Merge branch 'develop' into rperrot-code_cleanup

Conflicts: src/openMVG/tracks/tracks.hpp
Lancelot899 · Apr 20, 2016 · 395ab2b · 395ab2b
2 parents 16f3195 + c46ef2a
commit 395ab2b
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Showing 3 changed files with 41 additions and 22 deletions.
diff --git a/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp b/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp
@@ -138,12 +138,16 @@ bool SequentialSfMReconstructionEngine::Process() {
       {
         BundleAdjustment();
       }
-      while (badTrackRejector(4.0, 50) != 0);
+      while (badTrackRejector(4.0, 50));
+      eraseUnstablePosesAndObservations(sfm_data_);
     }
     ++resectionGroupIndex;
   }
   // Ensure there is no remaining outliers
-  badTrackRejector(4.0, 0);
+  if (badTrackRejector(4.0, 0))
+  {
+    eraseUnstablePosesAndObservations(sfm_data_);
+  }
 
   //-- Reconstruction done.
   //-- Display some statistics
@@ -333,7 +337,7 @@ bool SequentialSfMReconstructionEngine::InitLandmarkTracks()
 bool SequentialSfMReconstructionEngine::AutomaticInitialPairChoice(Pair & initial_pair) const
 {
   // From the k view pairs with the highest number of verified matches
-  // select a pair that have the largest basline (mean angle between it's bearing vectors).
+  // select a pair that have the largest baseline (mean angle between it's bearing vectors).
 
   const unsigned k = 20;
   const unsigned iMin_inliers_count = 100;
@@ -1237,7 +1241,7 @@ bool SequentialSfMReconstructionEngine::BundleAdjustment()
  *
  * @return True if more than 'count' outliers have been removed.
  */
-size_t SequentialSfMReconstructionEngine::badTrackRejector(double dPrecision, size_t count)
+bool SequentialSfMReconstructionEngine::badTrackRejector(double dPrecision, size_t count)
 {
   const size_t nbOutliers_residualErr = RemoveOutliers_PixelResidualError(sfm_data_, dPrecision, 2);
   const size_t nbOutliers_angleErr = RemoveOutliers_AngleError(sfm_data_, 2.0);

diff --git a/src/openMVG/sfm/pipelines/sequential/sequential_SfM.hpp b/src/openMVG/sfm/pipelines/sequential/sequential_SfM.hpp
@@ -81,7 +81,7 @@ class SequentialSfMReconstructionEngine : public ReconstructionEngine
   bool BundleAdjustment();
 
   /// Discard track with too large residual error
-  size_t badTrackRejector(double dPrecision, size_t count = 0);
+  bool badTrackRejector(double dPrecision, size_t count = 0);
 
   //----
   //-- Data

diff --git a/src/openMVG/tracks/tracks.hpp b/src/openMVG/tracks/tracks.hpp
@@ -212,10 +212,12 @@ struct TracksUtilsMap
    * @param[in] map_tracksIn: all tracks of the scene
    * @param[out] map_tracksOut: output with only the common tracks
    */
-  static bool GetTracksInImages(
+  static bool GetTracksInImages
+  (
     const std::set<size_t> & set_imageIndex,
     const STLMAPTracks & map_tracksIn,
-    STLMAPTracks & map_tracksOut)
+    STLMAPTracks & map_tracksOut
+  )
   {
     map_tracksOut.clear();
 
@@ -242,9 +244,11 @@ struct TracksUtilsMap
   }
 
   /// Return the tracksId as a set (sorted increasing)
-  static void GetTracksIdVector(
+  static void GetTracksIdVector
+  (
     const STLMAPTracks & map_tracks,
-    std::set<size_t> * set_tracksIds)
+    std::set<size_t> * set_tracksIds
+  )
   {
     set_tracksIds->clear();
     for ( const auto & iterT : map_tracks ) 
@@ -254,20 +258,22 @@ struct TracksUtilsMap
   }
 
   /// Get feature index PerView and TrackId
-  static bool GetFeatIndexPerViewAndTrackId(
+  static bool GetFeatIndexPerViewAndTrackId
+  (
     const STLMAPTracks & map_tracks,
     const std::set<size_t> & set_trackId,
     size_t nImageIndex,
-    std::vector<size_t> * pvec_featIndex)
+    std::vector<size_t> * pvec_featIndex
+  )
   {
-    for ( const auto & iterT : map_tracks )
+    for (const size_t & trackId: set_trackId)
     {
-      const size_t trackId = iterT.first;
-      if (set_trackId.find(trackId) != set_trackId.end())
+      STLMAPTracks::const_iterator iterT = map_tracks.find(trackId);
+      if (iterT != map_tracks.end())
       {
         //try to find imageIndex
-        const submapTrack & map_ref = iterT.second;
-        auto iterSearch = map_ref.find(nImageIndex);
+        const submapTrack & map_ref = iterT->second;
+        submapTrack::const_iterator iterSearch = map_ref.find(nImageIndex);
         if (iterSearch != map_ref.end())
         {
           pvec_featIndex->emplace_back(iterSearch->second);
@@ -299,9 +305,12 @@ struct TracksUtilsMap
    * @warning The input tracks must be composed of only two images index.
    * @warning Image index are considered sorted (increasing order).
    */
-  static void TracksToIndexedMatches(const STLMAPTracks & map_tracks,
+  static void TracksToIndexedMatches
+  (
+    const STLMAPTracks & map_tracks,
     const std::vector<IndexT> & vec_filterIndex,
-    std::vector<IndMatch> * pvec_index)
+    std::vector<IndMatch> * pvec_index
+  )
   {
 
     std::vector<IndMatch> & vec_indexref = *pvec_index;
@@ -324,8 +333,11 @@ struct TracksUtilsMap
   }
 
   /// Return the occurrence of tracks length.
-  static void TracksLength(const STLMAPTracks & map_tracks,
-    std::map<size_t, size_t> & map_Occurence_TrackLength)
+  static void TracksLength
+  (
+    const STLMAPTracks & map_tracks,
+    std::map<size_t, size_t> & map_Occurence_TrackLength
+  )
   {
     for ( const auto & iterT : map_tracks ) 
     {
@@ -343,8 +355,11 @@ struct TracksUtilsMap
   }
 
   /// Return a set containing the image Id considered in the tracks container.
-  static void ImageIdInTracks(const STLMAPTracks & map_tracks,
-    std::set<size_t> & set_imagesId)
+  static void ImageIdInTracks
+  (
+    const STLMAPTracks & map_tracks,
+    std::set<size_t> & set_imagesId
+  )
   {
     for ( const auto & iterT : map_tracks ) 
     {