adding support for Ceres / cleaning up code some more

src/BaseApp.h

@@ -388,10 +388,10 @@ class BaseApp
     /* Output routines */
 
     /* IO routines */
-    void ReadGeometricConstraints(char *filename);
-    void WriteGeometricConstraints(char *filename);
-    void WriteTracksForSameer(char *filename);
+    void ReadGeometricConstraints(const char *filename);
+    void WriteGeometricConstraints(const char *filename);
     void WriteTracks(char *filename);
+    void WriteTracks2(char *filename);
     void ReadCameraConstraints();
     void ReadPointConstraints();
     void ReadIntrinsicsFile();
@@ -405,12 +405,12 @@ class BaseApp
     void ReadKeyColors();
 
     /* Read in information about the world */
-    void ReadBundleFile(char *filename);
-    void ReloadBundleFile (char *filename);
+    void ReadBundleFile(const char *filename);
+    void ReloadBundleFile (const char *filename);
 
     /* Read/write line segments */
-    void ReadLines3D(char *filename);
-    void WriteLines3D(char *filename);
+    void ReadLines3D(const char *filename);
+    void WriteLines3D(const char *filename);
 
     /* Clear the current model */
     void ClearModel();
@@ -448,14 +448,14 @@ class BaseApp
 
 #ifndef __DEMO__
     /* Write point files to a ply file */
-    void DumpPointsToPly(char *output_directory, char *filename, 
+    void DumpPointsToPly(const char *output_directory, const char *filename, 
                          int num_points, int num_cameras, 
 			 v3_t *points, v3_t *colors, camera_params_t *cameras
                          /*bool reflect = true*/);
 
     /* Dump an output file containing information about the current
      * state of the world */
-    void DumpOutputFile(char *output_dir, char *filename, 
+    void DumpOutputFile(const char *output_dir, const char *filename, 
 			int num_images, int num_cameras, int num_points,
 			int *added_order, 
 			camera_params_t *cameras, v3_t *points, v3_t *colors,
@@ -578,14 +578,14 @@ class BaseApp
     bool m_bundle_provided;      /* Was a bundle adjustment file given? */
     char *m_bundle_file;         /* Bundle file */
 
-    char *m_match_directory;     /* Which directory are the matches
-				  * stored in? */
-    char *m_match_index_dir;     /* Which directory are match indexes
-                                  * stored in? */
-    char *m_match_table;         /* File where match table is stored */
-    char *m_key_directory;
-    char *m_image_directory;
-    char *m_sift_binary;         /* Where can we find the sift binary? */
+    const char *m_match_directory;     /* Which directory are the matches
+                                        * stored in? */
+    const char *m_match_index_dir;     /* Which directory are match indexes
+                                        * stored in? */
+    const char *m_match_table;         /* File where match table is stored */
+    const char *m_key_directory;
+    const char *m_image_directory;
+    const char *m_sift_binary;         /* Where can we find the sift binary? */
 
     bool m_estimate_up_vector_szeliski;  /* Estimate the up vector
 					  * using Rick's method? */

src/BaseGeometry.cpp

@@ -99,7 +99,7 @@ void BaseApp::WriteTrackPairs(const char *filename)
     fclose(f);
 }
 
-void BaseApp::ReadGeometricConstraints(char *filename) {
+void BaseApp::ReadGeometricConstraints(const char *filename) {
     FILE *f = fopen(filename, "r");
 
     int num_images; // = GetNumImages();
@@ -270,7 +270,7 @@ void BaseApp::ReadGeometricConstraints(char *filename) {
     // WriteGeometricConstraints("constraints_test.txt");
 }
 
-void BaseApp::WriteGeometricConstraints(char *filename) {
+void BaseApp::WriteGeometricConstraints(const char *filename) {
     FILE *f = fopen(filename, "w");
 
     if (f == NULL) {
@@ -392,7 +392,8 @@ void BaseApp::WriteTracks(char *filename)
     fclose(f);
 }
 
-void BaseApp::WriteTracksForSameer(char *filename) {
+void BaseApp::WriteTracks2(char *filename) 
+{
     FILE *f = fopen(filename, "w");
 
     if (f == NULL) {

src/Bundle.cpp

@@ -437,8 +437,9 @@ void BundlerApp::ReRunSFM(double *S, double *U, double *V, double *W)
         num_images, num_init_cams, num_pts,
         added_order, cameras, init_pts, colors, pt_views);
 
-    RunSFM(num_pts, num_init_cams, 0, false, cameras, init_pts, added_order, 
-        colors, pt_views, 0.0 /*eps2*/, S, U, V, W);
+    RunSFM(num_pts, num_init_cams, 0, false, cameras, 
+           init_pts, added_order, colors, pt_views, 
+           0, 0, 0, 0.0 /*eps2*/, S, U, V, W);
 
