path: root/extern/libmv/ChangeLog

commit f003b9e3031db4592c2d91b1ea2538c73b7e767d
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sun May 12 22:34:54 2013 +0600

    Cleanup in simple pipeline's bundler
    
    - Better match Google's code style conventions.
    - Move evaluation part into own function, makes
      bundling itself easier to follow.
    - Made evaluation an optional parameter.
    - Removed note about unsupported camera intrinsics
      refining flags. Technically, all combinations
      are possible.

commit f0e68f69e5c5f0fd82334246d382e59f1eb20164
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sun May 12 22:19:31 2013 +0600

    Remove check for zero focal length in BA cost functor
    
    This check is actually redundant, because empty intrinsics
    will have focal length of 1.0, which means original comment
    about BundleIntrinsics was not truth.
    
    It is possible that external user will send focal length of
    zero to be refined, but blender prevents this from happening.

commit 7ed5e4da65d2c0df63a08b1e1f4b4de1855f1bf0
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat May 11 20:33:54 2013 +0600

    Fix compilation error with msvc2012
    
    Using change from glog's upstream for this.

commit 7e162266f96abc25d80e2352cd77f21ed93593b7
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat May 11 19:50:57 2013 +0600

    Style cleanup, mainly pointed by Sameer in Ceres's codereview

commit 42da053c6410b4f3fb13798c7e9c5f4a861b6825
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri May 10 18:30:40 2013 +0600

    Keyframe selection improvements
    
    Added additional criteria, which ignores
    keyframe pair if success intersection factor
    is lower than current candidate pair factor.
    
    This solves issue with keyframe pair at which
    most of the tracks are intersecting behind the
    camera is accepted (because variance in this
    case is really small),
    
    Also tweaked generalized inverse function,
    which now doesn't scale epsilon by maximal
    matrix element. This gave issues at really bad
    candidates with unstable covariance. In this
    case almost all eigen values getting zeroed
    on inverse leading to small expected error.

commit f3eb090f7240f86799099fe86ce9386eb2bd3007
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri May 10 17:59:40 2013 +0600

    Keyframe selection code cleanup
    
    - Updated comments in code.
    - Removed currently unused functions.
      Actually, they'd better be moved to some generic
      logging module, but we don't have it now so was
      lazy to create one now. Could happen later using
      code from git history
    - Renamed function to match better to what's going
      on in it.

commit b917b48bd877eedd17dec907cacf0b27a36e717d
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri May 10 17:44:49 2013 +0600

    Optimization for reconstruction variance
    
    Achieved by replacing SVD-based pseudo-inverse with
    an eigen solver pseudo inverse.
    
    New function works in the same way: it decomposes
    matrix to V*D*V^-1, then inverts diagonal of D
    and composes matrix back.
    
    The same way is used to deal with gauges - last
    7 eigen values are getting zeroed.
    
    In own tests gives approx 2x boost, without
    visible affect on selected keyframe quality.

commit 041b4b54fff66311347a307a5922c2516c76ee44
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Thu Mar 14 14:53:42 2013 +0600

    Initial commit of reconstruction variance criteria
    which is an addition for GRIC-based keyframe selection.
    
    Uses paper Keyframe Selection for Camera Motion and Structure
    Estimation from Multiple Views,
    ftp://ftp.tnt.uni-hannover.de/pub/papers/2004/ECCV2004-TTHBAW.pdf
    as a basis.
    
    Currently implemented camera positions reconstructions,
    bundle positions estimation and bundle adjustment step.
    
    Covariance matrix is estimating using generalized inverse
    with 7 (by the number of gauge freedoms) zeroed eigen values
    of J^T * J.
    
    Additional changes:
    - Added utility function FundamentalToEssential to extract
      E from F matrix, used by both final reconstruction pipeline
      and reconstruction variance code.
    
    - Refactored bundler a bit, so now it's possible to return
      different evaluation data, such as number of cameras and
      points being minimized and also jacobian.
    
