4 files changed, 34 insertions, 20 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.
diff --git a/intern/libmv/libmv/simple_pipeline/bundle.h b/intern/libmv/libmv/simple_pipeline/bundle.h
index 781bd8476fe..5f420da0045 100644
--- a/intern/libmv/libmv/simple_pipeline/bundle.h
+++ b/intern/libmv/libmv/simple_pipeline/bundle.h
@@ -101,14 +101,22 @@ void EuclideanBundle(const Tracks &tracks,
 */
 enum BundleIntrinsics {
   BUNDLE_NO_INTRINSICS = 0,
-  BUNDLE_FOCAL_LENGTH = 1,
-  BUNDLE_PRINCIPAL_POINT = 2,
-  BUNDLE_RADIAL_K1 = 4,
-  BUNDLE_RADIAL_K2 = 8,
-  BUNDLE_RADIAL = 12,
-  BUNDLE_TANGENTIAL_P1 = 16,
-  BUNDLE_TANGENTIAL_P2 = 32,
-  BUNDLE_TANGENTIAL = 48,
+
+  BUNDLE_FOCAL_LENGTH = (1 << 0),
+  BUNDLE_PRINCIPAL_POINT = (1 << 1),
+
+  BUNDLE_RADIAL_K1 = (1 << 2),
+  BUNDLE_RADIAL_K2 = (1 << 3),
+  BUNDLE_RADIAL_K3 = (1 << 4),
+  BUNDLE_RADIAL_K4 = (1 << 5),
+  BUNDLE_RADIAL = (BUNDLE_RADIAL_K1 |
+                   BUNDLE_RADIAL_K2 |
+                   BUNDLE_RADIAL_K3 |
+                   BUNDLE_RADIAL_K4),
+
+  BUNDLE_TANGENTIAL_P1 = (1 << 6),
+  BUNDLE_TANGENTIAL_P2 = (1 << 7),
+  BUNDLE_TANGENTIAL = (BUNDLE_TANGENTIAL_P1 | BUNDLE_TANGENTIAL_P2),
 };
 enum BundleConstraints {
   BUNDLE_NO_CONSTRAINTS = 0,
diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
index 1888e18867e..73ad4faed9c 100644
--- a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
+++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.cc
@@ -55,4 +55,8 @@ double PackedIntrinsics::GetParameter(int index) const {
   return parameters_.at(index);
 }
 
+bool PackedIntrinsics::IsParameterDefined(int offset) {
+  return known_parameters_.at(offset);
+}
+
 }  // namespace libmv
diff --git a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
index e551fe74800..cbea599fccd 100644
--- a/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
+++ b/intern/libmv/libmv/simple_pipeline/packed_intrinsics.h
@@ -86,6 +86,8 @@ class PackedIntrinsics {
   double* GetParametersBlock() { return parameters_.data(); }
   const double* GetParametersBlock() const { return parameters_.data(); }
 
+  bool IsParameterDefined(int offset);
+
  private:
   void SetParameter(int index, double value);
   double GetParameter(int index) const;