Libmv: Update to the latest upstream version

Main reason is to bring up new Glog which should have MSVC 2015 support.
UPBGE · Dec 30, 2015 · 6b7ead4 · 6b7ead4
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diff --git a/extern/libmv/ChangeLog b/extern/libmv/ChangeLog
@@ -1,3 +1,85 @@
+commit d249280fdf7c937fd6ebbc465508843a70aafd4c
+Author: Sergey Sharybin <[email protected]>
+Date:   Wed Dec 30 16:59:28 2015 +0500
+
+    Tweaks to Glog to support building on all platforms
+
+    This makes it possible to compile Libmv on all platforms,
+    amount of hacks is lower, which could bring some warnings
+    up, but those are better be addressed via upstream which
+    is now rather active.
+
+commit 86c57750ddb857643fb5dd2c83b4953da83dd57d
+Author: Sergey Sharybin <[email protected]>
+Date:   Wed Dec 30 16:15:47 2015 +0500
+
+    Enable explicit Schur complement matrix by default
+
+    Gives up to 2x speed up of camera solving process in average scene.
+    In the really huge one it might be slower, but that we need to investigate.
+
+commit d6c52a70b5a0664b7c74bda68f59a895fe8aa235
+Author: Sergey Sharybin <[email protected]>
+Date:   Wed Dec 30 16:13:03 2015 +0500
+
+    Fix one frame memory leak when tracking last frame
+
+commit 6e2ac41d25d5923b2a62c96d27d919a36eff9b48
+Author: Brecht Van Lommel <[email protected]>
+Date:   Wed Dec 30 16:11:24 2015 +0500
+
+    Motion tracking not workig with Xcode 7 on OS X.
+
+    Caused by use of the uninitialized shape_ variable in Resize().
+
+commit fc72ae06fb4ae559ac37d14d1b34d6669505cc86
+Author: Sergey Sharybin <[email protected]>
+Date:   Wed Dec 30 15:56:40 2015 +0500
+
+    Update GLog to latest upstream
+
+    Should fix issues building with MSVC2015.
+
+commit d4b2d15bd3d195074b074331354de96a1b51042f
+Author: Sergey Sharybin <[email protected]>
+Date:   Wed Dec 30 16:01:10 2015 +0500
+
+    Fix wrong README file reference
+
+commit 2b4aa0b7720cae9a408284834559bea9960157ee
+Author: Keir Mierle <[email protected]>
+Date:   Mon May 11 02:16:53 2015 -0700
+
+    Make README more informative for GitHub viewers
+
+    Reviewers: sergey
+
+    Reviewed By: sergey
+
+    Differential Revision: https://developer.blender.org/D1295
+
+commit 514e4491aea655d20be047ed87f002fb7854d5c9
+Author: Keir Mierle <[email protected]>
+Date:   Mon May 11 01:54:09 2015 -0700
+
+    Simplify the modal solver Ceres cost function
+
+    Fix test by flipping the quaternion.
+
+    Reviewers: sergey
+
+    Reviewed By: sergey
+
+    Projects: #libmv
+
+    Differential Revision: https://developer.blender.org/D756
+
+commit e55fafd31f7d53d42af7c6b7df2eebe3c2568da9
+Author: Sergey Sharybin <[email protected]>
+Date:   Wed Dec 31 19:05:51 2014 +0500
+
+    Synchronize MSVC compilation fixes from Blender
+
 commit 7d6020d2ec42c6cb2749bc891186b4880d26d40b
 Author: Sergey Sharybin <[email protected]>
 Date:   Wed Dec 31 15:32:07 2014 +0500
@@ -601,107 +683,3 @@ Date:   Wed Mar 26 17:44:09 2014 +0600
     Fix bad memory write in BA code when having zero-weighted tracks
 
