remove out of bounds access

Author: Fabien Servant

src/aliceVision/localization/optimization.cpp

@@ -236,10 +236,8 @@ bool refineSequence(std::vector<LocalizationResult>& vec_localizationResult,
         // just debugging stuff
         if (allTheSameIntrinsics)
         {
-            std::vector<double> params = tinyScene.getIntrinsics().at(0).get()->getParameters();
+            std::vector<double> params = tinyScene.getIntrinsics().at(0)->getParameters();
             ALICEVISION_LOG_DEBUG("K before bundle: " << params[0] << " " << params[1] << " " << params[2]);
-            if (params.size() == 6)
-                ALICEVISION_LOG_DEBUG("Distortion before bundle: " << params[3] << " " << params[4] << " " << params[5]);
         }
     }
 
@@ -302,20 +300,19 @@ bool refineSequence(std::vector<LocalizationResult>& vec_localizationResult,
         // if we used the same intrinsics for all the localization results we need to
         // update the intrinsics of each localization result
 
-        // get its optimized parameters
-        std::vector<double> params = tinyScene.getIntrinsics().at(0).get()->getParameters();
-        ALICEVISION_LOG_DEBUG("Type of intrinsics " << tinyScene.getIntrinsics().at(0).get()->getType());
-        if (params.size() == 4)
+        auto intrinsic = tinyScene.getIntrinsics().at(0);
+        auto casted = camera::IntrinsicScaleOffsetDisto::cast(intrinsic);
+        std::shared_ptr<camera::Distortion> distortion;
+        if (casted)
         {
-            // this means that the b_no_distortion has been passed
-            // set distortion to 0
-            params.push_back(0);
-            params.push_back(0);
-            params.push_back(0);
+            distortion = casted->getDistortion();
         }
-        assert(params.size() == 6);
+
+        // get its optimized parameters
+        std::vector<double> params = intrinsic->getParameters();
+
+        ALICEVISION_LOG_DEBUG("Type of intrinsics " << intrinsic->getType());
         ALICEVISION_LOG_DEBUG("K after bundle: " << params[0] << " " << params[1] << " " << params[2] << " " << params[3]);
-        ALICEVISION_LOG_DEBUG("Distortion after bundle " << params[4] << " " << params[5] << " " << params[6]);
 
         // update the intrinsics of the each localization result
         for (size_t viewID = 0; viewID < numViews; ++viewID)
@@ -327,6 +324,13 @@ bool refineSequence(std::vector<LocalizationResult>& vec_localizationResult,
             }
             currResult.updateIntrinsics(params);
 
+            auto curDistortion = currResult.getIntrinsics().getDistortion();
+            if (distortion && curDistortion)
+            {
+                curDistortion->setParameters(distortion->getParameters());
+            }
+            
+
             // just debugging -- print reprojection errors
             const Mat2X residuals = currResult.computeInliersResiduals();
 

src/aliceVision/rig/ResidualError.hpp

@@ -260,9 +260,9 @@ class ResidualErrorSecondaryCameraFixedRelativeFunctor
         _K = intrinsics.K();
 
         _params.reserve(3);
-        _params.push_back(intrinsics.getParameters()[3]);
-        _params.push_back(intrinsics.getParameters()[4]);
-        _params.push_back(intrinsics.getParameters()[5]);
+        _params.push_back(intrinsics.getDistortion()->getParameters()[0]);
+        _params.push_back(intrinsics.getDistortion()->getParameters()[1]);
+        _params.push_back(intrinsics.getDistortion()->getParameters()[2]);
 
         // Set the observation
         _observation[0] = pt2d[0];

src/aliceVision/sfm/bundle/costfunctions/projection.hpp

@@ -105,7 +105,7 @@ struct ProjectionErrorFunctor
             transformedPoint[2] += cam_t[2];
         }
 
-        const T * innerParameters[2];
+        const T * innerParameters[3];
         innerParameters[0] = parameter_intrinsics;
         innerParameters[1] = parameter_distortion;
         innerParameters[2] = transformedPoint;