8000 Enable verbose logging options through command-line flags by ahojnnes · Pull Request #77 · colmap/glomap · GitHub
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Enable verbose logging options through command-line flags #77

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Merged
merged 2 commits into from
Aug 25, 2024
Merged

Enable verbose logging options through command-line flags #77

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Enable verbose logging options through command-line flags
ahojnnes Aug 25, 2024
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ahojnnes Aug 25, 2024
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7 changes: 0 additions & 7 deletions glomap/controllers/global_mapper_test.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -40,13 +40,6 @@ void ExpectEqualReconstructions(const colmap::Reconstruction& gt,

GlobalMapperOptions CreateTestOptions() {
GlobalMapperOptions options;
// Control the verbosity of the global sfm
options.opt_vgcalib.verbose = false;
options.opt_ra.verbose = false;
options.opt_gp.verbose = false;
options.opt_ba.verbose = false;

// Control the flow of the global sfm
options.skip_view_graph_calibration = false;
options.skip_relative_pose_estimation = false;
options.skip_rotation_averaging = false;
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3 changes: 3 additions & 0 deletions glomap/controllers/option_manager.cc
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Expand Up @@ -17,6 +17,9 @@ OptionManager::OptionManager(bool add_project_options) {
Reset();

desc_->add_options()("help,h", "");

AddAndRegisterDefaultOption("log_to_stderr", &FLAGS_logtostderr);
AddAndRegisterDefaultOption("log_level", &FLAGS_v);
}

void OptionManager::AddAllOptions() {
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4 changes: 2 additions & 2 deletions glomap/estimators/bundle_adjustment.cc
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Expand Up @@ -40,9 +40,9 @@ bool BundleAdjuster::Solve(const ViewGraph& view_graph,
options_.solver_options.linear_solver_type = ceres::SPARSE_SCHUR;
options_.solver_options.preconditioner_type = ceres::CLUSTER_TRIDIAGONAL;

options_.solver_options.minimizer_progress_to_stdout = options_.verbose;
options_.solver_options.minimizer_progress_to_stdout = VLOG_IS_ON(2);
ceres::Solve(options_.solver_options, problem_.get(), &summary);
if (options_.verbose)
if (VLOG_IS_ON(2))
LOG(INFO) << summary.FullReport();
else
LOG(INFO) << summary.BriefReport();
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24 changes: 10 additions & 14 deletions glomap/estimators/global_positioning.cc
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Expand Up @@ -68,10 +68,10 @@ bool GlobalPositioner::Solve(const ViewGraph& view_graph,
LOG(INFO) << "Solving the global positioner problem";

ceres::Solver::Summary summary;
options_.solver_options.minimizer_progress_to_stdout = options_.verbose;
options_.solver_options.minimizer_progress_to_stdout = VLOG_IS_ON(2);
ceres::Solve(options_.solver_options, problem_.get(), &summary);

if (options_.verbose) {
if (VLOG_IS_ON(2)) {
LOG(INFO) << summary.FullReport();
} else {
LOG(INFO) << summary.BriefReport();
Expand Down Expand Up @@ -143,8 +143,7 @@ void GlobalPositioner::InitializeRandomPositions(
image.cam_from_world.translation = image.Center();
}

if (options_.verbose)
LOG(INFO) << "Constrained positions: " << constrained_positions.size();
VLOG(2) << "Constrained positions: " << constrained_positions.size();
}

void GlobalPositioner::AddCameraToCameraConstraints(
Expand Down Expand Up @@ -178,10 +177,9 @@ void GlobalPositioner::AddCameraToCameraConstraints(
problem_->SetParameterLowerBound(&scale, 0, 1e-5);
}

if (options_.verbose)
LOG(INFO) << problem_->NumResidualBlocks()
<< " camera to camera constraints were added to the position "
"estimation problem.";
VLOG(2) << problem_->NumResidualBlocks()
<< " camera to camera constraints were added to the position "
"estimation problem.";
}

