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| author | Sergey Sharybin <sergey.vfx@gmail.com> | 2013-05-09 20:38:58 +0400 |
|---|---|---|
| committer | Sergey Sharybin <sergey.vfx@gmail.com> | 2013-05-09 20:38:58 +0400 |
| commit | ed131e67c49291760df42c3eb3096762fd515be8 (patch) | |
| tree | a58af7a6950872b44d444b4f645ad5dea4198185 /extern | |
| parent | 97138e4dacab2187a76dd06b6dc100a30548ee20 (diff) | |
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.
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/bundle.cc | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/bundle.cc b/extern/libmv/libmv/simple_pipeline/bundle.cc index f068e050b48..17996f70def 100644 --- a/extern/libmv/libmv/simple_pipeline/bundle.cc +++ b/extern/libmv/libmv/simple_pipeline/bundle.cc @@ -83,6 +83,10 @@ struct OpenCVReprojectionError { x[1] += R_t[4]; x[2] += R_t[5]; + // Prevent points from going behind the camera. + if (x[2] < T(0)) + return false; + // Compute normalized coordinates: x /= x[2]. T xn = x[0] / x[2]; T yn = x[1] / x[2]; |