     Issue was really stupid and caused by the wrong vector initialization.
-
-commit d14a372dfe09c7339f267c4904a541fbe2efec43
-Author: Sergey Sharybin <[email protected]>
-Date:   Fri Mar 21 16:02:41 2014 +0600
-
-    Attempt to fix compilation error with msvc2013
-
-commit 933531580b4dc4b65601d785cedc16506d615d7b
-Author: Sergey Sharybin <[email protected]>
-Date:   Thu Mar 20 23:07:34 2014 +0600
-
-    Compilation fixes for MinGW
-
-    Many thanks to Antony Riakiotakis for the patch!
-
-commit f1aefcbf58fe04ea2967434f39f703bb486777c8
-Author: Sergey Sharybin <[email protected]>
-Date:   Thu Feb 27 16:21:19 2014 +0600
-
-    Implement separate BA step for tracks which have constant zero weight
-
-    This is needed to minimize their reprojection error over the footage.
-    Without this extra step positions of such tracks were calculated by
-    algebraic intersection code only, which doesn't give best precision.
-
-commit bcf7f9470b2ea33cf89a31a72037ec03be631637
-Author: Sergey Sharybin <[email protected]>
-Date:   Thu Feb 27 14:16:42 2014 +0600
-
-    Avoid zero-sized problem when doing euclidean intersection
-
-    Zero-sized problem might occur when intersecting track with
-    constant zero weight. For such tracks we'll just use result
-    of algebraic intersection.
-
-    TODO: We probably need to have a separate BA step to adjust
-    positions of tracks with constant zero weight.
-
-commit f884bb20a93189b8210639f3de939c64177d66b3
-Author: Sergey Sharybin <[email protected]>
-Date:   Wed Feb 26 18:00:40 2014 +0600
-
-    Ignore zero weighted markers in keyframe selection
-
-    It doesn't make sense to use zero-weighted tracks as a correspondences
-    in keyframe selection.
-
-    Such tracks are not guaranteed to be tracked accurately because their
-    purpose is to add reference points in 3D space without affecting the
-    solution.
-
-commit 74db5175cdbcabe673b82eef59c88fb7f342c43f
-Author: Sergey Sharybin <[email protected]>
-Date:   Wed Feb 26 13:23:02 2014 +0600
-
-    Tweaks to make bundling into Blender warning-less
-
-    Mainly issue i caused by conflicts in include directories,
-    so glog used to include config.h from gflags. It might be
-    fixed by splitting gflags/glog from Libmv in Blender build
-    system but that's not something fun to work on. Fixed by
-    making include directories  bit more explicit.
-
-    Also solved no-previous-prototype warnings.
-
-commit bc4bc66af0115069562b79e837ccf4fd95c8f97e
-Author: Sergey Sharybin <[email protected]>
-Date:   Fri Feb 21 14:55:13 2014 +0600
-
-    Raise epsilon used for model solver test
-
-    It was too much small leading to false failure triggering
-    caused simply by precision issues.
-
-commit bf750590a6af4af3622c01fd1004c44da60484a7
-Author: Sergey Sharybin <[email protected]>
-Date:   Tue Feb 18 23:35:52 2014 +0600
-
-    Made it possible to link against Ceres installed on the system
-
-    Main purpose of this is to get away from bundled Ceres library
-    which is not so trivial to re-bundle and takes some to do this
-    (not talking about CMake options conflicts and pollution).
-
-    Enabled by setting WITH_SYSTEM_CERES=ON. Default paths to search
-    Ceres library:
-
-    - /usr/local
-    - /sw
-    - /opt/local
-    - /opt/csw
-    - /opt/lib/ceres
-
-    You might also specify Ceres root directory using CERES_ROOT_DIR
-    variable (both CMake and environment variables are supported).
-
-    If your Ceres is build statically, you're to control all additional
-    libraries needed to link against using CMAKE_EXE_LINKER_FLAGS.
-
-commit c9156fbf80c86853806844b754b1e48f45c5ec11
-Author: Sergey Sharybin <[email protected]>
-Date:   Tue Feb 18 19:38:22 2014 +0600
-
-    Remove .orig file which was added by accident
diff --git a/extern/libmv/SConscript b/extern/libmv/SConscript
@@ -1,5 +1,3 @@
-#!/usr/bin/python
-
 # NOTE: This file is automatically generated by bundle.sh script
 #       If you're doing changes in this file, please update template
 #       in that script too

diff --git a/extern/libmv/libmv/multiview/homography.cc b/extern/libmv/libmv/multiview/homography.cc
@@ -179,12 +179,8 @@ void GetNormalizedPoints(const Mat &original_points,
 class HomographySymmetricGeometricCostFunctor {
  public:
   HomographySymmetricGeometricCostFunctor(const Vec2 &x,
-                                          const Vec2 &y) {
-    xx_ = x(0);
-    xy_ = x(1);
-    yx_ = y(0);
-    yy_ = y(1);
-  }
+                                          const Vec2 &y)
+      : x_(x), y_(y) { }
 
   template<typename T>
   bool operator()(const T *homography_parameters, T *residuals) const {
@@ -193,8 +189,8 @@ class HomographySymmetricGeometricCostFunctor {
 
     Mat3 H(homography_parameters);
 
-    Vec3 x(T(xx_), T(xy_), T(1.0));
-    Vec3 y(T(yx_), T(yy_), T(1.0));
+    Vec3 x(T(x_(0)), T(x_(1)), T(1.0));
+    Vec3 y(T(y_(0)), T(y_(1)), T(1.0));
 
     Vec3 H_x = H * x;
     Vec3 Hinv_y = H.inverse() * y;
@@ -203,19 +199,18 @@ class HomographySymmetricGeometricCostFunctor {
     Hinv_y /= Hinv_y(2);
 
     // This is a forward error.
-    residuals[0] = H_x(0) - T(yx_);
-    residuals[1] = H_x(1) - T(yy_);
+    residuals[0] = H_x(0) - T(y_(0));
+    residuals[1] = H_x(1) - T(y_(1));
 
