diff options
Diffstat (limited to 'extern/libmv/libmv/simple_pipeline/resect.cc')
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/resect.cc | 20 |
1 files changed, 16 insertions, 4 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/resect.cc b/extern/libmv/libmv/simple_pipeline/resect.cc index 8737182dd43..4c9ca6d8677 100644 --- a/extern/libmv/libmv/simple_pipeline/resect.cc +++ b/extern/libmv/libmv/simple_pipeline/resect.cc @@ -90,7 +90,8 @@ struct EuclideanResectCostFunction { } // namespace -bool EuclideanResect(const vector<Marker> &markers, +bool EuclideanResect(const ReconstructionOptions &options, + const vector<Marker> &markers, EuclideanReconstruction *reconstruction, bool final_pass) { if (markers.size() < 5) { return false; @@ -104,13 +105,24 @@ bool EuclideanResect(const vector<Marker> &markers, Mat3 R; Vec3 t; - if (0 || !euclidean_resection::EuclideanResection(points_2d, points_3d, &R, &t)) { + + double success_threshold = std::numeric_limits<double>::max(); + + if(options.use_fallback_reconstruction) + success_threshold = options.success_threshold; + + if (0 || !euclidean_resection::EuclideanResection(points_2d, points_3d, &R, &t, + euclidean_resection::RESECTION_EPNP, + success_threshold)) + { // printf("Resection for image %d failed\n", markers[0].image); LG << "Resection for image " << markers[0].image << " failed;" << " trying fallback projective resection."; - LG << "No fallback; failing resection for " << markers[0].image; - return false; + if (!options.use_fallback_reconstruction) { + LG << "No fallback; failing resection for " << markers[0].image; + return false; + } if (!final_pass) return false; // Euclidean resection failed. Fall back to projective resection, which is |