      Jacobian currently contains only camera and points columns,
      no intrinsics there yet. It is also currently converting to
      an Eigen dense matrix. A bit weak, but speed is nice for
      tests.
    
      Columns in jacobian are ordered in the following way:
      first columns are cameras (3 cols for rotation and 3 cols
      for translation), then goes 3D point columns.
    
    - Switched F and H refining to normalized space. Apparently,
      refining F in pixel space squeezes it a lot making it wrong.
    
    - EuclideanIntersect will not add point to reconstruction if
      it happened to be behind the camera.
    
    - Cleaned style a bit.

commit 94c4654f1145f86779bd0a7e8cda1fd2c751d27d
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri May 10 13:27:21 2013 +0600

    Left extra debugging print in reconstruction scale by accident.

commit 3886b488575ec5e79debce7b9f2e9824f5297c0f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri May 10 12:23:03 2013 +0600

    Add check for points behind camera in euclidan BA cost functor
    
    In cases keyframes are no so good, algebraic two frames construction
    could produce result, for which more aggressive Ceres-based BA code
    will fall to a solution for which points goes behind the camera,
    which is not so nice.
    
    Seems in newer Ceres returning false from cost functor wouldn't
    abort solution, but will restrict solver from moving points behind
    the camera.
    
    Works fine in own tests, but requires more tests.

commit a5699d7dbe126024673f51aaa570f9f244f8da2f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Apr 24 22:06:38 2013 +0600

    Forgot to add reconstruction scale to CMakeLists

commit 2b7d2b44e6446bbcc23038f5dbb824feca888069
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Apr 24 19:40:39 2013 +0600

    Reconstructed scene scale ambiguity improvement
    
    Added a function EuclideanScaleToUnity() which is
    aimed to solve scale ambiguity by scaling solution
    in a way cameras centers variance in unity.
    
    Currently only available for euclidean pipeline,
    projective one is not finished anyway.

commit ed1f650576dc6f5b648a026a2861c54827b0f5c9
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Apr 23 01:41:29 2013 +0600

    Use epsilon in modal solver test
    
    Default epsilon for isApprox was too small,
    leading to some false test failures.

commit c44679a9a0fafdde6a0a22e7e5c8496fc9c93cd0
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Apr 23 01:35:56 2013 +0600

    Update Ceres to current HEAD
    
    Brings optimization for DENSE_NORMAL_CHOLESKY and
    also fixes threading issues with BLAS.

commit 03cbc88ce7f51aa26ba503acea2e984bcb78873c
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Apr 15 05:35:33 2013 +0600

    Fix for bundle adjusting with motion restricted
    
    Was a bug introduced in previous commit, which
    was trying to set parameterization for non-existing
    camera->t parameter block.
    
    Replaced with subset parameterization.
    
    Also added basic synthetic unit test for modal solver.

commit c78a68f980e778d40ce836fa1d7471cb7264d4a0
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Apr 8 23:33:20 2013 +0600

     Bundle adjustment improvements
    
    - Get rid of rotation matrix parameterization,
      use angle-axis instead.
    
      Also Joined rotation and translation into
      a single parameter block.
    
      This made minimization go significantly faster,
      like 1.3x times in average.
    
    - Fix first camera when bundling. This is to
      address orientation ambiguity.
    
      Reconstruction result could still vary in
      size, but that's another issue to be addressed
      later.
    
    Additional change:
    
    Split EuclideanBundleCommonIntrinsics into
    smaller functions, so it's now a bit easier
    to follow.

commit 28c7566629c2cf5b03a787c9509856e87472eb2f
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Apr 8 23:31:57 2013 +0600

    Update Ceres to current HEAD
    
    Brings up some noticeable speed improvements. In particular
    the automatic differentiation and bundle adjustment solvers.

commit efde9faa21e70b031d3cbcb2dcdcd38e597bf56e
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Apr 8 02:21:26 2013 +0600

    Corrected path to gflags
    
    Currently tools/track.cc is not used, but let's
    keep things a bit more up-to-date :)

commit f8b5ea196fb00ab07d577e9738a60cdd1de16509
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Apr 8 02:17:16 2013 +0600

    Re-enable tests for multiview and image
    
    For as long code is in repo and used by some tools
    better to have it covered by tests.
    
