From 126ca24dbf85d6c3385b5c9c1c22773fece00bb7 Mon Sep 17 00:00:00 2001 From: Sergey Sharybin Date: Fri, 26 Apr 2013 15:43:20 +0000 Subject: Fix for BA possible move bundles behind the camera In some cases (was noticed on not good enough keyframe pair) bundle adjuster could have moved bundles behind the camera. This could indeed lead to lower rewprojection error but this is just pointless thing to do. Now added check to residuals functor which will return false to Ceres in cases point moved behind the camera to prevent such issues. --- extern/libmv/libmv/simple_pipeline/bundle.cc | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'extern') diff --git a/extern/libmv/libmv/simple_pipeline/bundle.cc b/extern/libmv/libmv/simple_pipeline/bundle.cc index f068e050b48..0aca8790587 100644 --- a/extern/libmv/libmv/simple_pipeline/bundle.cc +++ b/extern/libmv/libmv/simple_pipeline/bundle.cc @@ -83,6 +83,10 @@ struct OpenCVReprojectionError { x[1] += R_t[4]; x[2] += R_t[5]; + // Prevent bundles from being moved behind the camera. + if (x[2] < T(0)) + return false; + // Compute normalized coordinates: x /= x[2]. T xn = x[0] / x[2]; T yn = x[1] / x[2]; -- cgit v1.2.3