     /* Save the camera parameters and points */
 
@@ -530,13 +531,50 @@ static int compare_doubles(const void *d1, const void *d2)
     return 0;
 }
 
-
 double BundlerApp::RunSFM(int num_pts, int num_cameras, int start_camera,
-                          bool fix_points, camera_params_t *init_camera_params,
+                          bool fix_points, 
+                          camera_params_t *init_camera_params,
                           v3_t *init_pts, int *added_order, v3_t *colors,
-                          std::vector<ImageKeyVector> &pt_views, double eps2, 
+                          std::vector<ImageKeyVector> &pt_views, 
+                          int max_iter, int max_iter2, 
+                          int verbosity, double eps2, 
                           double *S, double *U, double *V, double *W,
-                          bool remove_outliers)
+                          bool remove_outliers, bool final_bundle, 
+                          bool write_intermediate)
+{
+#ifdef __USE_CERES__
+    if (!m_use_ceres) {
+        return 
+            RunSFM_SBA(num_pts, num_cameras, start_camera, fix_points, 
+                       init_camera_params, init_pts, 
+                       added_order, colors, pt_views, eps2, S, U, V, W, 
+                       remove_outliers);
+    } else { /* use_ceres */
+        return 
+            RunSFM_Ceres(num_pts, num_cameras, start_camera, fix_points, 
+                         init_camera_params, init_pts, added_order, colors, pt_views,
+                         max_iter, max_iter2, verbosity, eps2, S, U, V, W, 
+                         remove_outliers, final_bundle, write_intermediate);
+    }
+#else
+    /* Just use SBA */
+    return 
+        RunSFM_SBA(num_pts, num_cameras, start_camera, fix_points, 
+                   init_camera_params, init_pts, 
+                   added_order, colors, pt_views,
+                   max_iter, max_iter2, verbosity, eps2, S, U, V, W, 
+                   remove_outliers, final_bundle, write_intermediate);
+#endif
+}
+
+double BundlerApp::RunSFM_SBA(int num_pts, int num_cameras, int start_camera,
+                              bool fix_points, 
+                              camera_params_t *init_camera_params,
+                              v3_t *init_pts, int *added_order, v3_t *colors,
+                              std::vector<ImageKeyVector> &pt_views, 
+                              double eps2, 
+                              double *S, double *U, double *V, double *W,
+                              bool remove_outliers)
 {
 #define MIN_POINTS 20
     int num_outliers = 0;
@@ -547,6 +585,8 @@ double BundlerApp::RunSFM(int num_pts, int num_cameras, int start_camera,
     int *remap = new int [num_pts];
     v3_t *nz_pts = new v3_t[num_pts];
 
+    const int MIN_OUTLIERS = 40;
+
     do {
         if (num_pts - total_outliers < MIN_POINTS) {
             printf("[RunSFM] Too few points remaining, exiting!\n");
@@ -863,7 +903,7 @@ double BundlerApp::RunSFM(int num_pts, int num_cameras, int start_camera,
 
         if (!remove_outliers) break;
 
-    } while (num_outliers > 0);
+    } while (num_outliers > MIN_OUTLIERS);
 
     delete [] remap;
     delete [] nz_pts;
@@ -1862,11 +1902,9 @@ void BundlerApp::EstimateIgnoredCameras(int &curr_num_cameras,
         }
     }
 
-#if 1
-    /* TEST */
     RunSFM(curr_num_pts, curr_num_cameras, 0, true,
-        cameras, points, added_order, colors, pt_views, 1.0e-20 /*eps*/);
-#endif
+           cameras, points, added_order, colors, pt_views, 
+           1.0e-20 /*eps*/);
 
     int pt_count = 
         BundleAdjustAddAllNewPoints(curr_num_pts, curr_num_cameras,
@@ -1916,11 +1954,8 @@ void BundlerApp::EstimateIgnoredCameras(int &curr_num_cameras,
 #endif
     }
 
-#if 1
-    /* TEST */
     RunSFM(curr_num_pts, curr_num_cameras, 0, true,
-        cameras, points, added_order, colors, pt_views, 1.0e-20);
-#endif
+           cameras, points, added_order, colors, pt_views, 1.0e-20);
 
     pt_count = 
         BundleAdjustAddAllNewPoints(curr_num_pts, curr_num_cameras,
@@ -2103,8 +2138,8 @@ void BundlerApp::BundleAdjust()
         double *S = new double[2 * 2 * cnp * cnp];
         double error0;
         error0 = RunSFM(curr_num_pts, 2, 0, false,
-            cameras, points, added_order, colors, pt_views, 0.0,
-            S, NULL, NULL, NULL, !m_fix_necker);
+                        cameras, points, added_order, colors, pt_views, 
+                        0, 0, 0, 0.0, S, NULL, NULL, NULL, !m_fix_necker);
 
         delete [] S;
 
@@ -2332,7 +2367,7 @@ void BundlerApp::BundleAdjust()
 
