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

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Merged
lpanaf merged 3 commits into from
Mar 13, 2025
Merged

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

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447c428
add more options in CLI and add support to optimize principal point
lpanaf Mar 3, 2025
be46309
d
lpanaf Mar 3, 2025
f822e86
by default, do not optimize pp
lpanaf Mar 3, 2025
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10 changes: 10 additions & 0 deletions glomap/controllers/option_manager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -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",
Expand Down
6 changes: 3 additions & 3 deletions glomap/estimators/bundle_adjustment.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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());
Expand Down
1 change: 1 addition & 0 deletions glomap/estimators/bundle_adjustment.h
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Expand Up @@ -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
Expand Down
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