Add changes needed for MP-SfM #3269
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| else | ||
| cost_function = ScaledDepthErrorCostFunction::Create(depth); | ||
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| ceres::LossFunction* loss_function = CreateLossFunctionPerPoint(loss_name, loss_param, loss_magnitude); |
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Can be called only once instead of at each iteration, since the parameters are identical.
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unclear which line. loss_param, loss_magnitude and depth are all per 3D point in this implementation. the if statement could be done once but not sure how to implement this in cpp
| @@ -134,7 +134,8 @@ class IncrementalTriangulator { | |||
| // Image pairs are under-reconstructed if less than `Options::tri_re_min_ratio | |||
| // > tri_ratio`, where `tri_ratio` is the number of triangulated matches over | |||
| // inlier matches between the image pair. | |||
| size_t Retriangulate(const Options& options); | |||
| size_t Retriangulate(const Options& options, | |||
| const std::unordered_set<image_t>& ignore_image_ids = {}); | |||
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This does not seem to be used anywhere?
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Indeed. This is used only in MP-SfM. Problem?
| } | ||
| return lf; | ||
| } | ||
| void ExtendBundleAdjusterWithDepth(ceres::Problem* problem, |
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Since we do not have a depth class with standardized format in COLMAP, does it make sense to implement this outside COLMAP?
| @@ -402,6 +402,65 @@ size_t ObservationManager::FilterPoints3DWithSmallTriangulationAngle( | |||
| return num_filtered; | |||
| } | |||
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| std::vector<bool> ObservationManager::FindPoints3DWithGoodTriangulationAngle( | |||
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Now I see that this does the same thing as FilterPoints3DWithSmallTriangulationAngle. Does it make sense to refactor and share some code between the two methods?
Summary
This PR introduces the core functionality required for MP-SfM. It adds new Ceres cost functions and integrates them into COLMAP’s pipeline via ExtendBundleAdjusterWithDepth, with full Python bindings. Additionally, it includes several utility functions to improve the robustness and efficiency of the MP-SfM pipeline, particularly in challenging reconstruction scenarios.
Main Changes