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Libmv: De-duplicate creation of residual block 

Allows to centralize logic which is needed to check which cost functor
to use for the specific intrinsics.
This commit is contained in:
Sergey Sharybin 2020-04-20 12:44:07 +02:00
parent f0e8965090
commit e9c9e1c2c7
1 changed files with 51 additions and 22 deletions
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73
intern/libmv/libmv/simple_pipeline/bundle.cc
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@ -389,6 +389,43 @@ void EuclideanBundlerPerformEvaluation(const Tracks &tracks,
}
}
template<typename CostFunction>
void AddResidualBlockToProblemImpl(const CameraIntrinsics *intrinsics,
double observed_x, double observed_y,
double weight,
double ceres_intrinsics[OFFSET_MAX],
double *camera_R_t,
EuclideanPoint *point,
ceres::Problem* problem) {
problem->AddResidualBlock(new ceres::AutoDiffCostFunction<
CostFunction, 2, OFFSET_MAX, 6, 3>(
new CostFunction(
intrinsics,
observed_x, observed_y,
weight)),
NULL,
ceres_intrinsics,
camera_R_t,
&point->X(0));
}
void AddResidualBlockToProblem(const CameraIntrinsics *invariant_intrinsics,
const Marker &marker,
double marker_weight,
double ceres_intrinsics[OFFSET_MAX],
double *camera_R_t,
EuclideanPoint *point,
ceres::Problem* problem) {
AddResidualBlockToProblemImpl<OpenCVReprojectionErrorApplyIntrinsics>(
invariant_intrinsics,
marker.x, marker.y,
marker_weight,
ceres_intrinsics,
camera_R_t,
point,
problem);
}
// This is an utility function to only bundle 3D position of
// given markers list.
//
@ -418,17 +455,13 @@ void EuclideanBundlePointsOnly(const CameraIntrinsics *invariant_intrinsics,
// camera translation.
double *current_camera_R_t = &all_cameras_R_t[camera->image](0);
problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
OpenCVReprojectionErrorApplyIntrinsics, 2, OFFSET_MAX, 6, 3>(
new OpenCVReprojectionErrorApplyIntrinsics(
invariant_intrinsics,
marker.x,
marker.y,
1.0)),
NULL,
ceres_intrinsics,
current_camera_R_t,
&point->X(0));
AddResidualBlockToProblem(invariant_intrinsics,
marker,
1.0,
ceres_intrinsics,
current_camera_R_t,
point,
&problem);
problem.SetParameterBlockConstant(current_camera_R_t);
num_residuals++;
@ -538,17 +571,13 @@ void EuclideanBundleCommonIntrinsics(
// no affect on the final solution.
// This way ceres is not gonna to go crazy.
if (marker.weight != 0.0) {
problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
OpenCVReprojectionErrorApplyIntrinsics, 2, OFFSET_MAX, 6, 3>(
new OpenCVReprojectionErrorApplyIntrinsics(
intrinsics,
marker.x,
marker.y,
marker.weight)),
NULL,
ceres_intrinsics,
current_camera_R_t,
&point->X(0));
AddResidualBlockToProblem(intrinsics,
marker,
marker.weight,
ceres_intrinsics,
current_camera_R_t,
point,
&problem);
// We lock the first camera to better deal with scene orientation ambiguity.
if (!have_locked_camera) {