    Some of them are failing tho, but that's completely
    different story to be addressed later.

commit d2a7ee60a5845738f76b88bfc373eefc2cc8501a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Mon Apr 8 02:10:07 2013 +0600

    Do not modify cache's CMAKE_CXX_FLAGS_RELEASE when configuring Ceres
    
    Otherwise you'll have infinite appending of Ceres-specific flags
    on every saving of any CmakeLists.txt.

commit 45edb507bf46194dd55b7fc46a7d90ee3853834d
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sun Apr 7 21:53:23 2013 +0600

    Fixed compilation with BUILD_TOOLS enabled
    
    This commit mainly reverts parts of following commits:
        0eebc21db831211738acc938566bbc29d68d45db
        d8109b7a4fede1660e0dbd73735f1a9e3fd79eec
        e59595806c045916ab4ef15ef7047c1a728b2da9
        2d6cd58ee1cd7c5073980f358c71b2898ad16b4c
    
    They declared  lots of stuff deprecated, but in
    fact it's not deprecated just a bit different
    usage pipeline. Anyway, deprecation shall not
    happen spontaneously as a part of other changes.
    And for sure shall not break anything.

commit 7a9c83d3ccaa2f0015f88b9156d7662c46244b4a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat Apr 6 20:49:05 2013 +0600

    Revert "Change libmv's bilinear sampling to assume the same"
    
    Revert changes to bilinear sampler which were originally
    aimed to match blender's pixel center (where integer coord
    is a left-bottom corner, x.5 coords are centers.
    
    The reason of revert is changing this assumption in only
    sampler didn't work well and lead to wrong results of
    BlurredImageAndDerivativesChannels for example.
    
    Discovered when was doing unit-tests for brute region tracker.
    
    This reverts commit daa354c0735b954b0cd7725626e9a3d67416d46b.

commit 15f3bb00340933ce753a1a55e9cde9383352e259
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat Apr 6 18:37:37 2013 +0600

    Added basic test for brute region tracker
    
    It is failing at this moment and this is caused because
    of how SampleLinear works - seems it's assumption about
    pixel center is not correct for internal sampling.

commit 1146602972c07e99a9e4ab37d35ac83aec490e60
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat Apr 6 16:54:08 2013 +0600

    Tweak to KLT region tracker test
    
    KLT is usually used to track relatively small
    motions, and in this case motion almost equals
    to half window size. This confuses math and
    leads to not so much expected result.
    
    Further, not actually sure this is nice idea
    to use KLT in such synthetic case.

commit 1e22cbcac480863b6b5abc5c85f23dc70748933a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat Apr 6 16:40:59 2013 +0600

    Pyramid tracker unit test fix
    
    Issue was caused by trackers modifying guessed
    point location even in case of failure. So made
    id so both level 0 and level 3 of pyramid are
    starting from the same initial guessed location.
    
    Modifying locations in case tracker returns false
    is not actually a bug - someone could still want
    to use that location. False in this case  means
    more like "returned location is not so much
    accurate".

commit 3ad5e0efa071f202ee7c2034d70dd97aa62b13aa
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat Apr 6 00:38:40 2013 +0600

    Intersect unit test fix
    
    EuclideanIntersect is not aware of camera calibration
    matrix yet and always assumes it to be an identity.
    
    So using non-identity matrix to construct sample case
    leads to wrong projection results.
    
    For now made it so test case uses identity matrix for
    calibration.
    
    Also fixed variable shadowing which lead to wrong
    markers positions (were either zero or undefined).

commit 3a153c2b65f38653a36c36975018f68d42d60670
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Sat Apr 6 00:12:12 2013 +0600

    Camera intrinsics unit tests fixes
    
    - Existing test ApplyIsInvertibleSimple was not
      doing right thing - distortion model used there
      was ininvertible.
    
