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Add reconstruction normalization after each step #136

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Merged
lpanaf merged 4 commits into from
Nov 19, 2024
Merged

Add reconstruction normalization after each step #136

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1fe66d8
add reconstruction normalization after each step
lpanaf Nov 18, 2024
8144d79
seperate out the helper function for normalization
lpanaf Nov 19, 2024
b5c342b
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lpanaf Nov 19, 2024
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lpanaf Nov 19, 2024
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20 changes: 20 additions & 0 deletions glomap/controllers/global_mapper.cc
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#include "global_mapper.h"

#include "glomap/io/colmap_converter.h"
#include "glomap/processors/image_pair_inliers.h"
#include "glomap/processors/image_undistorter.h"
#include "glomap/processors/reconstruction_pruning.h"
Expand Down Expand Up @@ -167,6 +168,13 @@ bool GlobalMapper::Solve(const colmap::Database& database,
images,
tracks,
options_.inlier_thresholds.max_angle_error);

// Normalize the structure
colmap::Reconstruction reconstruction;
ConvertGlomapToColmap(cameras, images, tracks, reconstruction, -1, true);
reconstruction.Normalize();
ConvertColmapToGlomap(reconstruction, cameras, images, tracks);

run_timer.PrintSeconds();
}

Expand Down Expand Up @@ -209,6 +217,12 @@ bool GlobalMapper::Solve(const colmap::Database& database,
if (ite != options_.num_iteration_bundle_adjustment - 1)
run_timer.PrintSeconds();

// Normalize the structure
colmap::Reconstruction reconstruction;
ConvertGlomapToColmap(cameras, images, tracks, reconstruction, -1, true);
reconstruction.Normalize();
ConvertColmapToGlomap(reconstruction, cameras, images, tracks);
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@ahojnnes ahojnnes Nov 18, 2024 •
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This code block is identical for all 3 instances. Would it make sense to extract it into a helper function: NormalizeReconstruction(...) ? It's a little unfortunate that we need to go through the whole forward/backward conversion process each time instead of directly normalizing the glomap data structure. Did you measure the performance impact of this?

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@lpanaf lpanaf Nov 18, 2024

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I do not have any quantitative numbers on the performance, but only qualitative ones: without rescaling, the number of points is 10282, and with normalization, the number of points is 12100 for one test set where the reconstruction scale is extreme after estimation. In this case, does it make sense to follow the COLMAP function and implement a new GLOMAP version? Then we don't need to do the model conversion at all


// 6.3. Filter tracks based on the estimation
// For the filtering, in each round, the criteria for outlier is
// tightened. If only few tracks are changed, no need to start bundle
Expand Down Expand Up @@ -292,6 +306,12 @@ bool GlobalMapper::Solve(const colmap::Database& database,
run_timer.PrintSeconds();
}

// Normalize the structure
colmap::Reconstruction reconstruction;
ConvertGlomapToColmap(cameras, images, tracks, reconstruction, -1, true);
reconstruction.Normalize();
ConvertColmapToGlomap(reconstruction, cameras, images, tracks);

// Filter tracks based on the estimation
UndistortImages(cameras, images, true);
LOG(INFO) << "Filtering tracks by reprojection ...";
Expand Down
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