     // This is a backward error.
-    residuals[2] = Hinv_y(0) - T(xx_);
-    residuals[3] = Hinv_y(1) - T(xy_);
+    residuals[2] = Hinv_y(0) - T(x_(0));
+    residuals[3] = Hinv_y(1) - T(x_(1));
 
     return true;
   }
 
-  // TODO(sergey): Think of better naming.
-  double xx_, xy_;
-  double yx_, yy_;
+  const Vec2 x_;
+  const Vec2 y_;
 };
 
 // Termination checking callback used for homography estimation.

diff --git a/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h b/extern/libmv/libmv/simple_pipeline/camera_intrinsics.h
@@ -197,7 +197,7 @@ class CameraIntrinsics {
                                 double *normalized_x,
                                 double *normalized_y) const = 0;
 
-  // Distort an image using the current camera intrinsics
+  // Distort an image using the current camera instrinsics
   //
   // The distorted image is computed in output_buffer using samples from
   // input_buffer. Both buffers should be width x height x channels sized.
@@ -226,7 +226,7 @@ class CameraIntrinsics {
                      int channels,
                      PixelType *output_buffer);
 
-  // Undistort an image using the current camera intrinsics
+  // Undistort an image using the current camera instrinsics
   //
   // The undistorted image is computed in output_buffer using samples from
   // input_buffer. Both buffers should be width x height x channels sized.

diff --git a/extern/libmv/libmv/simple_pipeline/modal_solver.cc b/extern/libmv/libmv/simple_pipeline/modal_solver.cc
@@ -1,4 +1,4 @@
-// Copyright (c) 2012 libmv authors.
+// Copyright (c) 2015 libmv authors.
 //
 // Permission is hereby granted, free of charge, to any person obtaining a copy
 // of this software and associated documentation files (the "Software"), to
@@ -62,32 +62,32 @@ struct ModalReprojectionError {
     : observed_x_(observed_x), observed_y_(observed_y),
       weight_(weight), bundle_(bundle) { }
 
+  // TODO(keir): This should support bundling focal length as well.
   template <typename T>
-  bool operator()(const T* quaternion,   // Rotation quaternion
-                  T* residuals) const {
-    T R[9];
-    ceres::QuaternionToRotation(quaternion, R);
-
+  bool operator()(const T* quaternion, T* residuals) const {
     // Convert bundle position from double to T.
-    T X[3];
-    X[0] = T(bundle_(0));
-    X[1] = T(bundle_(1));
-    X[2] = T(bundle_(2));
+    T X[3] = { T(bundle_(0)), T(bundle_(1)), T(bundle_(2)) };
 
-    // Compute projective coordinates: x = RX.
+    // Compute the point position in camera coordinates: x = RX.
     T x[3];
-    x[0] = R[0]*X[0] + R[3]*X[1] + R[6]*X[2];
-    x[1] = R[1]*X[0] + R[4]*X[1] + R[7]*X[2];
-    x[2] = R[2]*X[0] + R[5]*X[1] + R[8]*X[2];
 
-    // Compute normalized coordinates: x /= x[2].
+    // This flips the sense of the quaternion, to adhere to Blender conventions.
+    T quaternion_inverse[4] = {
+      quaternion[0],
+      -quaternion[1],
+      -quaternion[2],
+      -quaternion[3],
+    };
+    ceres::QuaternionRotatePoint(quaternion_inverse, X, x);
+
+    // Compute normalized coordinates by dividing out the depth.
     T xn = x[0] / x[2];
     T yn = x[1] / x[2];
 
-    // The error is the difference between reprojected
-    // and observed marker position.
-    residuals[0] = xn - T(observed_x_);
-    residuals[1] = yn - T(observed_y_);
+    // The error is the difference between reprojected and observed marker
+    // positions, weighted by the passed in weight.
+    residuals[0] = T(weight_) * (xn - T(observed_x_));
+    residuals[1] = T(weight_) * (yn - T(observed_y_));
 
     return true;
   }

diff --git a/extern/libmv/third_party/glog/README.libmv b/extern/libmv/third_party/glog/README.libmv
@@ -1,9 +1,7 @@
 Project: Google Logging
 URL: http://code.google.com/p/google-glog/
 License: New BSD
-Upstream version: 0.3.3, r143
+Upstream version: 0.3.4, 4d391fe
 Local modifications:
 * Added per-platform config.h files so no configuration-time
   checks for functions and so are needed.
-* See glog_tweaks.patch to see other tweaks which are done
-  against glog upstream.
diff --git a/extern/libmv/third_party/glog/src/base/mutex.h b/extern/libmv/third_party/glog/src/base/mutex.h
@@ -134,7 +134,9 @@
   // *does* cause problems for FreeBSD, or MacOSX, but isn't needed
   // for locking there.)
 # ifdef __linux__
-#   define _XOPEN_SOURCE 500  // may be needed to get the rwlock calls
+#   ifndef _XOPEN_SOURCE  // Some other header might have already set it for us.
+#     define _XOPEN_SOURCE 500  // may be needed to get the rwlock calls
+#   endif
 # endif
 # include <pthread.h>
   typedef pthread_rwlock_t MutexType;