      Tweaked parameters in a way model is invertible now.
    
    - Added some own tests which tests;
    
      * Principal point always maps from pixel space to
        zero normalized position.
    
      * Some basic tests to check whether individual
        apply/invert works correct.

commit e3b2bccba6145290738a6677c14f7369ec7a38cd
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Thu Apr 4 02:59:58 2013 +0600

    Suppress strict compiler warnings in glags/glog libraries

commit 5fca459adcf0a3419fa9cd8d983dc2c952d02647
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Thu Apr 4 01:20:18 2013 +0600

    Lint cleanup, mostly white space and line width.
    
    Also moved own includes to the top of files.
    
    Should be no functional changes :)

commit 9a9dd458a622928b91dbd3c79900577923283838
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri Mar 29 00:20:29 2013 +0600

    Fix for TransformTracks in uncalibrated pipeline
    
    Transformation matrix was completely ignored by
    TransformTracks() and final marker coordinate
    exactly matched it's source coordinates.
    
    Seems to be just a typo in vector usage: need to
    use "b" (which is transformed one) instead of "a"
    when converting projective coordinate to 2D space.

commit d35766cc9901609e32f4d80faba715695bea3c40
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri Mar 29 00:19:11 2013 +0600

    Revert part of e2eb58c4230f94ef0c72fb4005e5434088d52e80
    
    That commit included one change which shall have been
    go as separate commit with more detailed description.

commit e8d71b4e96fd78eb60773b6557d66da672e65753
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Mar 27 20:37:05 2013 +0600

    Silenced more warnings
    
    - Added includes of own header to fast implementation files.
    
    - Camera intrinsics wouldn't complain about unknown pragma when
      building without OpenMP support.
    
    TODO: Make it a CMake option to build libmv with OpenMP support.
    	  Currently multi-threaded intrinsics only available when
          using custom CMake rules for bundled libmv version
          (as it's done in Blender).

commit ad442812654f270dc088394410fda1b81b8dc450
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Mar 27 20:18:51 2013 +0600

    Multithreaded camera intrinsics
    
    Implemented multithreaded buffer (un)distortion
    for camera intrinsics using OpenMP.
    
    By default, (un)distortion is single-threaded,
    but it is possible to as CameraIntrinsics to
    use more threads by calling SetThreads method.

commit c88b4881096174a16a9f9e6fc2c9dcad3e255b25
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Mar 27 18:45:09 2013 +0600

    Movie functions implementation from panography header
    into own CC implementation file.
    
    Before this all panography functions were declared as
    static, which is not so much useful from re-useability
    point of view.

commit 2d2faf9104bc035722cff6775e1b8e7c93143aba
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Mar 27 18:37:36 2013 +0600

    Build shared Ceres library only if BUILD_SHARED_LIBS is enabled

commit daa3ddd3260ccaf2bf9c72eadb89213d91e549ec
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Mar 27 18:21:52 2013 +0600

    Update Ceres to upstream version 1.5.0

commit cf5dc678878345ea3f221ce50cb2b9e539c2ab38
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Wed Mar 27 15:06:24 2013 +0600

    Code cleanup: removed more deprecated FFmpeg API usage
    
    This time in qt-tracker application.

commit e2eb58c4230f94ef0c72fb4005e5434088d52e80
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 26 17:19:51 2013 +0600

    Code cleanup: silent unused variables warnings

commit af89bb24667e39b7e655173ea807fdcfbeef4422
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 26 16:54:14 2013 +0600

    Code cleanup: no need to declare empty body for ProgressUpdateCallback:invoke
    
    Make force this method to be overridden by derivative classes.
    Also removed currently unneeded callbacks.cc.

commit 0441d4ee06fad0219256a5704f931eec916a3868
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 26 16:37:27 2013 +0600

    Code cleanup: silent type narrowing in qt-tracker

commit cd4b61c976448d0fdedefb3ed4b21d70e078f94b
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 26 16:26:39 2013 +0600

    Changes to unit testing
    
    - Move ceres test binaries to ${LIBMV_TESTS_OUTPUT_DIR}/ceres,
      so they don't mess with libmv's application binaries and
      tests.
    