             /* Run sfm again to update parameters */
             RunSFM(curr_num_pts, round + 1, 0, false,
-                cameras, points, added_order, colors, pt_views);
+                   cameras, points, added_order, colors, pt_views);
 
             /* Remove bad points and cameras */
             RemoveBadPointsAndCameras(curr_num_pts, curr_num_cameras + 1, 
@@ -3528,7 +3563,7 @@ void BundlerApp::BundleInitializeImageFullBundle(int image_idx, int parent_idx,
     if (!m_skip_full_bundle) {
         /* Run sfm again to update parameters */
         RunSFM(num_points, num_cameras + 1, 0, false,
-            cameras, points, added_order, colors, pt_views);
+               cameras, points, added_order, colors, pt_views);
     }
 }
 

src/Bundle2PMVS.cpp

@@ -23,7 +23,7 @@ typedef struct
 
 } point_t;
 
-void ReadListFile(char *list_file, std::vector<std::string> &files)
+void ReadListFile(const char *list_file, std::vector<std::string> &files)
 {
     FILE *f = fopen(list_file, "r");
 
@@ -41,7 +41,7 @@ void ReadListFile(char *list_file, std::vector<std::string> &files)
     fclose(f);
 }
 
-void ReadBundleFile(char *bundle_file, 
+void ReadBundleFile(const char *bundle_file, 
                     std::vector<camera_params_t> &cameras,
                     std::vector<point_t> &points, double &bundle_version)
 {
@@ -141,7 +141,8 @@ void ReadBundleFile(char *bundle_file,
     fclose(f);
 }
 
-void WritePMVS(const char *output_path, char *list_file, char *bundle_file,
+void WritePMVS(const char *output_path, 
+               const char *list_file, const char *bundle_file,
                std::vector<std::string> images, 
                std::vector<camera_params_t> &cameras)
 {
@@ -261,9 +262,9 @@ int main(int argc, char **argv)
         return 1;
     }
 
-    char *list_file = argv[1];
-    char *bundle_file = argv[2];
-    char *output_path = "pmvs";
+    const char *list_file = argv[1];
+    const char *bundle_file = argv[2];
+    const char *output_path = "pmvs";
 
     if (argc == 4)
         output_path = argv[3];

src/BundleCeres.cpp

@@ -799,8 +799,8 @@ double BundlerApp::RunSFM_Ceres(int num_pts, int num_cameras,
             printf("[RunSFM] %d points completely removed\n", num_dead);
 
             RemoveBadPointsAndCameras(num_pts, num_cameras, 
-                                      added_order, init_camera_params, init_pts, colors,
-                                      pt_views);            
+                                      added_order, init_camera_params, 
+                                      init_pts, colors, pt_views);
         } else if (round == 0) {
             RemoveBadPointsAndCameras(num_pts, num_cameras, 
                                       added_order, init_camera_params, 

src/BundleFast.cpp

@@ -272,14 +272,20 @@ void BundlerApp::BundleAdjustFast()
 	if (max_matches < m_min_max_matches)
 	    break; /* No more connections */
 
-	/* Find all images with 90% of the matches of the maximum */
+	/* Find all images with 75% of the matches of the maximum 
+         * (unless overruled by m_num_points_add_camera) */
 	std::vector<ImagePair> image_set;
 
-        if (false && max_matches < 48) {
+        if (false && max_matches < 48) { /* disabling this */
             image_set.push_back(ImagePair(max_cam, parent_idx));
         } else {
-            // int nMatches = MIN(100, iround(0.75 /* 0.9 */ * max_matches));
-            int nMatches = iround(0.75 /* 0.9 */ * max_matches);
+            int nMatches = iround(0.75 * max_matches);
+
+            if (m_num_matches_add_camera > 0) {
+                /* Alternate threshold based on user parameter */
+                nMatches = std::min(nMatches, m_num_matches_add_camera);
+            }
+
 	    image_set = 
                 FindCamerasWithNMatches(nMatches,
                                         curr_num_cameras, curr_num_pts, 
@@ -312,10 +318,11 @@ void BundlerApp::BundleAdjustFast()
             bool success = false;
             camera_params_t camera_new = 
 		BundleInitializeImage(m_image_data[next_idx], 
-				      next_idx, curr_num_cameras + image_count,
+				      next_idx, 
+                                      curr_num_cameras + image_count,
 				      curr_num_cameras, curr_num_pts,
 				      added_order, points, 
-				      NULL /*cameras + parent_idx*/, cameras, 
+				      NULL, cameras, 
 				      pt_views, &success);
 
             if (success) {
@@ -497,7 +504,6 @@ void BundlerApp::BundleAdjustFast()
 #else
 	pdata.m_views = pt_views[i];
 #endif
-	// pdata.m_views = pt_views[i];
 
 	m_point_data.push_back(pdata);
     }