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sfm : Refining center instead of translation #2124

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2 changes: 1 addition & 1 deletion src/aliceVision/multiview/resection/resectionLORansac_test.cpp
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Expand Up @@ -65,7 +65,7 @@ bool refinePoseAsItShouldbe(const Mat& pt3D,
BundleAdjustmentCeres bundle_adjustment_obj;
BundleAdjustment::ERefineOptions refineOptions = BundleAdjustment::REFINE_NONE;
if (b_refine_pose)
refineOptions |= sfm::BundleAdjustment::REFINE_ROTATION | sfm::BundleAdjustment::REFINE_TRANSLATION;
refineOptions |= sfm::BundleAdjustment::REFINE_ROTATION | sfm::BundleAdjustment::REFINE_CENTER;
if (b_refine_intrinsic)
refineOptions |= sfm::BundleAdjustment::REFINE_INTRINSICS_ALL;
const bool b_BA_Status = bundle_adjustment_obj.adjust(sfm_data, refineOptions);
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4 changes: 2 additions & 2 deletions src/aliceVision/sfm/bundle/BundleAdjustment.hpp
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Expand Up @@ -112,7 +112,7 @@ class BundleAdjustment
{
REFINE_NONE = 0,
REFINE_ROTATION = 1, //< refine pose rotations
REFINE_TRANSLATION = 2, //< refine pose translations
REFINE_CENTER = 2, //< refine pose centers
REFINE_STRUCTURE = 4, //< refine structure (i.e. 3D points)
REFINE_INTRINSICS_FOCAL = 8, //< refine the focal length
REFINE_INTRINSICS_OPTICALOFFSET_ALWAYS = 16, //< refine the optical offset from the center
Expand All @@ -123,7 +123,7 @@ class BundleAdjustment
/// Refine all intrinsics parameters
REFINE_INTRINSICS_ALL = REFINE_INTRINSICS_FOCAL | REFINE_INTRINSICS_OPTICALOFFSET_IF_ENOUGH_DATA | REFINE_INTRINSICS_DISTORTION,
/// Refine all parameters
REFINE_ALL = REFINE_ROTATION | REFINE_TRANSLATION | REFINE_INTRINSICS_ALL | REFINE_STRUCTURE,
REFINE_ALL = REFINE_ROTATION | REFINE_CENTER | REFINE_INTRINSICS_ALL | REFINE_STRUCTURE,
};

/**
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21 changes: 11 additions & 10 deletions src/aliceVision/sfm/bundle/BundleAdjustmentCeres.cpp
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Expand Up @@ -226,21 +226,21 @@ void BundleAdjustmentCeres::addExtrinsicsToProblem(const sfmData::SfMData& sfmDa
BundleAdjustment::ERefineOptions refineOptions,
ceres::Problem& problem)
{
const bool refineTranslation = refineOptions & BundleAdjustment::REFINE_TRANSLATION;
const bool refineCenter = refineOptions & BundleAdjustment::REFINE_CENTER;
const bool refineRotation = refineOptions & BundleAdjustment::REFINE_ROTATION;

const auto addPose = [&](const sfmData::CameraPose& cameraPose, bool isConstant, std::array<double, 6>& poseBlock) {
const Mat3& R = cameraPose.getTransform().rotation();
const Vec3& t = cameraPose.getTransform().translation();
const Vec3& c = cameraPose.getTransform().center();

double angleAxis[3];
ceres::RotationMatrixToAngleAxis(static_cast<const double*>(R.data()), angleAxis);
poseBlock.at(0) = angleAxis[0];
poseBlock.at(1) = angleAxis[1];
poseBlock.at(2) = angleAxis[2];
poseBlock.at(3) = t(0);
poseBlock.at(4) = t(1);
poseBlock.at(5) = t(2);
poseBlock.at(3) = c(0);
poseBlock.at(4) = c(1);
poseBlock.at(5) = c(2);

double* poseBlockPtr = poseBlock.data();
problem.AddParameterBlock(poseBlockPtr, 6);
Expand All @@ -249,7 +249,7 @@ void BundleAdjustmentCeres::addExtrinsicsToProblem(const sfmData::SfMData& sfmDa
_allParametersBlocks.push_back(poseBlockPtr);

