add more options in CLI and add support to optimize principal point

Author: lpanaf

glomap/controllers/option_manager.cc

@@ -234,6 +234,12 @@ void OptionManager::AddInlierThresholdOptions() {
     return;
   }
   added_inliers_options_ = true;
+  AddAndRegisterDefaultOption("Thresholds.max_angle_error",
+                              &mapper->inlier_thresholds.max_angle_error);
+  AddAndRegisterDefaultOption("Thresholds.max_reprojection_error",
+                              &mapper->inlier_thresholds.max_reprojection_error);
+  AddAndRegisterDefaultOption("Thresholds.min_triangulation_angle",
+                              &mapper->inlier_thresholds.min_triangulation_angle);
   AddAndRegisterDefaultOption("Thresholds.max_epipolar_error_E",
                               &mapper->inlier_thresholds.max_epipolar_error_E);
   AddAndRegisterDefaultOption("Thresholds.max_epipolar_error_F",

glomap/estimators/bundle_adjustment.cc

@@ -161,7 +161,7 @@ void BundleAdjuster::ParameterizeVariables(
       images[center].cam_from_world.translation.data());
 
   // Parameterize the camera parameters, or set them to be constant if desired
-  if (options_.optimize_intrinsics) {
+  if (options_.optimize_intrinsics && !options_.optimize_principal_point) {
     for (auto& [camera_id, camera] : cameras) {
       if (problem_->HasParameterBlock(camera.params.data())) {
         std::vector<int> principal_point_idxs;
@@ -174,8 +174,8 @@ void BundleAdjuster::ParameterizeVariables(
                                   camera.params.data());
       }
     }
-
-  } else {
+  } else if (!options_.optimize_intrinsics &&
+             !options_.optimize_principal_point) {
     for (auto& [camera_id, camera] : cameras) {
       if (problem_->HasParameterBlock(camera.params.data())) {
         problem_->SetParameterBlockConstant(camera.params.data());

glomap/estimators/bundle_adjustment.h

@@ -14,6 +14,7 @@ struct BundleAdjusterOptions : public OptimizationBaseOptions {
   bool optimize_rotations = true;
   bool optimize_translation = true;
   bool optimize_intrinsics = true;
+  bool optimize_principal_point = true;
   bool optimize_points = true;
 
   // Constrain the minimum number of views per track