[sfm] fix usage of observations scale in SfM

* fix feature index in multiview triangulate
* fix removeOutliers for observations without scale

src/aliceVision/feature/sift/SIFT.hpp

@@ -10,7 +10,7 @@
 #include <aliceVision/feature/Descriptor.hpp>
 #include <aliceVision/feature/ImageDescriber.hpp>
 #include <aliceVision/feature/regionsFactory.hpp>
-// #include <aliceVision/config.hpp> // TO CHECK
+#include <aliceVision/config.hpp>
 #include <aliceVision/system/Logger.hpp>
 
 extern "C" {

src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.cpp

@@ -1657,13 +1657,14 @@ void ReconstructionEngine_sequentialSfM::updateScene(const IndexT viewIndex, con
     const Vec3 X = resectionData.pt3D.col(i);
     const Vec2 x = resectionData.pt2D.col(i);
     Landmark& landmark = _sfmData.structure[*iterTrackId];
-    double scale = _featuresPerView->getFeatures(viewIndex, landmark.descType)[i].scale(); // TODO: check i index, TODO: replace x() with scale()
     const Vec2 residual = resectionData.optionalIntrinsic->residual(resectionData.pose, X, x);
     if (residual.norm() < resectionData.error_max &&
         resectionData.pose.depth(X) > 0)
     {
+      const IndexT idFeat = resectionData.featuresId[i].second;
+      const double scale = _featuresPerView->getFeatures(viewIndex, landmark.descType)[idFeat].scale();
       // Inlier, add the point to the reconstructed track
-      landmark.observations[viewIndex] = Observation(x, resectionData.featuresId[i].second, scale);
+      landmark.observations[viewIndex] = Observation(x, idFeat, scale);
     }
   }
 }

src/aliceVision/sfm/sfmFilters.cpp

@@ -37,7 +37,7 @@ IndexT RemoveOutliers_PixelResidualError(sfmData::SfMData& sfmData,
       const camera::IntrinsicBase * intrinsic = sfmData.intrinsics.at(view->getIntrinsicId()).get();
 
       Vec2 residual = intrinsic->residual(pose, iterTracks->second.X, itObs->second.x);
-      if(featureConstraint == EFeatureConstraint::SCALE)
+      if(featureConstraint == EFeatureConstraint::SCALE && itObs->second.scale > 0.0)
       {
           // Apply the scale of the feature to get a residual value
           // relative to the feature precision.

src/aliceVision/sfmData/Landmark.hpp

@@ -21,16 +21,16 @@ namespace sfmData {
  */
 struct Observation
 {
-  Observation(): id_feat(UndefinedIndexT) {}
+  Observation() {}
   Observation(const Vec2 & p, IndexT idFeat, double scale_)
     : x(p)
     , id_feat(idFeat)
     , scale(scale_)
   {}
 
   Vec2 x;
-  IndexT id_feat;
-  double scale = 1.0;
+  IndexT id_feat = UndefinedIndexT;
+  double scale = 0.0;
 
   bool operator==(const Observation& other) const
   {

src/software/pipeline/main_incrementalSfM.cpp

@@ -80,7 +80,6 @@ int main(int argc, char **argv)
   std::vector<std::string> matchesFolders;
   std::string outputSfM;
 
-  // user optional parameters
   // user optional parameters
   std::string outputSfMViewsAndPoses;
   std::string extraInfoFolder;

src/software/utils/CMakeLists.txt

@@ -199,14 +199,14 @@ alicevision_add_software(aliceVision_utils_split360Images
 
 
 # Project 180° fisheye images into equirectangular
-#alicevision_add_software(aliceVision_utils_fisheyeProjection
-#  SOURCE main_fisheyeProjection.cpp
-#  FOLDER ${FOLDER_SOFTWARE_UTILS}
-#  LINKS aliceVision_system
-#        aliceVision_numeric
-#        aliceVision_image
-#        ${OPENIMAGEIO_LIBRARIES}
-#        ${Boost_LIBRARIES}
-#)
+alicevision_add_software(aliceVision_utils_fisheyeProjection
+  SOURCE main_fisheyeProjection.cpp
+  FOLDER ${FOLDER_SOFTWARE_UTILS}
+  LINKS aliceVision_system
+        aliceVision_numeric
+        aliceVision_image
+        ${OPENIMAGEIO_LIBRARIES}
+        ${Boost_LIBRARIES}
+)
 
 endif() # ALICEVISION_BUILD_SFM