Incremental model refiner for DetectorFreeSfM #2685
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sarlinpe
requested changes
Aug 13, 2024
| @@ -538,11 +538,15 @@ void IncrementalMapperController::Reconstruct( | |||
| } | |||
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| void IncrementalMapperController::TriangulateReconstruction( | |||
| const std::shared_ptr<Reconstruction>& reconstruction) { | |||
| const std::shared_ptr<Reconstruction>& reconstruction, | |||
| const std::unordered_set<image_t> fixed_image_ids) { | |||
src/colmap/exe/sfm.cc
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| // Loads the list of images for which the camera pose will be fixed. | ||
| auto reconstruction = reconstruction_manager->Get(0); | ||
| std::unordered_set<image_t> image_ids_fixed_poses; |
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nit: call this fixed_image_ids to be consistent with TriangulateReconstruction
src/colmap/sfm/incremental_mapper.cc
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| @@ -108,6 +108,11 @@ IncrementalMapper::IncrementalMapper( | |||
| num_total_reg_images_(0), | |||
| num_shared_reg_images_(0) {} | |||
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| void IncrementalMapper::SetFixedImageIds( | |||
| std::unordered_set<image_t> image_ids) { | |||
src/colmap/sfm/incremental_mapper.cc
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| @@ -108,6 +108,11 @@ IncrementalMapper::IncrementalMapper( | |||
| num_total_reg_images_(0), | |||
| num_shared_reg_images_(0) {} | |||
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| void IncrementalMapper::SetFixedImageIds( | |||
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Call this SetExistingImageIds and move the declaration+definition closer to ExistingImageIds
| @@ -183,6 +183,66 @@ int RunColorExtractor(int argc, char** argv) { | |||
| return EXIT_SUCCESS; | |||
| } | |||
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| int RunIncrementalModelRefiner(int argc, char** argv) { | |||
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A lot of this is very similar to RunPointTriangulator. Would it make sense to instead augment RunPointTriangulator with this new feature? can we minimally allow the user to control whether to 1) fix all images (the default of RunPointTriangulator), 2) fix no image, 3) fix a subset of images?
# Conflicts: # src/colmap/controllers/incremental_mapper.cc
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This feature helps refine cameras and models.
Do I need to add tests/python bindings?
Based on #2145 and https://github.com/hxy-123/colmap