From 1911af5218b2b879ee72b5c13616849eefa5198d Mon Sep 17 00:00:00 2001
From: Victor Fragoso <geektor2007@gmail.com>
Date: Sun, 12 Apr 2020 09:59:32 -0700
Subject: [PATCH 1/2] Fixing compilation of radial distortion homography tests
 on clang.

Change-Id: I5a8787fc23264ac998d784a9476d1cf471a71fa1
---
 .../estimate_radial_distortion_homography_test.cc    | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/theia/sfm/estimators/estimate_radial_distortion_homography_test.cc b/src/theia/sfm/estimators/estimate_radial_distortion_homography_test.cc
index bb27243f5..a1b7665d3 100644
--- a/src/theia/sfm/estimators/estimate_radial_distortion_homography_test.cc
+++ b/src/theia/sfm/estimators/estimate_radial_distortion_homography_test.cc
@@ -69,10 +69,10 @@ static constexpr double kRadialDistortion1 = -1e-7;
 static constexpr double kRadialDistortion2 = -5e-7;
 static constexpr double kReprojectionError = 3.0;
 
-// allowing 10 percent error for radial distortion parameters
-static constexpr double kRadDistThreshold1 =
+// Allowing 10 percent error for radial distortion parameters.
+static const double kRadDistThreshold1 =
     0.1 * std::abs(kRadialDistortion1 * std::pow(kFocalLength1, 2));
-static constexpr double kRadDistThreshold2 =
+static const double kRadDistThreshold2 =
     0.1 * std::abs(kRadialDistortion2 * std::pow(kFocalLength2, 2));
 
 // Generate points on a plane so that a homography can accurately estimate the
@@ -111,7 +111,7 @@ void GenerateDistortedImagePoint(
     AddNoiseToProjection(projection_noise_std_dev, &rng, &image_2_point);
   }
 
-  // normalize points with focal length (and principal point) estimate
+  // Normalize points with focal length (and principal point) estimate.
   UndistortPoint(image_1_point, focal_length1, 0.0, image_1_point_normalized);
   UndistortPoint(image_2_point, focal_length2, 0.0, image_2_point_normalized);
 }
@@ -164,13 +164,13 @@ void ExecuteRandomTest(const RansacParameters& options,
   std::vector<Vector2d> image_1_points_normalized, image_2_points_normalized;
   std::vector<Vector2d> image_1_points, image_2_points;
 
-  // Generate distorted points
+  // Generate distorted points.
   GenerateDistortedImagePoints(
       points3d, noise, rotation, position, focal_length_1, focal_length_2,
       radial_distortion_1, radial_distortion_2, inlier_ratio,
       &image_1_points_normalized, &image_2_points_normalized, &image_1_points,
       &image_2_points);
-  // Get correspondences
+  // Get correspondences.
   std::vector<RadialDistortionFeatureCorrespondence> correspondences;
   for (size_t i = 0; i < image_1_points.size(); ++i) {
     RadialDistortionFeatureCorrespondence correspondence;

From 2de4bcc65afc8cd0f31f6c484f5a0584b0933d24 Mon Sep 17 00:00:00 2001
From: Victor Fragoso <geektor2007@gmail.com>
Date: Sun, 12 Apr 2020 10:34:00 -0700
Subject: [PATCH 2/2] Reading kpts from bundler as floats instead of integers.

Change-Id: Ie892161ee44ba39fb6ed57479f2a1d36301b3b23
---
 src/theia/io/bundler_file_reader.cc | 5 +++--
 src/theia/io/bundler_file_reader.h  | 4 ++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/theia/io/bundler_file_reader.cc b/src/theia/io/bundler_file_reader.cc
index 507167698..db7f1dd99 100644
--- a/src/theia/io/bundler_file_reader.cc
+++ b/src/theia/io/bundler_file_reader.cc
@@ -134,6 +134,7 @@ bool ReadViewList(FILE* in, std::vector<FeatureInfo>* view_list) {
   int num_views = 0;
   if (fscanf(in, "%d", &num_views) != 1) {
     VLOG(3) << "Unable to read number of views for point.";
+    return false;
   }
   VLOG(3) << "Num. views to read: " << num_views;
   view_list->resize(num_views);
@@ -153,12 +154,12 @@ bool ReadViewList(FILE* in, std::vector<FeatureInfo>* view_list) {
     if (fscanf(in, "%f", &entry) != 1) {
       return false;
     }
-    (*view_list)[i].kpt_x = static_cast<int>(entry);
+    (*view_list)[i].kpt_x = entry;
     // Kpt y.
     if (fscanf(in, "%f", &entry) != 1) {
       return false;
     }
-    (*view_list)[i].kpt_y = static_cast<int>(entry);
+    (*view_list)[i].kpt_y = entry;
   }
   return true;
 }
diff --git a/src/theia/io/bundler_file_reader.h b/src/theia/io/bundler_file_reader.h
index 071be7e9b..0105f2a6b 100644
--- a/src/theia/io/bundler_file_reader.h
+++ b/src/theia/io/bundler_file_reader.h
@@ -64,8 +64,8 @@ struct FeatureInfo {
   // Index of the feature in the SIFT file.
   int sift_index;
   // Pixel position.
-  int kpt_x;
-  int kpt_y;
+  float kpt_x;
+  float kpt_y;
 };
 
 // Reconstructed 3D point.