Tracking: Simplify configuration of intrinsics to refine

Previously, only predefined and limited set of intrinsics combinations
could have been refined. This was caused by a bundle adjustment library
used in the early days of the solver.

Now it is possible to fully customize which intrinsics are to be refined
during camera solving. Internally solver supports per-parameter settings
but in the interface they are grouped as following:

* Focal length
* Optical center
* Radial distortion coefficients (which includes k1, k2, k3, k4)
* Tangential distortion coefficients (which includes p1, p2)

Differential Revision: https://developer.blender.org/D9294

6 files changed, 67 insertions, 30 deletions

diff --git a/intern/libmv/intern/reconstruction.cc b/intern/libmv/intern/reconstruction.cc
index 64f00b19df0..0f4e890d4ca 100644
--- a/intern/libmv/intern/reconstruction.cc
+++ b/intern/libmv/intern/reconstruction.cc
@@ -95,12 +95,23 @@ void libmv_solveRefineIntrinsics(
   if (refine_intrinsics & LIBMV_REFINE_PRINCIPAL_POINT) {
     bundle_intrinsics |= libmv::BUNDLE_PRINCIPAL_POINT;
   }
-  if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K1) {
-    bundle_intrinsics |= libmv::BUNDLE_RADIAL_K1;
-  }
-  if (refine_intrinsics & LIBMV_REFINE_RADIAL_DISTORTION_K2) {
-    bundle_intrinsics |= libmv::BUNDLE_RADIAL_K2;
-  }
+
+#define SET_DISTORTION_FLAG_CHECKED(type, coefficient) \
+  do { \
+    if (refine_intrinsics & LIBMV_REFINE_ ##  type ##_DISTORTION_ ## coefficient) { \
+      bundle_intrinsics |= libmv::BUNDLE_ ## type ## _ ## coefficient; \
+    } \
+  } while (0)
+
+  SET_DISTORTION_FLAG_CHECKED(RADIAL, K1);
+  SET_DISTORTION_FLAG_CHECKED(RADIAL, K2);
+  SET_DISTORTION_FLAG_CHECKED(RADIAL, K3);
+  SET_DISTORTION_FLAG_CHECKED(RADIAL, K4);
+
+  SET_DISTORTION_FLAG_CHECKED(TANGENTIAL, P1);
+  SET_DISTORTION_FLAG_CHECKED(TANGENTIAL, P2);
+
+#undef SET_DISTORTION_FLAG_CHECKED
 
   progress_update_callback(callback_customdata, 1.0, "Refining solution");
 
diff --git a/intern/libmv/intern/reconstruction.h b/intern/libmv/intern/reconstruction.h
index 727a4943add..408ac884684 100644
--- a/intern/libmv/intern/reconstruction.h
+++ b/intern/libmv/intern/reconstruction.h
@@ -31,10 +31,22 @@ struct libmv_CameraIntrinsicsOptions;
 typedef struct libmv_Reconstruction libmv_Reconstruction;
 
 enum {
-  LIBMV_REFINE_FOCAL_LENGTH         = (1 << 0),
-  LIBMV_REFINE_PRINCIPAL_POINT      = (1 << 1),
-  LIBMV_REFINE_RADIAL_DISTORTION_K1 = (1 << 2),
-  LIBMV_REFINE_RADIAL_DISTORTION_K2 = (1 << 4),
+  LIBMV_REFINE_FOCAL_LENGTH             = (1 << 0),
+  LIBMV_REFINE_PRINCIPAL_POINT          = (1 << 1),
+
+  LIBMV_REFINE_RADIAL_DISTORTION_K1     = (1 << 2),
+  LIBMV_REFINE_RADIAL_DISTORTION_K2     = (1 << 3),
+  LIBMV_REFINE_RADIAL_DISTORTION_K3     = (1 << 4),
+  LIBMV_REFINE_RADIAL_DISTORTION_K4     = (1 << 5),
+  LIBMV_REFINE_RADIAL_DISTORTION        = (LIBMV_REFINE_RADIAL_DISTORTION_K1 |
+                                           LIBMV_REFINE_RADIAL_DISTORTION_K2 |
+                                           LIBMV_REFINE_RADIAL_DISTORTION_K3 |
+                                           LIBMV_REFINE_RADIAL_DISTORTION_K4),
+
+  LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 = (1 << 6),
+  LIBMV_REFINE_TANGENTIAL_DISTORTION_P2 = (1 << 7),
+  LIBMV_REFINE_TANGENTIAL_DISTORTION = (LIBMV_REFINE_TANGENTIAL_DISTORTION_P1 |
+                                        LIBMV_REFINE_TANGENTIAL_DISTORTION_P2),
 };
 
 typedef struct libmv_ReconstructionOptions {
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.cc b/intern/libmv/libmv/simple_pipeline/bundle.cc
index 3df39ab8936..d62f0ebe94f 100644
--- a/intern/libmv/libmv/simple_pipeline/bundle.cc
+++ b/intern/libmv/libmv/simple_pipeline/bundle.cc
@@ -368,6 +368,8 @@ void BundleIntrinsicsLogMessage(const int bundle_intrinsics) {
     APPEND_BUNDLING_INTRINSICS("px, py", BUNDLE_PRINCIPAL_POINT);
     APPEND_BUNDLING_INTRINSICS("k1",     BUNDLE_RADIAL_K1);
     APPEND_BUNDLING_INTRINSICS("k2",     BUNDLE_RADIAL_K2);
+    APPEND_BUNDLING_INTRINSICS("k3",     BUNDLE_RADIAL_K3);
+    APPEND_BUNDLING_INTRINSICS("k4",     BUNDLE_RADIAL_K4);
     APPEND_BUNDLING_INTRINSICS("p1",     BUNDLE_TANGENTIAL_P1);
     APPEND_BUNDLING_INTRINSICS("p2",     BUNDLE_TANGENTIAL_P2);
 