void GlobalPositioner::AddPointToCameraConstraints(
Expand All @@ -194,10 +192,9 @@ void GlobalPositioner::AddPointToCameraConstraints(
// Find the tracks that are relevant to the current set of cameras
const size_t num_pt_to_cam = tracks.size();

if (options_.verbose)
LOG(INFO) << num_pt_to_cam
<< " point to camera constriants were added to the position "
"estimation problem.";
VLOG(2) << num_pt_to_cam
<< " point to camera constriants were added to the position "
"estimation problem.";

if (num_pt_to_cam == 0) return;

Expand All @@ -211,8 +208,7 @@ void GlobalPositioner::AddPointToCameraConstraints(
static_cast<double>(num_cam_to_cam) /
static_cast<double>(num_pt_to_cam);
}
if (options_.verbose)
LOG(INFO) << "Point to camera weight scaled: " << weight_scale_pt;
VLOG(2) << "Point to camera weight scaled: " << weight_scale_pt;

if (loss_function_ptcam_uncalibrated_ == nullptr) {
loss_function_ptcam_uncalibrated_ =
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22 changes: 8 additions & 14 deletions glomap/estimators/global_rotation_averaging.cc
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Expand Up @@ -156,10 +156,6 @@ void RotationEstimator::SetupLinearSystem(
}
}

if (options_.verbose)
LOG(INFO) << "num_img: " << image_id_to_idx_.size()
<< ", num_dof: " << num_dof;

rotation_estimated_.conservativeResize(num_dof);

// Prepare the relative information
Expand Down Expand Up @@ -204,8 +200,7 @@ void RotationEstimator::SetupLinearSystem(
}
}

if (options_.verbose)
LOG(INFO) << counter << " image pairs are gravity aligned" << std::endl;
VLOG(2) << counter << " image pairs are gravity aligned" << std::endl;

std::vector<Eigen::Triplet<double>> coeffs;
coeffs.reserve(rel_temp_info_.size() * 6 + 3);
Expand Down Expand Up @@ -290,11 +285,11 @@ bool RotationEstimator::SolveL1Regression(
double curr_norm = 0;

ComputeResiduals(view_graph, images);
if (options_.verbose) LOG(INFO) << "ComputeResiduals done ";
VLOG(2) << "ComputeResiduals done";

int iteration = 0;
for (iteration = 0; iteration < options_.max_num_l1_iterations; iteration++) {
if (options_.verbose) LOG(INFO) << "L1 ADMM iteration: " << iteration;
VLOG(2) << "L1 ADMM iteration: " << iteration;

last_norm = curr_norm;
// use the current residual as b (Ax - b)
Expand All @@ -307,7 +302,7 @@ bool RotationEstimator::SolveL1Regression(
return false;
}

if (options_.verbose)
if (VLOG_IS_ON(2))
LOG(INFO) << "residual:"
<< (sparse_matrix_ * tangent_space_step_ -
tangent_space_residual_)
Expand All @@ -332,7 +327,7 @@ bool RotationEstimator::SolveL1Regression(
opt_l1_solver.max_num_iterations =
std::min(opt_l1_solver.max_num_iterations * 2, 100);
}
if (options_.verbose) LOG(INFO) << "L1 ADMM total iteration: " << iteration;
VLOG(2) << "L1 ADMM total iteration: " << iteration;
return true;
}

Expand All @@ -347,8 +342,7 @@ bool RotationEstimator::SolveIRLS(const ViewGraph& view_graph,
llt.analyzePattern(sparse_matrix_.transpose() * sparse_matrix_);

const double sigma = DegToRad(options_.irls_loss_parameter_sigma);
if (options_.verbose)
LOG(INFO) << "sigma: " << options_.irls_loss_parameter_sigma;
VLOG(2) << "sigma: " << options_.irls_loss_parameter_sigma;

