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fix invalid 3d point output #149

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Merged
lpanaf merged 1 commit into from
Dec 13, 2024
Merged

fix invalid 3d point output #149

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5 changes: 3 additions & 2 deletions glomap/io/colmap_converter.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ void ConvertGlomapToColmap(const std::unordered_map<camera_t, Camera>& cameras,
}

// Prepare the 2d-3d correspondences
size_t min_supports = 2;
std::unordered_map<image_t, std::vector<track_t>> image_to_point3D;
if (tracks.size() > 0 || include_image_points) {
// Initialize every point to corresponds to invalid point
Expand All @@ -47,7 +48,7 @@ void ConvertGlomapToColmap(const std::unordered_map<camera_t, Camera>& cameras,

if (tracks.size() > 0) {
for (auto& [track_id, track] : tracks) {
if (track.observations.size() < 3) {
if (track.observations.size() < min_supports) {
continue;
}
for (auto& observation : track.observations) {
Expand Down Expand Up @@ -80,7 +81,7 @@ void ConvertGlomapToColmap(const std::unordered_map<camera_t, Camera>& cameras,
colmap_point.track.AddElement(colmap_track_el);
}

if (colmap_point.track.Length() < 2) continue;
if (colmap_point.track.Length() < min_supports) continue;

colmap_point.track.Compress();
reconstruction.AddPoint3D(track_id, std::move(colmap_point));
Expand Down
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