diff options
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/bundle.cc | 17 |
1 files changed, 8 insertions, 9 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.cc b/intern/libmv/libmv/simple_pipeline/bundle.cc index 25e63b219d1..b7d1e1e57fb 100644 --- a/intern/libmv/libmv/simple_pipeline/bundle.cc +++ b/intern/libmv/libmv/simple_pipeline/bundle.cc @@ -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, |