Eigen::ArrayXd weights_irls(sparse_matrix_.rows());
Eigen::SparseMatrix<double> at_weight;
Expand All @@ -362,7 +356,7 @@ bool RotationEstimator::SolveIRLS(const ViewGraph& view_graph,
int iteration = 0;
for (iteration = 0; iteration < options_.max_num_irls_iterations;
iteration++) {
if (options_.verbose) LOG(INFO) << "IRLS iteration: " << iteration;
VLOG(2) << "IRLS iteration: " << iteration;

// Compute the weights for IRLS
for (auto& [pair_id, pair_info] : rel_temp_info_) {
Expand Down Expand Up @@ -416,7 +410,7 @@ bool RotationEstimator::SolveIRLS(const ViewGraph& view_graph,
break;
}
}
if (options_.verbose) LOG(INFO) << "IRLS total iteration: " << iteration;
VLOG(2) << "IRLS total iteration: " << iteration;

return true;
}
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3 changes: 0 additions & 3 deletions glomap/estimators/global_rotation_averaging.h
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Expand Up @@ -68,9 +68,6 @@ struct RotationEstimatorOptions {

// Flag to use gravity for rotation averaging
bool use_gravity = false;

// Flag whether report the verbose information
bool verbose = false;
};

// TODO: Implement the stratified camera rotation estimation
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5 changes: 1 addition & 4 deletions glomap/estimators/optimization_base.h
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Expand Up @@ -9,9 +9,6 @@
namespace glomap {

struct OptimizationBaseOptions {
// Logging control
bool verbose = false;

// The threshold for the loss function
double thres_loss_function = 1e-1;

Expand All @@ -24,7 +21,7 @@ struct OptimizationBaseOptions {
OptimizationBaseOptions() {
solver_options.num_threads = std::thread::hardware_concurrency();
solver_options.max_num_iterations = 100;
solver_options.minimizer_progress_to_stdout = verbose;
solver_options.minimizer_progress_to_stdout = false;
solver_options.function_tolerance = 1e-5;
}
};
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17 changes: 5 additions & 12 deletions glomap/estimators/view_graph_calibration.cc
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Expand Up @@ -36,13 +36,10 @@ bool ViewGraphCalibrator::Solve(ViewGraph& view_graph,

// Solve the problem
ceres::Solver::Summary summary;
options_.solver_options.minimizer_progress_to_stdout = options_.verbose;
options_.solver_options.minimizer_progress_to_stdout = VLOG_IS_ON(2);
ceres::Solve(options_.solver_options, problem_.get(), &summary);

// Print the summary only if verbose
if (options_.verbose) {
LOG(INFO) << summary.FullReport();
}
VLOG(2) << summary.FullReport();

// Convert the results back to the camera
CopyBackResults(cameras);
Expand Down Expand Up @@ -132,10 +129,9 @@ void ViewGraphCalibrator::CopyBackResults(
// if the estimated parameter is too crazy, reject it
if (focals_[camera_id] / camera.Focal() > options_.thres_higher_ratio ||
focals_[camera_id] / camera.Focal() < options_.thres_lower_ratio) {
if (options_.verbose)
LOG(INFO) << "NOT ACCEPTED: Camera " << camera_id
<< " focal: " << focals_[camera_id]
<< " original focal: " << camera.Focal();
VLOG(2) << "Ignoring degenerate camera camera " << camera_id
<< " focal: " << focals_[camera_id]
<< " original focal: " << camera.Focal();
counter++;

continue;
Expand All @@ -147,9 +143,6 @@ void ViewGraphCalibrator::CopyBackResults(
// Update the focal length
for (const size_t idx : camera.FocalLengthIdxs()) {
camera.params[idx] = focals_[camera_id];
if (options_.verbose)
LOG(INFO) << "Camera " << idx << " focal: " << focals_[camera_id]
<< std::endl;
}
}
LOG(INFO) << counter << " cameras are rejected in view graph calibration";
Expand Down
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