d

Author: lpanaf

glomap/controllers/option_manager.cc

@@ -205,6 +205,8 @@ void OptionManager::AddBundleAdjusterOptions() {
                               &mapper->opt_ba.optimize_translation);
   AddAndRegisterDefaultOption("BundleAdjustment.optimize_intrinsics",
                               &mapper->opt_ba.optimize_intrinsics);
+  AddAndRegisterDefaultOption("BundleAdjustment.optimize_principal_point",
+                              &mapper->opt_ba.optimize_principal_point);
   AddAndRegisterDefaultOption("BundleAdjustment.optimize_points",
                               &mapper->opt_ba.optimize_points);
   AddAndRegisterDefaultOption("BundleAdjustment.thres_loss_function",
@@ -236,10 +238,12 @@ void OptionManager::AddInlierThresholdOptions() {
   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_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",