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Use ceres::Manifolds instead of ceres::LocalParameterization. #3243
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@@ -24,6 +24,7 @@ | |
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#include "ceres/ceres.h" | ||
#include "ceres/rotation.h" | ||
#include "ceres/version.h" | ||
#include "libmv/base/vector.h" | ||
#include "libmv/logging/logging.h" | ||
#include "libmv/multiview/fundamental.h" | ||
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@@ -485,7 +486,11 @@ void EuclideanBundleCommonIntrinsics( | |
PackCamerasRotationAndTranslation(tracks, *reconstruction); | ||
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// Parameterization used to restrict camera motion for modal solvers. | ||
#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | ||
ceres::SubsetManifold *constant_translation_manifold = NULL; | ||
#else | ||
ceres::SubsetParameterization *constant_translation_parameterization = NULL; | ||
#endif | ||
if (bundle_constraints & BUNDLE_NO_TRANSLATION) { | ||
std::vector<int> constant_translation; | ||
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@@ -494,8 +499,13 @@ void EuclideanBundleCommonIntrinsics( | |
constant_translation.push_back(4); | ||
constant_translation.push_back(5); | ||
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#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | ||
constant_translation_parameterization = | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. You mean There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. indeed, thx. Fixed |
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new ceres::SubsetManifold(6, constant_translation); | ||
#else | ||
constant_translation_parameterization = | ||
new ceres::SubsetParameterization(6, constant_translation); | ||
#endif | ||
} | ||
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// Add residual blocks to the problem. | ||
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@@ -538,8 +548,13 @@ void EuclideanBundleCommonIntrinsics( | |
} | ||
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if (bundle_constraints & BUNDLE_NO_TRANSLATION) { | ||
#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. The same issue with 3.0. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Done, sorry about that. |
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problem.SetParameterization(current_camera_R_t, | ||
constant_translation_manifold); | ||
#else | ||
problem.SetParameterization(current_camera_R_t, | ||
constant_translation_parameterization); | ||
#endif | ||
} | ||
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zero_weight_tracks_flags[marker.track] = false; | ||
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@@ -586,10 +601,17 @@ void EuclideanBundleCommonIntrinsics( | |
// Always set K3 constant, it's not used at the moment. | ||
constant_intrinsics.push_back(OFFSET_K3); | ||
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#if CERES_VERSION_MAJOR >= 2 && CERES_VERSION_MINOR >= 1 | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. And the same. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Done |
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ceres::SubsetManifold *subset_manifold = | ||
new ceres::SubsetManifold(OFFSET_MAX, constant_intrinsics); | ||
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problem.SetManifold(ceres_intrinsics, subset_manifold); | ||
#else | ||
ceres::SubsetParameterization *subset_parameterization = | ||
new ceres::SubsetParameterization(OFFSET_MAX, constant_intrinsics); | ||
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problem.SetParameterization(ceres_intrinsics, subset_parameterization); | ||
#endif | ||
} | ||
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// Configure the solver. | ||
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This check is not accurate as 3.0 version returns
false
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Thx, fixed.