Merge pull request #1613 from alicevision/fix/anamorphic4

Fix errors on sfm with applyCalibration

Author: cbentejac

src/aliceVision/camera/IntrinsicScaleOffsetDisto.cpp

@@ -28,17 +28,51 @@ bool IntrinsicScaleOffsetDisto::operator==(const IntrinsicBase& otherBase) const
         return false;
     }
 
+    int countNonNull = 0;
+    if (_pDistortion == nullptr)
+    {
+        countNonNull++;
+    }
+    if (other._pDistortion == nullptr)
+    {
+        countNonNull++;
+    }
+    if (countNonNull == 1)
+    {
+        return false;
+    }
+
+    countNonNull = 0;
+    if (_pUndistortion == nullptr)
+    {
+        countNonNull++;
+    }
+    if (other._pUndistortion == nullptr)
+    {
+        countNonNull++;
+    }
+    if (countNonNull == 1)
+    {
+        return false;
+    }
+
     if (_pDistortion && other._pDistortion)
     {
-        return (*_pDistortion) == (*other._pDistortion);
+        if (!((*_pDistortion) == (*other._pDistortion)))
+        {
+            return false;
+        }
     }
 
     if (_pUndistortion && other._pUndistortion)
     {
-        return (*_pUndistortion) == (*other._pUndistortion);
+        if (!((*_pUndistortion) == (*other._pUndistortion)))
+        {
+            return false;
+        }
     }
 
-    return _pDistortion == nullptr && other._pDistortion == nullptr && _pUndistortion == nullptr && other._pUndistortion == nullptr;
+    return true;
 }
 
 Vec2 IntrinsicScaleOffsetDisto::get_ud_pixel(const Vec2& p) const { return cam2ima(removeDistortion(ima2cam(p))); }

src/aliceVision/sfm/bundle/BundleAdjustmentCeres.cpp

@@ -224,7 +224,7 @@ ceres::CostFunction* createCostFunctionFromIntrinsics(const IntrinsicBase* intri
             return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_Pinhole3DEClassicLD, 2, 9, 6, 3>(
               new ResidualErrorFunctor_Pinhole3DEClassicLD(w, h, obsUndistorted));
         case EINTRINSIC::PINHOLE_CAMERA_3DEANAMORPHIC4:
-            return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_Pinhole, 2, 4, 6, 3>(new ResidualErrorFunctor_Pinhole(w, h, obsUndistorted));
+            return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_Pinhole, 2, 18, 6, 3>(new ResidualErrorFunctor_Pinhole(w, h, obsUndistorted));
         case EINTRINSIC::PINHOLE_CAMERA_BROWN:
             return new ceres::AutoDiffCostFunction<ResidualErrorFunctor_PinholeBrownT2, 2, 9, 6, 3>(
               new ResidualErrorFunctor_PinholeBrownT2(w, h, obsUndistorted));