adding print statement to output global mean reprojection error after…

… each round of bundle adjustment
yueying · Jun 8, 2014 · f645284 · f645284
1 parent 92d699f
commit f645284
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Showing 2 changed files with 22 additions and 2 deletions.
diff --git a/src/Bundle.cpp b/src/Bundle.cpp
@@ -657,10 +657,13 @@ double BundlerApp::RunSFM_SBA(int num_pts, int num_cameras, int start_camera,
         printf("[RunSFM] run_sfm took %0.3fs\n",
             (double) (end - start) / (double) CLOCKS_PER_SEC);
 
-        /* Check for outliers */
+        /* Compute statistics and check for outliers */
 
         start = clock();
 
+        double global_reprojection_error = 0;
+        int global_num_observations = 0;
+
         std::vector<int> outliers;
         std::vector<double> reproj_errors;
 
@@ -784,7 +787,8 @@ double BundlerApp::RunSFM_SBA(int num_pts, int num_cameras, int start_camera,
                 iround(0.5 * num_pts_proj), dists), 
                 thresh);
 
-            // printf("Outlier threshold is %0.3f\n", thresh);
+            global_reprojection_error += sum;
+            global_num_observations += num_pts_proj;
 
             pt_count = 0;
             for (int j = 0; j < num_keys; j++) {
@@ -846,6 +850,11 @@ double BundlerApp::RunSFM_SBA(int num_pts, int num_cameras, int start_camera,
             delete [] dists;
         }
 
+        printf("[RunSFM] Global mean reprojection error: %0.3e "
+               "(%d observations)\n",
+               global_reprojection_error / global_num_observations,
+               global_num_observations);
+
         /* Remove outlying points */
         if (remove_outliers) {
             for (int i = 0; i < (int) outliers.size(); i++) {

diff --git a/src/BundleCeres.cpp b/src/BundleCeres.cpp
@@ -511,6 +511,9 @@ double BundlerApp::RunSFM_Ceres(int num_pts, int num_cameras,
 
 	start = clock();
 
+        double global_reprojection_error = 0;
+        int global_num_observations = 0;
+
 	std::vector<int> outliers;
         std::vector<int> outlier_views;
 	std::vector<double> reproj_errors;
@@ -649,6 +652,9 @@ double BundlerApp::RunSFM_Ceres(int num_pts, int num_cameras,
                                     iround(0.5 * num_pts_proj), dists), 
                    thresh);
 
+            global_reprojection_error += sum;
+            global_num_observations += num_pts_proj;
+
 	    pt_count = 0;
 	    for (int j = 0; j < num_keys; j++) {
 		int pt_idx = GetKey(added_order[i],j).m_extra;
@@ -715,6 +721,11 @@ double BundlerApp::RunSFM_Ceres(int num_pts, int num_cameras,
 	    delete [] dists;
 	}
 
+        printf("[RunSFM] Global mean reprojection error: %0.3e "
+               "(%d observations)\n",
+               global_reprojection_error / global_num_observations,
+               global_num_observations);
+
 	/* Remove outlying points */
         if ((!final_bundle || round > 0) && remove_outliers) {
             int num_dead = 0;