diff options
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/intersect.cc | 20 |
1 files changed, 20 insertions, 0 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/intersect.cc b/extern/libmv/libmv/simple_pipeline/intersect.cc index 6a098da272d..ddb713684a4 100644 --- a/extern/libmv/libmv/simple_pipeline/intersect.cc +++ b/extern/libmv/libmv/simple_pipeline/intersect.cc @@ -100,6 +100,8 @@ bool EuclideanIntersect(const vector<Marker> &markers, ceres::Problem problem; + // Add residual blocks to the problem. + int num_residuals = 0; for (int i = 0; i < markers.size(); ++i) { const Marker &marker = markers[i]; if (marker.weight != 0.0) { @@ -113,9 +115,27 @@ bool EuclideanIntersect(const vector<Marker> &markers, 3>(new EuclideanIntersectCostFunctor(marker, camera)), NULL, &X(0)); + num_residuals++; } } + // TODO(sergey): Once we'll update Ceres to the next version + // we wouldn't need this check anymore -- Ceres will deal with + // zero-sized problems nicely. + LG << "Number of residuals: " << num_residuals; + if (!num_residuals) { + LG << "Skipping running minimizer with zero residuals"; + + // We still add 3D point for the track regardless it was + // optimized or not. If track is a constant zero it'll use + // algebraic intersection result as a 3D coordinate. + + Vec3 point = X.head<3>(); + reconstruction->InsertPoint(markers[0].track, point); + + return true; + } + // Configure the solve. ceres::Solver::Options solver_options; solver_options.linear_solver_type = ceres::DENSE_QR; |