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Changes related to new colmap point projection interface #185

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25 changes: 17 additions & 8 deletions glomap/estimators/relpose_estimation.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -54,12 +54,14 @@ void EstimateRelativePoses(ViewGraph& view_graph,
// Collect the original 2D points
points2D_1.clear();
points2D_2.clear();
for (size_t idx = 0; idx < matches.rows(); idx++) {
points2D_1.push_back(image1.features[matches(idx, 0)]);
points2D_2.push_back(image2.features[matches(idx, 1)]);
}
// If the camera model is not supported by poselib
if (!valid_camera_model) {

if (valid_camera_model) {
for (size_t idx = 0; idx < matches.rows(); idx++) {
points2D_1.push_back(image1.features[matches(idx, 0)]);
points2D_2.push_back(image2.features[matches(idx, 1)]);
}
} else {
// If the camera model is not supported by poselib
// Undistort points
// Note that here, we still rescale by the focal length (to avoid
// change the RANSAC threshold)
Expand All @@ -70,8 +72,15 @@ void EstimateRelativePoses(ViewGraph& view_graph,
K2_new(0, 0) = camera2.FocalLengthX();
K2_new(1, 1) = camera2.FocalLengthY();
for (size_t idx = 0; idx < matches.rows(); idx++) {
points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
std::optional<Eigen::Vector2d> p1 =
camera1.CamFromImg(image1.features[matches(idx, 0)]);
std::optional<Eigen::Vector2d> p2 =
camera1.CamFromImg(image2.features[matches(idx, 1)]);

if (!p1 || !p2) continue;

points2D_1.push_back(p1.value());
points2D_2.push_back(p2.value());
}

// Reset the camera to be the pinhole camera with original focal
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8 changes: 6 additions & 2 deletions glomap/processors/image_undistorter.cc
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Expand Up @@ -31,8 +31,12 @@ void UndistortImages(std::unordered_map<camera_t, Camera>& cameras,
image.features_undist.clear();
image.features_undist.reserve(num_points);
for (int i = 0; i < num_points; i++) {
image.features_undist.emplace_back(
camera.CamFromImg(image.features[i]).homogeneous().normalized());
std::optional<Eigen::Vector2d> feat_undist =
camera.CamFromImg(image.features[i]);

if (feat_undist) image.features_undist.emplace_back(
feat_undist.value().homogeneous().normalized()
);
}
});
}
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12 changes: 7 additions & 5 deletions glomap/processors/track_filter.cc
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Expand Up @@ -17,7 +17,7 @@ int TrackFilter::FilterTracksByReprojection(
for (auto& [image_id, feature_id] : track.observations) {
const Image& image = images.at(image_id);
Eigen::Vector3d pt_calc = image.cam_from_world * track.xyz;
if (pt_calc(2) < EPS) continue;
if (pt_calc(2) < std::numeric_limits<double>::epsilon()) continue;

double reprojection_error = max_reprojection_error;
if (in_normalized_image) {
Expand All @@ -29,10 +29,12 @@ int TrackFilter::FilterTracksByReprojection(
(pt_reproj - feature_undist.head(2) / (feature_undist(2) + EPS))
.norm();
} else {
Eigen::Vector2d pt_reproj = pt_calc.head(2) / pt_calc(2);
Eigen::Vector2d pt_dist;
pt_dist = cameras.at(image.camera_id).ImgFromCam(pt_reproj);
reprojection_error = (pt_dist - image.features.at(feature_id)).norm();
// The epsilon-depth check should be enough,
// but leaving this in case the implementation changes
std::optional<Eigen::Vector2d> pt_dist =
cameras.at(image.camera_id).ImgFromCam(pt_calc);
if (!pt_dist) continue;
reprojection_error = (pt_dist.value() - image.features.at(feature_id)).norm();
}

// If the reprojection error is smaller than the threshold, then keep it
Expand Down