diff options
Diffstat (limited to 'extern')
| -rw-r--r-- | extern/libmv/libmv/simple_pipeline/bundle.cc | 34 |
1 files changed, 12 insertions, 22 deletions
diff --git a/extern/libmv/libmv/simple_pipeline/bundle.cc b/extern/libmv/libmv/simple_pipeline/bundle.cc index 17996f70def..77181654466 100644 --- a/extern/libmv/libmv/simple_pipeline/bundle.cc +++ b/extern/libmv/libmv/simple_pipeline/bundle.cc @@ -93,28 +93,18 @@ struct OpenCVReprojectionError { T predicted_x, predicted_y; - // EuclideanBundle uses empty intrinsics, which breaks undistortion code; - // so use an implied focal length of 1.0 if the focal length is exactly - // zero. - // TODO(keir): Figure out a better way to do this. - if (focal_length != T(0)) { - // Apply distortion to the normalized points to get (xd, yd). - // TODO(keir): Do early bailouts for zero distortion; these are expensive - // jet operations. - - ApplyRadialDistortionCameraIntrinsics(focal_length, - focal_length, - principal_point_x, - principal_point_y, - k1, k2, k3, - p1, p2, - xn, yn, - &predicted_x, - &predicted_y); - } else { - predicted_x = xn; - predicted_y = yn; - } + // Apply distortion to the normalized points to get (xd, yd). + // TODO(keir): Do early bailouts for zero distortion; these are expensive + // jet operations. + ApplyRadialDistortionCameraIntrinsics(focal_length, + focal_length, + principal_point_x, + principal_point_y, + k1, k2, k3, + p1, p2, + xn, yn, + &predicted_x, + &predicted_y); // The error is the difference between the predicted and observed position. residuals[0] = predicted_x - T(observed_x); |