@@ -744,7 +746,8 @@ void EuclideanBundleCommonIntrinsics(
 
     std::vector<int> constant_intrinsics;
 #define MAYBE_SET_CONSTANT(bundle_enum, offset) \
-    if (!(bundle_intrinsics & bundle_enum)) { \
+    if (!(bundle_intrinsics & bundle_enum) || \
+        !packed_intrinsics.IsParameterDefined(offset)) { \
       constant_intrinsics.push_back(offset); \
     }
     MAYBE_SET_CONSTANT(BUNDLE_FOCAL_LENGTH,
@@ -755,22 +758,19 @@ void EuclideanBundleCommonIntrinsics(
                        PackedIntrinsics::OFFSET_PRINCIPAL_POINT_Y);
     MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K1,       PackedIntrinsics::OFFSET_K1);
     MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K2,       PackedIntrinsics::OFFSET_K2);
+    MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K3,       PackedIntrinsics::OFFSET_K3);
+    MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K4,       PackedIntrinsics::OFFSET_K4);
     MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P1,   PackedIntrinsics::OFFSET_P1);
     MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P2,   PackedIntrinsics::OFFSET_P2);
 #undef MAYBE_SET_CONSTANT
 
-    // Always set K3 and K4 constant, it's not used at the moment.
-    constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K3);
-    constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K4);
+    if (!constant_intrinsics.empty()) {
+      ceres::SubsetParameterization *subset_parameterization =
+        new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS,
+                                          constant_intrinsics);
 
-   // TODO(sergey): Mark all parameters which are not used by the distortion
-   // model as constant.
-
-    ceres::SubsetParameterization *subset_parameterization =
-      new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS,
-                                        constant_intrinsics);
-
-    problem.SetParameterization(intrinsics_block, subset_parameterization);
+      problem.SetParameterization(intrinsics_block, subset_parameterization);
+    }
   }
 
   // Configure the solver.
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.h b/intern/libmv/libmv/simple_pipeline/bundle.h
index 781bd8476fe..5f420da0045 100644
--- a/intern/libmv/libmv/simple_pipeline/bundle.h
+++ b/intern/libmv/libmv/simple_pipeline/bundle.h
@@ -101,14 +101,22 @@ void EuclideanBundle(const Tracks &tracks,
 */
 enum BundleIntrinsics {
   BUNDLE_NO_INTRINSICS = 0,
-  BUNDLE_FOCAL_LENGTH = 1,
-  BUNDLE_PRINCIPAL_POINT = 2,
-  BUNDLE_RADIAL_K1 = 4,
-  BUNDLE_RADIAL_K2 = 8,
-  BUNDLE_RADIAL = 12,
-  BUNDLE_TANGENTIAL_P1 = 16,
-  BUNDLE_TANGENTIAL_P2 = 32,
-  BUNDLE_TANGENTIAL = 48,
+
+  BUNDLE_FOCAL_LENGTH = (1 << 0),
+  BUNDLE_PRINCIPAL_POINT = (1 << 1),
+
+  BUNDLE_RADIAL_K1 = (1 << 2),
+  BUNDLE_RADIAL_K2 = (1 << 3),
+  BUNDLE_RADIAL_K3 = (1 << 4),
+  BUNDLE_RADIAL_K4 = (1 << 5),
+  BUNDLE_RADIAL = (BUNDLE_RADIAL_K1 |
+                   BUNDLE_RADIAL_K2 |
+                   BUNDLE_RADIAL_K3 |
+                   BUNDLE_RADIAL_K4),
+
+  BUNDLE_TANGENTIAL_P1 = (1 << 6),
+  BUNDLE_TANGENTIAL_P2 = (1 << 7),
+  BUNDLE_TANGENTIAL = (BUNDLE_TANGENTIAL_P1 | BUNDLE_TANGENTIAL_P2),
 };
 enum BundleConstraints {
   BUNDLE_NO_CONSTRAINTS = 0,
diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
index 1888e18867e..73ad4faed9c 100644
--- a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
+++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
@@ -55,4 +55,8 @@ double PackedIntrinsics::GetParameter(int index) const {
   return parameters_.at(index);
 }
 
+bool PackedIntrinsics::IsParameterDefined(int offset) {
+  return known_parameters_.at(offset);
+}
+
 }  // namespace libmv
diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
index e551fe74800..cbea599fccd 100644
--- a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
+++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
@@ -86,6 +86,8 @@ class PackedIntrinsics {
   double* GetParametersBlock() { return parameters_.data(); }
   const double* GetParametersBlock() const { return parameters_.data(); }
 
+  bool IsParameterDefined(int offset);
+
  private:
   void SetParameter(int index, double value);
   double GetParameter(int index) const;