8000 Expose incremental mapper pose prior options in pycolmap by ahojnnes · Pull Request #3123 · colmap/colmap · GitHub
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Expose incremental mapper pose prior options in pycolmap #3123

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Merged
merged 2 commits into from
Jan 25, 2025
Merged

Expose incremental mapper pose prior options in pycolmap #3123

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Expose incremental mapper pose prior options in pycolmap
ahojnnes Jan 25, 2025
c9eb7d9
Merge branch 'main' into user/jsch/pycolmap-prior-options
ahojnnes Jan 25, 2025
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8 changes: 4 additions & 4 deletions src/colmap/controllers/incremental_pipeline.h
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Expand Up @@ -119,14 +119,14 @@ struct IncrementalPipelineOptions {
bool ba_use_gpu = false;
std::string ba_gpu_index = "-1";

// Whether to use prior camera positions
// Whether to use priors on the camera positions.
bool use_prior_position = false;

// Whether to use a robust loss on prior locations
// Whether to use a robust loss on prior camera positions.
bool use_robust_loss_on_prior_position = false;

// Threshold on the residual for the robust loss
// (chi2 for 3DOF at 95% = 7.815)
// Threshold on the residual for the robust position prior loss
// (chi2 for 3DOF at 95% = 7.815).
double prior_position_loss_scale = 7.815;

// Path to a folder with reconstruction snapshots during incremental
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10 changes: 10 additions & 0 deletions src/pycolmap/sfm/incremental_mapper.cc
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Expand Up @@ -142,6 +142,16 @@ void BindIncrementalPipeline(py::module& m) {
"ba_global_max_refinement_change",
&Opts::ba_global_max_refinement_change,
"The thresholds for iterative bundle adjustment refinements.")
.def_readwrite("use_prior_position",
&Opts::use_prior_position,
"Whether to use priors on the camera positions.")
.def_readwrite("use_robust_loss_on_prior_position",
&Opts::use_robust_loss_on_prior_position,
"Whether to use a robust loss on prior camera positions.")
.def_readwrite("prior_position_loss_scale",
&Opts::prior_position_loss_scale,
"Threshold on the residual for the robust position prior "
"loss (chi2 for 3DOF at 95% = 7.815).")
.def_readwrite("snapshot_path",
&Opts::snapshot_path,
"Path to a folder in which reconstruction snapshots will "
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