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Libmv: Cleanup, fix indentation

This commit is contained in:
Sergey Sharybin 2020-04-17 17:29:04 +02:00
parent 584f112548
commit 838d452843
1 changed files with 50 additions and 50 deletions
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100
intern/libmv/libmv/simple_pipeline/bundle.cc
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@ -302,68 +302,68 @@ void EuclideanBundlerPerformEvaluation(const Tracks &tracks,
vector<Vec6> *all_cameras_R_t,
ceres::Problem *problem,
BundleEvaluation *evaluation) {
int max_track = tracks.MaxTrack();
// Number of camera rotations equals to number of translation,
int num_cameras = all_cameras_R_t->size();
int num_points = 0;
int max_track = tracks.MaxTrack();
// Number of camera rotations equals to number of translation,
int num_cameras = all_cameras_R_t->size();
int num_points = 0;
vector<EuclideanPoint*> minimized_points;
for (int i = 0; i <= max_track; i++) {
EuclideanPoint *point = reconstruction->PointForTrack(i);
if (point) {
// We need to know whether the track is constant zero weight,
// and it so it wouldn't have parameter block in the problem.
//
// Getting all markers for track is not so bac currently since
// this code is only used by keyframe selection when there are
// not so much tracks and only 2 frames anyway.
vector<Marker> markera_of_track = tracks.MarkersForTrack(i);
for (int j = 0; j < markera_of_track.size(); j++) {
if (markera_of_track.at(j).weight != 0.0) {
minimized_points.push_back(point);
num_points++;
break;
}
vector<EuclideanPoint*> minimized_points;
for (int i = 0; i <= max_track; i++) {
EuclideanPoint *point = reconstruction->PointForTrack(i);
if (point) {
// We need to know whether the track is constant zero weight,
// and it so it wouldn't have parameter block in the problem.
//
// Getting all markers for track is not so bac currently since
// this code is only used by keyframe selection when there are
// not so much tracks and only 2 frames anyway.
vector<Marker> markera_of_track = tracks.MarkersForTrack(i);
for (int j = 0; j < markera_of_track.size(); j++) {
if (markera_of_track.at(j).weight != 0.0) {
minimized_points.push_back(point);
num_points++;
break;
}
}
}
}
LG << "Number of cameras " << num_cameras;
LG << "Number of points " << num_points;
LG << "Number of cameras " << num_cameras;
LG << "Number of points " << num_points;
evaluation->num_cameras = num_cameras;
evaluation->num_points = num_points;
evaluation->num_cameras = num_cameras;
evaluation->num_points = num_points;
if (evaluation->evaluate_jacobian) { // Evaluate jacobian matrix.
ceres::CRSMatrix evaluated_jacobian;
ceres::Problem::EvaluateOptions eval_options;
if (evaluation->evaluate_jacobian) { // Evaluate jacobian matrix.
ceres::CRSMatrix evaluated_jacobian;
ceres::Problem::EvaluateOptions eval_options;
// Cameras goes first in the ordering.
int max_image = tracks.MaxImage();
for (int i = 0; i <= max_image; i++) {
const EuclideanCamera *camera = reconstruction->CameraForImage(i);
if (camera) {
double *current_camera_R_t = &(*all_cameras_R_t)[i](0);
// Cameras goes first in the ordering.
int max_image = tracks.MaxImage();
for (int i = 0; i <= max_image; i++) {
const EuclideanCamera *camera = reconstruction->CameraForImage(i);
if (camera) {
double *current_camera_R_t = &(*all_cameras_R_t)[i](0);
// All cameras are variable now.
problem->SetParameterBlockVariable(current_camera_R_t);
// All cameras are variable now.
problem->SetParameterBlockVariable(current_camera_R_t);
eval_options.parameter_blocks.push_back(current_camera_R_t);
}
eval_options.parameter_blocks.push_back(current_camera_R_t);
}
// Points goes at the end of ordering,
for (int i = 0; i < minimized_points.size(); i++) {
EuclideanPoint *point = minimized_points.at(i);
eval_options.parameter_blocks.push_back(&point->X(0));
}
problem->Evaluate(eval_options,
NULL, NULL, NULL,
&evaluated_jacobian);
CRSMatrixToEigenMatrix(evaluated_jacobian, &evaluation->jacobian);
}
// Points goes at the end of ordering,
for (int i = 0; i < minimized_points.size(); i++) {
EuclideanPoint *point = minimized_points.at(i);
eval_options.parameter_blocks.push_back(&point->X(0));
}
problem->Evaluate(eval_options,
NULL, NULL, NULL,
&evaluated_jacobian);
CRSMatrixToEigenMatrix(evaluated_jacobian, &evaluation->jacobian);
}
}
// This is an utility function to only bundle 3D position of