From febf592f11e16bf5dfd68d298ff460ffdb490549 Mon Sep 17 00:00:00 2001
From: Dakota Benjamin <dmb2@clevelandmetroparks.com>
Date: Tue, 1 Aug 2017 15:00:13 -0400
Subject: [PATCH] Add new opensfm settings

---
 docker.settings.yaml | 1 +
 opendm/config.py     | 5 +++++
 scripts/odm_app.py   | 3 ++-
 scripts/opensfm.py   | 4 +++-
 settings.yaml        | 1 +
 5 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/docker.settings.yaml b/docker.settings.yaml
index 8109ea52..d01d3afb 100644
--- a/docker.settings.yaml
+++ b/docker.settings.yaml
@@ -15,6 +15,7 @@ project_path: '/' #DO NOT CHANGE THIS OR DOCKER WILL NOT WORK. It should be '/'
 #zip_results: False
 #verbose: False
 #time: False
+#use_fixed_camera_params: False
 #opensfm_processes: 4 # by default this is set to $(nproc)
 #min_num_features: 4000
 #matcher_threshold: 2.0
diff --git a/opendm/config.py b/opendm/config.py
index ea0f91ac..cb68965c 100644
--- a/opendm/config.py
+++ b/opendm/config.py
@@ -151,6 +151,11 @@ def config():
                              'matcher-neighbors and this to 0 to skip '
                              'pre-matching. Default: %(default)s')
 
+    parser.add_argument('--use-fixed-camera-params',
+                        action='store_true',
+                        default=False,
+                        help='Turn off camera parameter optimization during bundler')
+
     parser.add_argument('--opensfm-processes',
                         metavar='<positive integer>',
                         default=1,
diff --git a/scripts/odm_app.py b/scripts/odm_app.py
index 060b49b7..deb2c3b5 100644
--- a/scripts/odm_app.py
+++ b/scripts/odm_app.py
@@ -46,7 +46,8 @@ class ODMApp(ecto.BlackBox):
                                            feature_min_frames=p.args.min_num_features,
                                            processes=p.args.opensfm_processes,
                                            matching_gps_neighbors=p.args.matcher_neighbors,
-                                           matching_gps_distance=p.args.matcher_distance),
+                                           matching_gps_distance=p.args.matcher_distance,
+                                           fixed_camera_params=p.args.use_fixed_camera_params),
                  'slam': ODMSlamCell(),
                  'cmvs': ODMCmvsCell(max_images=p.args.cmvs_maxImages),
                  'pmvs': ODMPmvsCell(level=p.args.pmvs_level,
diff --git a/scripts/opensfm.py b/scripts/opensfm.py
index 41fee755..0e195968 100644
--- a/scripts/opensfm.py
+++ b/scripts/opensfm.py
@@ -14,6 +14,7 @@ class ODMOpenSfMCell(ecto.Cell):
         params.declare("processes", "The application arguments.", context.num_cores)
         params.declare("matching_gps_neighbors", "The application arguments.", 8)
         params.declare("matching_gps_distance", "The application arguments.", 0)
+        params.declare("fixed_camera_params", "Optimize internal camera parameters", True)
 
     def declare_io(self, params, inputs, outputs):
         inputs.declare("tree", "Struct with paths", [])
@@ -70,7 +71,8 @@ class ODMOpenSfMCell(ecto.Cell):
                 "feature_process_size: %s" % self.params.feature_process_size,
                 "feature_min_frames: %s" % self.params.feature_min_frames,
                 "processes: %s" % self.params.processes,
-                "matching_gps_neighbors: %s" % self.params.matching_gps_neighbors
+                "matching_gps_neighbors: %s" % self.params.matching_gps_neighbors,
+                "optimize_camera_parameters: %s" % ('no' if self.params.fixed_camera_params else 'yes')
             ]
 
             if has_alt:
diff --git a/settings.yaml b/settings.yaml
index 7eac080f..eb582312 100644
--- a/settings.yaml
+++ b/settings.yaml
@@ -15,6 +15,7 @@ project_path: '' # Example: '/home/user/ODMProjects
 #zip_results: False
 #verbose: False
 #time: False
+#use_fixed_camera_params: False
 #opensfm_processes: 4 # by default this is set to $(nproc)
 #min_num_features: 4000
 #matcher_threshold: 2.0