add more options in CLI and add support to optimize principal point (#170)

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

* d

* by default, do not optimize pp

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",
@@ -234,6 +236,14 @@ 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 = false;
   bool optimize_points = true;
 
   // Constrain the minimum number of views per track