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Fix bundler reader and Clang compilation issue #252

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Fix bundler reader and Clang compilation issue #252

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448eb40
Merge branch 'master' of https://github.com/vfragoso/TheiaSfM
vfragoso Feb 12, 2019
b2dc869
Merge branch 'master' of github.com:sweeneychris/TheiaSfM
vfragoso Apr 12, 2020
1911af5
Fixing compilation of radial distortion homography tests on clang.
vfragoso Apr 12, 2020
2de4bcc
Reading kpts from bundler as floats instead of integers.
vfragoso Apr 12, 2020
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5 changes: 3 additions & 2 deletions src/theia/io/bundler_file_reader.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -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;
}
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4 changes: 2 additions & 2 deletions src/theia/io/bundler_file_reader.h
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Expand Up @@ -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.
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12 changes: 6 additions & 6 deletions src/theia/sfm/estimators/estimate_radial_distortion_homography_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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);
}
Expand Down Expand Up @@ -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;
Expand Down