// keep the camera extrinsics constants
if (cameraPose.isLocked() || isConstant || (!refineTranslation && !refineRotation))
if (cameraPose.isLocked() || isConstant || (!refineCenter && !refineRotation))
{
// set the whole parameter block as constant.
_statistics.addState(EParameter::POSE, EEstimatorParameterState::CONSTANT);
Expand All @@ -269,7 +269,7 @@ void BundleAdjustmentCeres::addExtrinsicsToProblem(const sfmData::SfMData& sfmDa
}

// don't refine translations
if (!refineTranslation)
if (!refineCenter)
{
constantExtrinsic.push_back(3);
constantExtrinsic.push_back(4);
Expand Down Expand Up @@ -1095,7 +1095,7 @@ void BundleAdjustmentCeres::resetProblem()

void BundleAdjustmentCeres::updateFromSolution(sfmData::SfMData& sfmData, ERefineOptions refineOptions) const
{
const bool refinePoses = (refineOptions & REFINE_ROTATION) || (refineOptions & REFINE_TRANSLATION);
const bool refinePoses = (refineOptions & REFINE_ROTATION) || (refineOptions & REFINE_CENTER);
const bool refineIntrinsicsOpticalCenter =
(refineOptions & REFINE_INTRINSICS_OPTICALOFFSET_ALWAYS) || (refineOptions & REFINE_INTRINSICS_OPTICALOFFSET_IF_ENOUGH_DATA);
const bool refineIntrinsics =
Expand Down Expand Up @@ -1130,10 +1130,11 @@ void BundleAdjustmentCeres::updateFromSolution(sfmData::SfMData& sfmData, ERefin

Mat3 R_refined;
ceres::AngleAxisToRotationMatrix(subPoseBlock.data(), R_refined.data());
const Vec3 t_refined(subPoseBlock.at(3), subPoseBlock.at(4), subPoseBlock.at(5));
const Vec3 c_refined(subPoseBlock.at(3), subPoseBlock.at(4), subPoseBlock.at(5));

// update the sub-pose
subPose.pose = poseFromRT(R_refined, t_refined);
subPose.pose.setRotation(R_refined);
subPose.pose.setCenter(c_refined);
}
}
}
Expand Down
2 changes: 1 addition & 1 deletion src/aliceVision/sfm/bundle/BundleAdjustmentCeres.hpp
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Expand Up @@ -261,7 +261,7 @@ class BundleAdjustmentCeres : public BundleAdjustment, ceres::EvaluationCallback
/// all parameters blocks pointers
std::vector<double*> _allParametersBlocks;
/// poses blocks wrapper
/// block: ceres angleAxis(3) + translation(3)
/// block: ceres angleAxis(3) + center(3)
std::map<IndexT, std::array<double, 6>> _posesBlocks; // TODO : maybe we can use boost::flat_map instead of std::map ?
/// intrinsics blocks wrapper
/// block: intrinsics params
Expand Down
2 changes: 1 addition & 1 deletion src/aliceVision/sfm/bundle/bundleAdjustment_Enhanced_test.cpp
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Expand Up @@ -262,7 +262,7 @@ BOOST_AUTO_TEST_CASE(test_poses)
}

sfm::BundleAdjustmentCeres::CeresOptions options;
sfm::BundleAdjustment::ERefineOptions refineOptions = sfm::BundleAdjustment::REFINE_ROTATION | sfm::BundleAdjustment::REFINE_TRANSLATION;
sfm::BundleAdjustment::ERefineOptions refineOptions = sfm::BundleAdjustment::REFINE_ROTATION | sfm::BundleAdjustment::REFINE_CENTER;
options.summary = false;

double rmseBefore = sfm::RMSE(sfmData);
Expand Down
2 changes: 1 addition & 1 deletion src/aliceVision/sfm/bundle/bundleAdjustment_temporalConstraint_test.cpp
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Expand Up @@ -133,7 +133,7 @@ BOOST_AUTO_TEST_CASE(BA_temporalConstraint)
sfm::BundleAdjustment::ERefineOptions refineOptions;
refineOptions = sfm::BundleAdjustment::REFINE_ROTATION
| sfm::BundleAdjustment::REFINE_STRUCTURE
| sfm::BundleAdjustment::REFINE_TRANSLATION
| sfm::BundleAdjustment::REFINE_CENTER
| sfm::BundleAdjustment::REFINE_INTRINSICS_ALL;
options.summary = false;

