diff options
Diffstat (limited to 'intern/libmv/libmv/simple_pipeline/bundle.cc')
| -rw-r--r-- | intern/libmv/libmv/simple_pipeline/bundle.cc | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.cc b/intern/libmv/libmv/simple_pipeline/bundle.cc index 3df39ab8936..d62f0ebe94f 100644 --- a/intern/libmv/libmv/simple_pipeline/bundle.cc +++ b/intern/libmv/libmv/simple_pipeline/bundle.cc @@ -368,6 +368,8 @@ void BundleIntrinsicsLogMessage(const int bundle_intrinsics) { APPEND_BUNDLING_INTRINSICS("px, py", BUNDLE_PRINCIPAL_POINT); APPEND_BUNDLING_INTRINSICS("k1", BUNDLE_RADIAL_K1); APPEND_BUNDLING_INTRINSICS("k2", BUNDLE_RADIAL_K2); + APPEND_BUNDLING_INTRINSICS("k3", BUNDLE_RADIAL_K3); + APPEND_BUNDLING_INTRINSICS("k4", BUNDLE_RADIAL_K4); APPEND_BUNDLING_INTRINSICS("p1", BUNDLE_TANGENTIAL_P1); APPEND_BUNDLING_INTRINSICS("p2", BUNDLE_TANGENTIAL_P2); @@ -744,7 +746,8 @@ void EuclideanBundleCommonIntrinsics( std::vector<int> constant_intrinsics; #define MAYBE_SET_CONSTANT(bundle_enum, offset) \ - if (!(bundle_intrinsics & bundle_enum)) { \ + if (!(bundle_intrinsics & bundle_enum) || \ + !packed_intrinsics.IsParameterDefined(offset)) { \ constant_intrinsics.push_back(offset); \ } MAYBE_SET_CONSTANT(BUNDLE_FOCAL_LENGTH, @@ -755,22 +758,19 @@ void EuclideanBundleCommonIntrinsics( PackedIntrinsics::OFFSET_PRINCIPAL_POINT_Y); MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K1, PackedIntrinsics::OFFSET_K1); MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K2, PackedIntrinsics::OFFSET_K2); + MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K3, PackedIntrinsics::OFFSET_K3); + MAYBE_SET_CONSTANT(BUNDLE_RADIAL_K4, PackedIntrinsics::OFFSET_K4); MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P1, PackedIntrinsics::OFFSET_P1); MAYBE_SET_CONSTANT(BUNDLE_TANGENTIAL_P2, PackedIntrinsics::OFFSET_P2); #undef MAYBE_SET_CONSTANT - // Always set K3 and K4 constant, it's not used at the moment. - constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K3); - constant_intrinsics.push_back(PackedIntrinsics::OFFSET_K4); + if (!constant_intrinsics.empty()) { + ceres::SubsetParameterization *subset_parameterization = + new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS, + constant_intrinsics); - // TODO(sergey): Mark all parameters which are not used by the distortion - // model as constant. - - ceres::SubsetParameterization *subset_parameterization = - new ceres::SubsetParameterization(PackedIntrinsics::NUM_PARAMETERS, - constant_intrinsics); - - problem.SetParameterization(intrinsics_block, subset_parameterization); + problem.SetParameterization(intrinsics_block, subset_parameterization); + } } // Configure the solver. |