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-rw-r--r--extern/libmv/libmv-capi.cc4
-rw-r--r--extern/libmv/libmv-capi.h2
-rw-r--r--extern/libmv/libmv-capi_stub.cc2
-rw-r--r--extern/libmv/libmv/simple_pipeline/bundle.cc56
-rw-r--r--extern/libmv/libmv/simple_pipeline/modal_solver.cc27
-rw-r--r--extern/libmv/libmv/simple_pipeline/tracks.cc6
-rw-r--r--extern/libmv/libmv/simple_pipeline/tracks.h13
7 files changed, 68 insertions, 42 deletions
diff --git a/extern/libmv/libmv-capi.cc b/extern/libmv/libmv-capi.cc
index 91a3b845815..0585bd3e8ac 100644
--- a/extern/libmv/libmv-capi.cc
+++ b/extern/libmv/libmv-capi.cc
@@ -393,9 +393,9 @@ void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks)
LIBMV_OBJECT_DELETE(libmv_tracks, Tracks);
}
-void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y)
+void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y, double weight)
{
- ((libmv::Tracks*) libmv_tracks)->Insert(image, track, x, y);
+ ((libmv::Tracks*) libmv_tracks)->Insert(image, track, x, y, weight);
}
/* ************ Reconstruction ************ */
diff --git a/extern/libmv/libmv-capi.h b/extern/libmv/libmv-capi.h
index 9541f411ba0..13cc3ae8499 100644
--- a/extern/libmv/libmv-capi.h
+++ b/extern/libmv/libmv-capi.h
@@ -73,7 +73,7 @@ void libmv_samplePlanarPatch(const float *image, int width, int height,
/* Tracks */
struct libmv_Tracks *libmv_tracksNew(void);
void libmv_tracksDestroy(struct libmv_Tracks *libmv_tracks);
-void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y);
+void libmv_tracksInsert(struct libmv_Tracks *libmv_tracks, int image, int track, double x, double y, double weight);
/* Reconstruction */
#define LIBMV_REFINE_FOCAL_LENGTH (1 << 0)
diff --git a/extern/libmv/libmv-capi_stub.cc b/extern/libmv/libmv-capi_stub.cc
index e6d3753961b..bda9605b422 100644
--- a/extern/libmv/libmv-capi_stub.cc
+++ b/extern/libmv/libmv-capi_stub.cc
@@ -85,7 +85,7 @@ struct libmv_Tracks *libmv_tracksNew(void)
}
void libmv_tracksInsert(struct libmv_Tracks * /*libmv_tracks*/, int /*image*/,
- int /*track*/, double /*x*/, double /*y*/)
+ int /*track*/, double /*x*/, double /*y*/, double /*weight*/)
{
}
diff --git a/extern/libmv/libmv/simple_pipeline/bundle.cc b/extern/libmv/libmv/simple_pipeline/bundle.cc
index c778c11b3f6..e7887256892 100644
--- a/extern/libmv/libmv/simple_pipeline/bundle.cc
+++ b/extern/libmv/libmv/simple_pipeline/bundle.cc
@@ -60,8 +60,11 @@ namespace {
//
// This functor uses a radial distortion model.
struct OpenCVReprojectionError {
- OpenCVReprojectionError(const double observed_x, const double observed_y)
- : observed_x(observed_x), observed_y(observed_y) {}
+ OpenCVReprojectionError(const double observed_x,
+ const double observed_y,
+ const double weight)
+ : observed_x_(observed_x), observed_y_(observed_y),
+ weight_(weight) {}
template <typename T>
bool operator()(const T* const intrinsics,
@@ -112,13 +115,14 @@ struct OpenCVReprojectionError {
&predicted_y);
// The error is the difference between the predicted and observed position.
- residuals[0] = predicted_x - T(observed_x);
- residuals[1] = predicted_y - T(observed_y);
+ residuals[0] = (predicted_x - T(observed_x_)) * weight_;
+ residuals[1] = (predicted_y - T(observed_y_)) * weight_;
return true;
}
- const double observed_x;
- const double observed_y;
+ const double observed_x_;
+ const double observed_y_;
+ const double weight_;
};
// Print a message to the log which camera intrinsics are gonna to be optimixed.
@@ -378,25 +382,31 @@ void EuclideanBundleCommonIntrinsics(const Tracks &tracks,
// camera translaiton.
double *current_camera_R_t = &all_cameras_R_t[camera->image](0);
- problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
- OpenCVReprojectionError, 2, 8, 6, 3>(
- new OpenCVReprojectionError(
- marker.x,
- marker.y)),
- NULL,
- ceres_intrinsics,
- current_camera_R_t,
- &point->X(0));
-
- // We lock the first camera to better deal with scene orientation ambiguity.
- if (!have_locked_camera) {
- problem.SetParameterBlockConstant(current_camera_R_t);
- have_locked_camera = true;
- }
+ // Skip residual block for markers which does have absolutely
+ // 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<
+ OpenCVReprojectionError, 2, 8, 6, 3>(
+ new OpenCVReprojectionError(
+ marker.x,
+ marker.y,
+ marker.weight)),
+ NULL,
+ ceres_intrinsics,
+ current_camera_R_t,
+ &point->X(0));
+
+ // We lock the first camera to better deal with scene orientation ambiguity.