Expand Down
12 changes: 7 additions & 5 deletions src/aliceVision/sfm/bundle/costfunctions/depth.hpp
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Expand Up @@ -32,14 +32,16 @@ struct DepthErrorFunctor
// Apply external parameters (Pose)
//--
const T* cam_R = parameter_pose;
const T* cam_t = &parameter_pose[3];
const T* cam_c = &parameter_pose[3];

T centeredPoint[3];
centeredPoint[0] = parameter_point[0] - cam_c[0];
centeredPoint[1] = parameter_point[1] - cam_c[1];
centeredPoint[2] = parameter_point[2] - cam_c[2];

T transformedPoint[3];
// Rotate the point according the camera rotation
ceres::AngleAxisRotatePoint(cam_R, parameter_point, transformedPoint);

// Apply the camera translation
transformedPoint[2] += cam_t[2];
ceres::AngleAxisRotatePoint(cam_R, centeredPoint, transformedPoint);

residuals[0] = T(1.0 / _depthVariance) * (transformedPoint[2] - T(_depth));

Expand Down
71 changes: 37 additions & 34 deletions src/aliceVision/sfm/bundle/costfunctions/projection.hpp
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Expand Up @@ -40,16 +40,16 @@ struct ProjectionSimpleErrorFunctor
// Apply external parameters (Pose)
//--
const T* cam_R = parameter_pose;
const T* cam_t = &parameter_pose[3];
const T* cam_c = &parameter_pose[3];

T centeredPoint[3];
centeredPoint[0] = parameter_point[0] - cam_c[0];
centeredPoint[1] = parameter_point[1] - cam_c[1];
centeredPoint[2] = parameter_point[2] - cam_c[2];

T transformedPoint[3];
// Rotate the point according the camera rotation
ceres::AngleAxisRotatePoint(cam_R, parameter_point, transformedPoint);

// Apply the camera translation
transformedPoint[0] += cam_t[0];
transformedPoint[1] += cam_t[1];
transformedPoint[2] += cam_t[2];
ceres::AngleAxisRotatePoint(cam_R, centeredPoint, transformedPoint);

const T * innerParameters[3];
innerParameters[0] = parameter_intrinsics;
Expand Down Expand Up @@ -112,29 +112,28 @@ struct ProjectionErrorFunctor
T transformedPoint[3];
{
const T* cam_R = parameter_pose;
const T* cam_t = &parameter_pose[3];
const T* cam_c = &parameter_pose[3];

// Rotate the point according the camera rotation
ceres::AngleAxisRotatePoint(cam_R, parameter_point, transformedPoint);
T centeredPoint[3];
centeredPoint[0] = parameter_point[0] - cam_c[0];
centeredPoint[1] = parameter_point[1] - cam_c[1];
centeredPoint[2] = parameter_point[2] - cam_c[2];

// Apply the camera translation
transformedPoint[0] += cam_t[0];
transformedPoint[1] += cam_t[1];
transformedPoint[2] += cam_t[2];
// Rotate the point according the camera rotation
ceres::AngleAxisRotatePoint(cam_R, centeredPoint, transformedPoint);
}

{
const T* cam_R = parameter_subpose;
const T* cam_t = &parameter_subpose[3];
const T* cam_c = &parameter_subpose[3];

// Rotate the point according to the camera rotation
T transformedPointBuf[3] = {transformedPoint[0], transformedPoint[1], transformedPoint[2]};
ceres::AngleAxisRotatePoint(cam_R, transformedPointBuf, transformedPoint);
T centeredPoint[3];
centeredPoint[0] = transformedPoint[0] - cam_c[0];
centeredPoint[1] = transformedPoint[1] - cam_c[1];
centeredPoint[2] = transformedPoint[2] - cam_c[2];

// Apply the camera translation
transformedPoint[0] += cam_t[0];
transformedPoint[1] += cam_t[1];
transformedPoint[2] += cam_t[2];
// Rotate the point according to the camera rotation
ceres::AngleAxisRotatePoint(cam_R, centeredPoint, transformedPoint);
}

const T * innerParameters[3];
Expand Down Expand Up @@ -212,22 +211,24 @@ struct ProjectionRelativeErrorFunctor
const T* parameter_refpose = parameters[3];
const T* parameter_relativepoint = parameters[4];

