Merge pull request #717 from pierotofy/georef

Handle bundler files that have invalid/empty camera parameters

Former-commit-id: 293bdfec57

modules/odm_georef/src/Georef.cpp

@@ -190,6 +190,11 @@ Vec3 GeorefCamera::getReferencedPos()
     return Vec3(easting_,northing_,altitude_);
 }
 
+bool GeorefCamera::isValid()
+{
+    return focalLength_ != 0 && k1_ != 0 && k2_ != 0;
+}
+
 std::ostream& operator<<(std::ostream &os, const GeorefCamera &cam)
 {
     os << "Focal, k1, k2 : " << cam.focalLength_ << ", " << cam.k1_ << ", " << cam.k2_ << "\n";
@@ -1058,7 +1063,15 @@ void Georef::createGeoreferencedModelFromExifData()
     {
         throw GeorefException("Not enough cameras in \'" + inputCoordFilename_ + "\' coord file.\n");
     }
-    
+
+    // Remove invalid cameras
+    std::vector<GeorefCamera> goodCameras;
+    for (size_t i = 0; i < cameras_.size(); i++){
+        if (cameras_[i].isValid()) goodCameras.push_back(GeorefCamera(cameras_[i]));
+    }
+    cameras_.clear();
+    cameras_ = goodCameras;
+
     // The optimal camera triplet.
     size_t cam0, cam1, cam2;
     

modules/odm_georef/src/Georef.hpp

@@ -95,6 +95,11 @@ struct GeorefCamera
      * \brief getReferencedPos     Get the georeferenced position of the camera.
      */
     Vec3 getReferencedPos();
+
+    /*!
+     * \brief isValid     Whether this camera is valid based on its parameters.
+     */
+    bool isValid();
     
     double focalLength_;            /**< The focal length of the camera. */
     double k1_;                     /**< The k1 lens distortion parameter. **/