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Viewing changes to extern/libmv/libmv/simple_pipeline/intersect.cc

  • Committer: Reinhard Tartler
  • Date: 2014-05-31 01:50:05 UTC
  • mfrom: (14.2.27 sid)
  • Revision ID: siretart@tauware.de-20140531015005-ml6druahuj82nsav
merge from debian

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extern/libmv/libmv/simple_pipeline/intersect.cc
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    Vec3 projected = R * x + t;
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    projected /= projected(2);
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    residuals[0] = projected(0) - T(marker_.x);
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    residuals[1] = projected(1) - T(marker_.y);
 
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    residuals[0] = (projected(0) - T(marker_.x)) * marker_.weight;
 
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    residuals[1] = (projected(1) - T(marker_.y)) * marker_.weight;
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    return true;
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  }
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  ceres::Problem problem;
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  // Add residual blocks to the problem.
 
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  int num_residuals = 0;
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  for (int i = 0; i < markers.size(); ++i) {
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    const Marker &marker = markers[i];
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    const EuclideanCamera &camera =
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        *reconstruction->CameraForImage(marker.image);
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    problem.AddResidualBlock(
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        new ceres::AutoDiffCostFunction<
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            EuclideanIntersectCostFunctor,
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            2, /* num_residuals */
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            3>(new EuclideanIntersectCostFunctor(marker, camera)),
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        NULL,
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        &X(0));
 
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    if (marker.weight != 0.0) {
 
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      const EuclideanCamera &camera =
 
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          *reconstruction->CameraForImage(marker.image);
 
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      problem.AddResidualBlock(
 
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          new ceres::AutoDiffCostFunction<
 
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              EuclideanIntersectCostFunctor,
 
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              2, /* num_residuals */
 
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              3>(new EuclideanIntersectCostFunctor(marker, camera)),
 
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          NULL,
 
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          &X(0));
 
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          num_residuals++;
 
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    }
 
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  }
 
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  // TODO(sergey): Once we'll update Ceres to the next version
 
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  // we wouldn't need this check anymore -- Ceres will deal with
 
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  // zero-sized problems nicely.
 
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  LG << "Number of residuals: " << num_residuals;
 
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  if (!num_residuals) {
 
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    LG << "Skipping running minimizer with zero residuals";
 
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        // We still add 3D point for the track regardless it was
 
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        // optimized or not. If track is a constant zero it'll use
 
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        // algebraic intersection result as a 3D coordinate.
 
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    Vec3 point = X.head<3>();
 
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    reconstruction->InsertPoint(markers[0].track, point);
 
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    return true;
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  }
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  // Configure the solve.