinsics::CheckUndistortLookupGrid(int width, int height) -+{ -+ if(undistort_) { -+ if(undistort_->width != width || undistort_->height != height) { -+ delete [] undistort_->offset; -+ undistort_->offset = NULL; -+ } -+ } else { -+ undistort_ = new Grid; -+ undistort_->offset = NULL; -+ } -+ -+ if(!undistort_->offset) { -+ undistort_->offset = new Offset[width*height]; -+ ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height); -+ } -+ -+ undistort_->width = width; -+ undistort_->height = height; -+} -+ -+void CameraIntrinsics::Distort(const float* src, float* dst, int width, int height, int channels) { -+ CheckDistortLookupGrid(width, height); - if(channels==1) Warp<float,1>(distort_,src,dst,width,height); - else if(channels==2) Warp<float,2>(distort_,src,dst,width,height); - else if(channels==3) Warp<float,3>(distort_,src,dst,width,height); -@@ -224,10 +316,7 @@ void CameraIntrinsics::Distort(const float* src, float* dst, int width, int heig - } - - void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) { -- if(!distort_) { -- distort_ = new Offset[width*height]; -- ComputeLookupGrid<InvertIntrinsicsFunction>(distort_,width,height); -- } -+ CheckDistortLookupGrid(width, height); - if(channels==1) Warp<unsigned char,1>(distort_,src,dst,width,height); - else if(channels==2) Warp<unsigned char,2>(distort_,src,dst,width,height); - else if(channels==3) Warp<unsigned char,3>(distort_,src,dst,width,height); -@@ -236,10 +325,7 @@ void CameraIntrinsics::Distort(const unsigned char* src, unsigned char* dst, int - } - - void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int height, int channels) { -- if(!undistort_) { -- undistort_ = new Offset[width*height]; -- ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height); -- } -+ CheckUndistortLookupGrid(width, height); - if(channels==1) Warp<float,1>(undistort_,src,dst,width,height); - else if(channels==2) Warp<float,2>(undistort_,src,dst,width,height); - else if(channels==3) Warp<float,3>(undistort_,src,dst,width,height); -@@ -248,10 +334,7 @@ void CameraIntrinsics::Undistort(const float* src, float* dst, int width, int he - } - - void CameraIntrinsics::Undistort(const unsigned char* src, unsigned char* dst, int width, int height, int channels) { -- if(!undistort_) { -- undistort_ = new Offset[width*height]; -- ComputeLookupGrid<ApplyIntrinsicsFunction>(undistort_,width,height); -- } -+ CheckUndistortLookupGrid(width, height); - if(channels==1) Warp<unsigned char,1>(undistort_,src,dst,width,height); - else if(channels==2) Warp<unsigned char,2>(undistort_,src,dst,width,height); - else if(channels==3) Warp<unsigned char,3>(undistort_,src,dst,width,height); -diff --git a/src/libmv/simple_pipeline/camera_intrinsics.h b/src/libmv/simple_pipeline/camera_intrinsics.h -index 29bc8a1..f525571 100644 ---- a/src/libmv/simple_pipeline/camera_intrinsics.h -+++ b/src/libmv/simple_pipeline/camera_intrinsics.h -@@ -26,11 +26,12 @@ typedef Eigen::Matrix<double, 3, 3> Mat3; - - namespace libmv { - --struct Offset; -+struct Grid; - - class CameraIntrinsics { - public: - CameraIntrinsics(); -+ CameraIntrinsics(const CameraIntrinsics &from); - ~CameraIntrinsics(); - - const Mat3 &K() const { return K_; } -@@ -123,7 +124,9 @@ class CameraIntrinsics { - int width, int height, int channels); - - private: -- template<typename WarpFunction> void ComputeLookupGrid(Offset* grid, int width, int height); -+ template<typename WarpFunction> void ComputeLookupGrid(struct Grid* grid, int width, int height); -+ void CheckUndistortLookupGrid(int width, int height); -+ void CheckDistortLookupGrid(int width, int height); - void FreeLookupGrid(); - - // The traditional intrinsics matrix from x = K[R|t]X. -@@ -140,8 +143,8 @@ class CameraIntrinsics { - // independent of image size. - double k1_, k2_, k3_, p1_, p2_; - -- Offset* distort_; -- Offset* undistort_; -+ struct Grid *distort_; -+ struct Grid *undistort_; - }; - - } // namespace libmv diff --git a/extern/libmv/patches/series b/extern/libmv/patches/series index 00a52c1cfaa..ca671122a61 100644 --- a/extern/libmv/patches/series +++ b/extern/libmv/patches/series @@ -1,13 +1,2 @@ v3d_verbosity.patch -snrptinf_fix.patch bundle_tweaks.patch -fast.patch -config_mac.patch -levenberg_marquardt.patch -function_derivative.patch -high_distortion_crash_fix.patch -mingw.patch -msvc2010.patch -scaled_distortion.patch -overscan.patch -detect.patch diff --git a/extern/libmv/patches/snrptinf_fix.patch b/extern/libmv/patches/snrptinf_fix.patch deleted file mode 100644 index e886a671de0..00000000000 --- a/extern/libmv/patches/snrptinf_fix.patch +++ /dev/null @@ -1,15 +0,0 @@ -diff --git a/src/libmv/simple_pipeline/pipeline.cc b/src/libmv/simple_pipeline/pipeline.cc -index 652d70c..25cd2c2 100644 ---- a/src/libmv/simple_pipeline/pipeline.cc -+++ b/src/libmv/simple_pipeline/pipeline.cc -@@ -28,6 +28,10 @@ - #include "libmv/simple_pipeline/tracks.h" - #include "libmv/simple_pipeline/camera_intrinsics.h" - -+#ifdef _MSC_VER -+# define snprintf _snprintf -+#endif -+ - namespace libmv { - - void CompleteReconstruction(const Tracks &tracks, diff --git a/extern/libmv/patches/v3d_verbosity.patch b/extern/libmv/patches/v3d_verbosity.patch index a54f3dc44be..f5c6afbd0b5 100644 --- a/extern/libmv/patches/v3d_verbosity.patch +++ b/extern/libmv/patches/v3d_verbosity.patch @@ -1,12 +1,12 @@ diff --git a/src/libmv/simple_pipeline/bundle.cc b/src/libmv/simple_pipeline/bundle.cc -index 310660d..f819603 100644 +index fa0b6cc..d382cd5 100644 --- a/src/libmv/simple_pipeline/bundle.cc +++ b/src/libmv/simple_pipeline/bundle.cc -@@ -141,7 +141,6 @@ void Bundle(const Tracks &tracks, Reconstruction *reconstruction) { - v3d_distortion.p2 = 0; +@@ -194,7 +194,6 @@ void EuclideanBundleCommonIntrinsics(const Tracks &tracks, + double v3d_inlier_threshold = 500000.0; // Finally, run the bundle adjustment. - V3D::optimizerVerbosenessLevel = 1; - double const inlierThreshold = 500000.0; - V3D::CommonInternalsMetricBundleOptimizer opt(V3D::FULL_BUNDLE_METRIC, - inlierThreshold, + V3D::CommonInternalsMetricBundleOptimizer opt(v3d_bundle_intrinsics, + v3d_inlier_threshold, + v3d_K, |