local changes

yueying · Aug 30, 2014 · 457b7b8 · 457b7b8
1 parent f81096c
commit 457b7b8
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Showing 3 changed files with 20 additions and 8 deletions.
diff --git a/src/Bundle.cpp b/src/Bundle.cpp
@@ -1808,11 +1808,17 @@ int BundlerApp::SetupInitialCameraPair(int i_best, int j_best,
         int key_idx2 = list[i].m_idx2;
 
 
-        printf("  Adding match %d ==> %d [%d]\n", 
-            key_idx1, key_idx2, pt_count);
 
         double x_proj = GetKey(i_best,key_idx1).m_x;
         double y_proj = GetKey(i_best,key_idx1).m_y;
+
+        double x_proj1 = GetKey(i_best,key_idx1).m_x;
+        double y_proj1 = GetKey(i_best,key_idx1).m_y;
+        double x_proj2 = GetKey(j_best,key_idx2).m_x;
+        double y_proj2 = GetKey(j_best,key_idx2).m_y;
+
+        printf("  Adding match %d ==> %d -- %0.3f %0.3f ==> %0.3f %0.3f [%d]\n", 
+               key_idx1, key_idx2, x_proj1, y_proj1, x_proj2, y_proj2, pt_count);
 
         /* Back project the point to a constant depth */
         if (!solved_for_extrinsics) {
@@ -1822,11 +1828,6 @@ int BundlerApp::SetupInitialCameraPair(int i_best, int j_best,
 
             points[pt_count] = v3_new(x_pt, y_pt, z_pt);
         } else {
-            double x_proj1 = GetKey(i_best,key_idx1).m_x;
-            double y_proj1 = GetKey(i_best,key_idx1).m_y;
-            double x_proj2 = GetKey(j_best,key_idx2).m_x;
-            double y_proj2 = GetKey(j_best,key_idx2).m_y;
-
             double error;
 
             v2_t p = v2_new(x_proj1, y_proj1);

diff --git a/src/Makefile b/src/Makefile
@@ -1,6 +1,6 @@
 # Makefile for bundler
 
-USE_CERES=true
+# USE_CERES=true
 
 CC=gcc
 CXX=g++
@@ -90,6 +90,14 @@ $(RADIALUNDISTORT): RadialUndistort.o LoadJPEG.o
 		-lminpack -ljpeg
 	cp $@ ../bin
 
+SIFTDraw2: SIFTDraw2.o keys_lite.o LoadJPEG.o
+	$(CXX) -o $@ -g2 $^ $(LIB_PATH) -ljpeg -lz $(BUNDLER_LIBS)
+	cp $@ ../../bin
+
+MatchDraw2: MatchDraw2.o keys_lite.o LoadJPEG.o
+	$(CXX) -o $@ -g2 $^ $(LIB_PATH) -ljpeg -lz $(BUNDLER_LIBS)
+	cp $@ ../../bin
+
 clean:
 	rm -f *.o *~ $(BUNDLER) $(KEYMATCHFULL) $(BUNDLE2PMVS) \
 		$(BUNDLE2VIS) $(RADIALUNDISTORT)
diff --git a/src/RelativePose.cpp b/src/RelativePose.cpp
@@ -226,6 +226,9 @@ bool BundlerApp::EstimateRelativePose2(int i1, int i2,
                                512, /* m_fmatrix_rounds, 8 * m_fmatrix_rounds */
                                0.25 * m_fmatrix_threshold, // 0.003, // 0.004 /*0.001,*/ // /*0.5 **/ m_fmatrix_threshold, 
                                K1, K2, R0, t0);
+        printf("R,t\n");
+        matrix_print(3, 3, R0);
+        matrix_print(1, 3, t0);
     } else {
         std::vector<Keypoint> k1 = m_image_data[i1].UndistortKeysCopy();
         std::vector<Keypoint> k2 = m_image_data[i2].UndistortKeysCopy();