[Trifocal+P2Pt] all tests pass, templating two_view kernel

rfabbri · Nov 12, 2024 · 3429138 · 3429138
1 parent a316e03
commit 3429138
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Showing 4 changed files with 6 additions and 7 deletions.
diff --git a/src/openMVG/linearProgramming/lInfinityCV/resection_kernel.hpp b/src/openMVG/linearProgramming/lInfinityCV/resection_kernel.hpp
@@ -42,7 +42,7 @@ using l1PoseResectionKernel =
   two_view::kernel::Kernel<
     l1SixPointResectionSolver,
     l1SixPointResectionSolver,
-    Mat34>;
+    Mat34, 2>;
 
 }  // namespace kernel
 }  // namespace lInfinityCV

diff --git a/src/openMVG/multiview/solver_resection_kernel.hpp b/src/openMVG/multiview/solver_resection_kernel.hpp
@@ -43,7 +43,7 @@ using PoseResectionKernel =
   two_view::kernel::Kernel<
     SixPointResectionSolver, // Model estimator
     resection::PixelReprojectionError, // Error metric
-    Mat34>;
+    Mat34, 2>;
 
 }  // namespace kernel
 }  // namespace resection

diff --git a/src/openMVG/multiview/solver_resection_kernel_test.cpp b/src/openMVG/multiview/solver_resection_kernel_test.cpp
@@ -19,8 +19,6 @@
 using namespace openMVG;
 using namespace openMVG::cameras;
 
-#if 0
-
 TEST(Resection_Kernel_DLT, Multiview) {
 
   const int nViews = 3;
@@ -259,7 +257,6 @@ TEST(UP2PSolver_Kukelova, Multiview) {
     }
   }
 }
-#endif
 
 TEST(P2Pt_Fabbri_ECCV12, Multiview) 
 {

diff --git a/src/openMVG/multiview/two_view_kernel.hpp b/src/openMVG/multiview/two_view_kernel.hpp
@@ -65,7 +65,9 @@ namespace kernel {
 // should append new solutions to the end.
 template<typename SolverArg,
          typename ErrorArg,
-         typename ModelArg = Mat3>
+         typename ModelArg = Mat3,
+         int ImagePointDim = 3
+         >
 class Kernel {
  public:
   Kernel(const Mat &x1, const Mat &x2) : x1_(x1), x2_(x2) {}
@@ -87,7 +89,7 @@ class Kernel {
   }
   /// Return the error associated to the model and sample^nth point
   double Error(uint32_t sample, const Model &model) const {
-    return ErrorArg::Error(model, x1_.col(sample).head(3), x2_.col(sample).head(3));
+    return ErrorArg::Error(model, x1_.col(sample).head(ImagePointDim), x2_.col(sample).head(3));
   }
   /// Number of putative point
   size_t NumSamples() const {