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Libmv: Pass entire camera intrinsics to reprojection error functor 

Currently no functional changes, but allows to have access to some
invariant settings of camera intrinsics such as image dimensions.
This commit is contained in:
Sergey Sharybin 2020-04-20 11:19:47 +02:00
parent c334020d8f
commit ce82e9e64a
1 changed files with 8 additions and 9 deletions
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17
intern/libmv/libmv/simple_pipeline/bundle.cc
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@ -72,11 +72,11 @@ namespace {
//
// This functor uses a radial distortion model.
struct OpenCVReprojectionError {
OpenCVReprojectionError(const DistortionModelType distortion_model,
OpenCVReprojectionError(const CameraIntrinsics *invariant_intrinsics,
const double observed_x,
const double observed_y,
const double weight)
: distortion_model_(distortion_model),
: invariant_intrinsics_(invariant_intrinsics),
observed_x_(observed_x), observed_y_(observed_y),
weight_(weight) {}
@ -113,7 +113,7 @@ struct OpenCVReprojectionError {
// Apply distortion to the normalized points to get (xd, yd).
// TODO(keir): Do early bailouts for zero distortion; these are expensive
// jet operations.
switch (distortion_model_) {
switch (invariant_intrinsics_->GetDistortionModelType()) {
case DISTORTION_MODEL_POLYNOMIAL:
{
const T& k1 = intrinsics[OFFSET_K1];
@ -158,7 +158,7 @@ struct OpenCVReprojectionError {
return true;
}
const DistortionModelType distortion_model_;
const CameraIntrinsics *invariant_intrinsics_;
const double observed_x_;
const double observed_y_;
const double weight_;
@ -376,7 +376,7 @@ void EuclideanBundlerPerformEvaluation(const Tracks &tracks,
//
// At this point we only need to bundle points positions, cameras
// are to be totally still here.
void EuclideanBundlePointsOnly(const DistortionModelType distortion_model,
void EuclideanBundlePointsOnly(const CameraIntrinsics *invariant_intrinsics,
const vector<Marker> &markers,
vector<Vec6> &all_cameras_R_t,
double ceres_intrinsics[OFFSET_MAX],
@ -399,7 +399,7 @@ void EuclideanBundlePointsOnly(const DistortionModelType distortion_model,
problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
OpenCVReprojectionError, 2, OFFSET_MAX, 6, 3>(
new OpenCVReprojectionError(
distortion_model,
invariant_intrinsics,
marker.x,
marker.y,
1.0)),
@ -439,7 +439,6 @@ void EuclideanBundlePointsOnly(const DistortionModelType distortion_model,
ceres::Solve(options, &problem, &summary);
LG << "Final report:\n" << summary.FullReport();
}
} // namespace
@ -520,7 +519,7 @@ void EuclideanBundleCommonIntrinsics(
problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
OpenCVReprojectionError, 2, OFFSET_MAX, 6, 3>(
new OpenCVReprojectionError(
intrinsics->GetDistortionModelType(),
intrinsics,
marker.x,
marker.y,
marker.weight)),
@ -642,7 +641,7 @@ void EuclideanBundleCommonIntrinsics(
if (zero_weight_markers.size()) {
LG << "Refining position of constant zero-weighted tracks";
EuclideanBundlePointsOnly(intrinsics->GetDistortionModelType(),
EuclideanBundlePointsOnly(intrinsics,
zero_weight_markers,
all_cameras_R_t,
ceres_intrinsics,