/// (cam_T_world) * (ref_T_world)^-1 * ref_p
/// cam_R_world * (ref_R_world^T * ref_p - ref_R_world^T * ref_t_world) + cam_t_world
/// cam_R_world * (ref_R_world^T * ref_p + ref_c_world) + cam_t_world
/// cam_R_world * (ref_R_world^T * ref_p + ref_c_world) - cam_R_world * cam_c_world
/// cam_R_world * (ref_R_world^T * ref_p + ref_c_world - cam_c_world)

//Retrieve point
T relpoint[3];
relpoint[0] = parameter_relativepoint[0];
relpoint[1] = parameter_relativepoint[1];
relpoint[2] = parameter_relativepoint[2];

const T* refcam_R = parameter_refpose;
const T* refcam_t = &parameter_refpose[3];
const T* refcam_c = &parameter_refpose[3];

// Apply transformation such that the point
// Which was defined in the camera geometric frame
// is now defined in the world frame
relpoint[0] = relpoint[0] - refcam_t[0];
relpoint[1] = relpoint[1] - refcam_t[1];
relpoint[2] = relpoint[2] - refcam_t[2];

T invrefcam_R[3];
invrefcam_R[0] = -refcam_R[0];
invrefcam_R[1] = -refcam_R[1];
Expand All @@ -236,20 +237,22 @@ struct ProjectionRelativeErrorFunctor
T absolutePoint[3];
ceres::AngleAxisRotatePoint(invrefcam_R, relpoint, absolutePoint);

absolutePoint[0] += refcam_c[0];
absolutePoint[1] += refcam_c[1];
absolutePoint[2] += refcam_c[2];

//--
// Apply external parameters (Pose)
//--
const T* cam_R = parameter_pose;
const T* cam_t = &parameter_pose[3];

const T* cam_c = &parameter_pose[3];

absolutePoint[0] -= cam_c[0];
absolutePoint[1] -= cam_c[1];
absolutePoint[2] -= cam_c[2];

// Rotate the point according the camera rotation
ceres::AngleAxisRotatePoint(cam_R, absolutePoint, transformedPoint);

// Apply the camera translation
transformedPoint[0] += cam_t[0];
transformedPoint[1] += cam_t[1];
transformedPoint[2] += cam_t[2];
}

const T * innerParameters[3];
Expand Down
19 changes: 6 additions & 13 deletions src/aliceVision/sfm/bundle/costfunctions/projectionMesh.hpp
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Expand Up @@ -47,9 +47,9 @@ struct ProjectionMeshErrorFunctor


const T* refcam_r_world = parameter_referencePose;
const T* refcam_t_world = &parameter_referencePose[3];
const T* world_t_refcam = &parameter_referencePose[3];
const T* curcam_r_world = parameter_currentPose;
const T* curcam_t_world = &parameter_currentPose[3];
const T* wolrd_t_curcam = &parameter_currentPose[3];

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servantftransperfect marked this conversation as resolved.
T world_r_refcam[3];
world_r_refcam[0] = -refcam_r_world[0];
Expand All @@ -64,21 +64,14 @@ struct ProjectionMeshErrorFunctor
refcam_point[1] = parameter_point[1] / norm;
refcam_point[2] = 1.0 / norm;

// Compute c = - R^t * t
T c[3];
ceres::AngleAxisRotatePoint(world_r_refcam, refcam_t_world, c);
c[0] = -c[0];
c[1] = -c[1];
c[2] = -c[2];

// Compute direction = R^t reference_point
T direction[3];
ceres::AngleAxisRotatePoint(world_r_refcam, refcam_point, direction);


T worldPoint[3];
const T * intersectParameters[2];
intersectParameters[0] = c;
intersectParameters[0] = world_t_refcam;
intersectParameters[1] = direction;
if (!_meshIntersectFunctor(intersectParameters, worldPoint))
{
Expand All @@ -87,10 +80,10 @@ struct ProjectionMeshErrorFunctor

// Compute point in camera coordinates
T transformedPoint[3];
worldPoint[0] -= wolrd_t_curcam[0];
worldPoint[1] -= wolrd_t_curcam[1];
worldPoint[2] -= wolrd_t_curcam[2];
ceres::AngleAxisRotatePoint(curcam_r_world, worldPoint, transformedPoint);
transformedPoint[0] += curcam_t_world[0];
transformedPoint[1] += curcam_t_world[1];
transformedPoint[2] += curcam_t_world[2];