+ if (!have_locked_camera) {
+ problem.SetParameterBlockConstant(current_camera_R_t);
+ have_locked_camera = true;
+ }
- if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
- problem.SetParameterization(current_camera_R_t,
+ if (bundle_constraints & BUNDLE_NO_TRANSLATION) {
+ problem.SetParameterization(current_camera_R_t,
constant_translation_parameterization);
+ }
}
num_residuals++;
diff --git a/extern/libmv/libmv/simple_pipeline/modal_solver.cc b/extern/libmv/libmv/simple_pipeline/modal_solver.cc
index 90dfde15660..caccce68cbe 100644
--- a/extern/libmv/libmv/simple_pipeline/modal_solver.cc
+++ b/extern/libmv/libmv/simple_pipeline/modal_solver.cc
@@ -57,8 +57,10 @@ void ModalSolverLogProress(ProgressUpdateCallback *update_callback,
struct ModalReprojectionError {
ModalReprojectionError(double observed_x,
double observed_y,
+ const double weight,
const Vec3 &bundle)
- : observed_x(observed_x), observed_y(observed_y), bundle(bundle) { }
+ : observed_x_(observed_x), observed_y_(observed_y),
+ weight_(weight), bundle_(bundle) { }
template <typename T>
bool operator()(const T* quaternion, // Rotation quaternion
@@ -68,9 +70,9 @@ struct ModalReprojectionError {
// Convert bundle position from double to T.
T X[3];
- X[0] = T(bundle(0));
- X[1] = T(bundle(1));
- X[2] = T(bundle(2));
+ X[0] = T(bundle_(0));
+ X[1] = T(bundle_(1));
+ X[2] = T(bundle_(2));
// Compute projective coordinates: x = RX.
T x[3];
@@ -84,15 +86,16 @@ struct ModalReprojectionError {
// The error is the difference between reprojected
// and observed marker position.
- residuals[0] = xn - T(observed_x);
- residuals[1] = yn - T(observed_y);
+ residuals[0] = xn - T(observed_x_);
+ residuals[1] = yn - T(observed_y_);
return true;
}
- double observed_x;
- double observed_y;
- Vec3 bundle;
+ double observed_x_;
+ double observed_y_;
+ double weight_;
+ Vec3 bundle_;
};
} // namespace
@@ -180,11 +183,13 @@ void ModalSolver(const Tracks &tracks,
Marker &marker = all_markers[i];
EuclideanPoint *point = reconstruction->PointForTrack(marker.track);
- if (point) {
+ if (point && marker.weight != 0.0) {
problem.AddResidualBlock(new ceres::AutoDiffCostFunction<
ModalReprojectionError,
2, /* num_residuals */
- 4>(new ModalReprojectionError(marker.x, marker.y,
+ 4>(new ModalReprojectionError(marker.x,
+ marker.y,
+ marker.weight,
point->X)),
NULL,
&quaternion(0));
diff --git a/extern/libmv/libmv/simple_pipeline/tracks.cc b/extern/libmv/libmv/simple_pipeline/tracks.cc
index f9e50d20af9..d5d009708ba 100644
--- a/extern/libmv/libmv/simple_pipeline/tracks.cc
+++ b/extern/libmv/libmv/simple_pipeline/tracks.cc
@@ -34,7 +34,7 @@ Tracks::Tracks(const Tracks &other) {
Tracks::Tracks(const vector<Marker> &markers) : markers_(markers) {}
-void Tracks::Insert(int image, int track, double x, double y) {
+void Tracks::Insert(int image, int track, double x, double y, double weight) {
// TODO(keir): Wow, this is quadratic for repeated insertions. Fix this by
// adding a smarter data structure like a set<>.
for (int i = 0; i < markers_.size(); ++i) {
@@ -45,7 +45,7 @@ void Tracks::Insert(int image, int track, double x, double y) {
return;
}
}
- Marker marker = { image, track, x, y };
+ Marker marker = { image, track, x, y, weight };
markers_.push_back(marker);
}
@@ -122,7 +122,7 @@ Marker Tracks::MarkerInImageForTrack(int image, int track) const {
return markers_[i];
}
}
- Marker null = { -1, -1, -1, -1 };
+ Marker null = { -1, -1, -1, -1, 0.0 };
return null;
}
diff --git a/extern/libmv/libmv/simple_pipeline/tracks.h b/extern/libmv/libmv/simple_pipeline/tracks.h
index f9af3ada45b..e2f8cf6b459 100644
--- a/extern/libmv/libmv/simple_pipeline/tracks.h
+++ b/extern/libmv/libmv/simple_pipeline/tracks.h
@@ -33,14 +33,20 @@ namespace libmv {
in the image identified by \a image. All markers for to the same target
form a track identified by a common \a track number.
+ \a weight is used by bundle adjustment and weight means how much the
+ track affects on a final solution.
+
\note Markers are typically aggregated with the help of the \l Tracks class.
\sa Tracks
*/
+// TODO(sergey): Consider using comment for every member separately
+// instead of having one giantic comment block.
struct Marker {
int image;
int track;
double x, y;
+ double weight;
};
/*!
@@ -72,9 +78,14 @@ class Tracks {
\a image and \a track are the keys used to retrieve the markers with the
other methods in this class.
+ \a weight is used by bundle adjustment and weight means how much the
+ track affects on a final solution.
+
\note To get an identifier for a new track, use \l MaxTrack() + 1.
*/
- void Insert(int image, int track, double x, double y);
+ // TODO(sergey): Consider using InsetWeightedMarker istead of using
+ // stupid default value?
+ void Insert(int image, int track, double x, double y, double weight = 1.0);
/// Returns all the markers.
vector<Marker> AllMarkers() const;
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-27 21:57:45 +0300