    - Removed ceres_ prefix from ceres unit tests, only use this
      prefix for targets (targets need to be unique name).
    
    - Added unit tests data for ceres, otherwise system_test fails.
    
    - Restored "test" makefile target.

commit cf704ada08acc8b26167e7bfb3e1e88fd278de23
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 26 15:01:15 2013 +0600

    Code cleanup: use rw-rw-r-- mode for source files

commit 64b31e3e43acb52aaf6f591b9d1c2449bf6ef3bd
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 26 14:57:46 2013 +0600

    Code cleanup: don't use deprecated FFmpeg API functions

commit 2a3676499548ad5dba5a5c5eadf3bb71e640b612
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 5 17:40:52 2013 +0600

    Switch from DENSE_NORMAL_CHOLESKY to DENSE_QR
    
    DENSE_QR is better behaved numerically and after recent
    changes from Sameer there's no big difference in speed.

commit bcb920df02133da5b7e55fbc74edb9222004eecc
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Tue Mar 5 17:15:43 2013 +0600

    Update Ceres to 1.5RC3
    
    It brings optimization of DENSE_QR and DENSE_SCHUR solvers.

commit 473996468a4e67e7c860169181a4ff31ce9b8c80
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri Mar 1 17:44:54 2013 +0600

    Fixed incorrect order of arguments passing
    to EXPECT_EQ in keyframe selection tests.

commit d38ebb74693fdf5b8f0fecf62a3d8c9c53b0b84a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri Mar 1 17:40:38 2013 +0600

    Modal (aka tripod) solver rework
    
    Several major things are done in this commit:
    
    - First of all, logic of modal solver was changed.
      We do not rely on only minimizer to take care of
      guessing rotation for frame, but we're using
      analytical rotation computation for point clouds
      to obtain initial rotation.
    
      Then this rotation is being refined using Ceres
      minimizer and now instead of minimizing average
      distance between points of point of two clouds,
      minimization of reprojection error of point
      cloud onto frame happens.
    
      This gives quite a bit of precision improvement.
    
    - Second bigger improvement here is using bundle
      adjustment for a result of first step when we're
      only estimating rotation between neighbor images
      and reprojecting markers.
    
      This averages error across the image sequence
      avoiding error accumulation. Also, this will
      tweak bundles themselves a bit for better match.
    
    - And last bigger improvement here is support of
      camera intrinsics refirenment.
    
    This allowed to significantly improve solution
    for real-life footage and results after such
    refining are much more usable than it were before.
    
    Thanks to Keir for the help and code review!

commit 5d6c2e7a27bdd1a1b23bf289d70a9b8f62514c9a
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri Mar 1 17:37:35 2013 +0600

    Increase verbosity level for reprojected markers info
    
    This information is useful, but in cases when you, say,
    working on a bundler it's annoying to scroll all the
    information up.

commit ac252bb1250b3028b9c94736b644e7ab4e7b14b8
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri Mar 1 17:36:19 2013 +0600

    Move radial distortion code to own templated function
    
    This shall not lead to any functional changes, just
    avoids radial distortion code duplicated in camera
    intrinsics and bundling code.
    
    For fancier bundle adjustment support of  different
    distortion models this is not actually enough and
    would need to make some bigger changes, but this
    changes makes code a bit easier to maintain already.

commit c253b794612dd529e1d3a9bd7a7c41c32c9a9abb
Author: Sergey Sharybin <sergey.vfx@gmail.com>
Date:   Fri Mar 1 17:33:27 2013 +0600

    Use threaded cost function, jacobian and linear solver
    computation, so bundling is as fast as it could be with
    current parameter block structure.