// Project
const T * innerParameters[3];
Expand Down
14 changes: 7 additions & 7 deletions src/aliceVision/sfm/bundle/costfunctions/survey.hpp
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Expand Up @@ -39,16 +39,16 @@ struct SurveyErrorFunctor
// Apply external parameters (Pose)
//--
const T* cam_R = parameter_pose;
const T* cam_t = &parameter_pose[3];
const T* cam_c = &parameter_pose[3];

T centeredPoint[3];
centeredPoint[0] = parameter_point[0] - cam_c[0];
centeredPoint[1] = parameter_point[1] - cam_c[1];
centeredPoint[2] = parameter_point[2] - cam_c[2];

T transformedPoint[3];
// Rotate the point according the camera rotation
ceres::AngleAxisRotatePoint(cam_R, parameter_point, transformedPoint);

// Apply the camera translation
transformedPoint[0] += cam_t[0];
transformedPoint[1] += cam_t[1];
transformedPoint[2] += cam_t[2];
ceres::AngleAxisRotatePoint(cam_R, centeredPoint, transformedPoint);

const T * innerParameters[3];
innerParameters[0] = parameter_intrinsics;
Expand Down
24 changes: 10 additions & 14 deletions src/aliceVision/sfm/bundle/costfunctions/temporalConstraint.hpp
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Expand Up @@ -60,22 +60,18 @@ struct TemporalConstraintFunctor
invQuaternion[3] = -quaternion[3];
};

const auto viewPreProcess = [&](const T* angleAxis, const T* translation, T* viewCenter, T* quaternion)
{
T invQuaternion[4];
ceres::AngleAxisToQuaternion(angleAxis, quaternion);
// Inverse the rotation to compute the camera position
quaternionConjugate(quaternion, invQuaternion);
ceres::QuaternionRotatePoint(invQuaternion, translation, viewCenter);
};

T viewCenter0[3], viewCenter1[3], viewCenter2[3], viewCenter3[3];
T quaternion0[4], quaternion1[4], quaternion2[4], quaternion3[4];

viewPreProcess(&para0[0], &para0[3], viewCenter0, quaternion0);
viewPreProcess(&para1[0], &para1[3], viewCenter1, quaternion1);
viewPreProcess(&para2[0], &para2[3], viewCenter2, quaternion2);
viewPreProcess(&para3[0], &para3[3], viewCenter3, quaternion3);
T quaternion0[4], quaternion1[4], quaternion2[4], quaternion3[4];
ceres::AngleAxisToQuaternion(&para0[0], quaternion0);
ceres::AngleAxisToQuaternion(&para1[0], quaternion1);
ceres::AngleAxisToQuaternion(&para2[0], quaternion2);
ceres::AngleAxisToQuaternion(&para3[0], quaternion3);

const T * viewCenter0 = &para0[3];
const T * viewCenter1 = &para1[3];
const T * viewCenter2 = &para2[3];
const T * viewCenter3 = &para3[3];

const auto computeAngleDiff = [&](const T* quaternionA, const T* quaternionB, T* angleAxisDiff, T* quaternionDiff)
{
Expand Down
2 changes: 1 addition & 1 deletion src/aliceVision/sfm/pipeline/expanding/SfmBundle.cpp
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Expand Up @@ -22,7 +22,7 @@ bool SfmBundle::process(sfmData::SfMData & sfmData, const track::TracksHandler &
BundleAdjustment::ERefineOptions refineOptions = BundleAdjustment::REFINE_NONE;

refineOptions |= BundleAdjustment::REFINE_ROTATION;
refineOptions |= BundleAdjustment::REFINE_TRANSLATION;
refineOptions |= BundleAdjustment::REFINE_CENTER;

if (_isStructureRefinementEnabled)
{
Expand Down
2 changes: 1 addition & 1 deletion src/aliceVision/sfm/pipeline/expanding/SfmResection.cpp
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Expand Up @@ -180,7 +180,7 @@ bool SfmResection::internalRefinement(
}

BundleAdjustmentCeres BA;
BundleAdjustment::ERefineOptions refineOptions = BundleAdjustment::REFINE_ROTATION | BundleAdjustment::REFINE_TRANSLATION;
BundleAdjustment::ERefineOptions refineOptions = BundleAdjustment::REFINE_ROTATION | BundleAdjustment::REFINE_CENTER;

const bool success = BA.adjust(tinyScene, refineOptions);
if(!success)
Expand Down
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