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7b7496d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 | // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#include "controllers/bundle_adjustment.h"
#include <ceres/ceres.h>
#include "optim/bundle_adjustment.h"
#include "util/misc.h"
namespace colmap {
namespace {
// Callback functor called after each bundle adjustment iteration.
class BundleAdjustmentIterationCallback : public ceres::IterationCallback {
public:
explicit BundleAdjustmentIterationCallback(Thread* thread)
: thread_(thread) {}
virtual ceres::CallbackReturnType operator()(
const ceres::IterationSummary& summary) {
CHECK_NOTNULL(thread_);
thread_->BlockIfPaused();
if (thread_->IsStopped()) {
return ceres::SOLVER_TERMINATE_SUCCESSFULLY;
} else {
return ceres::SOLVER_CONTINUE;
}
}
private:
Thread* thread_;
};
} // namespace
BundleAdjustmentController::BundleAdjustmentController(
const OptionManager& options, Reconstruction* reconstruction)
: options_(options), reconstruction_(reconstruction) {}
void BundleAdjustmentController::Run() {
CHECK_NOTNULL(reconstruction_);
PrintHeading1("Global bundle adjustment");
const std::vector<image_t>& reg_image_ids = reconstruction_->RegImageIds();
if (reg_image_ids.size() < 2) {
std::cout << "ERROR: Need at least two views." << std::endl;
return;
}
// Avoid degeneracies in bundle adjustment.
reconstruction_->FilterObservationsWithNegativeDepth();
BundleAdjustmentOptions ba_options = *options_.bundle_adjustment;
ba_options.solver_options.minimizer_progress_to_stdout = true;
BundleAdjustmentIterationCallback iteration_callback(this);
ba_options.solver_options.callbacks.push_back(&iteration_callback);
// Configure bundle adjustment.
BundleAdjustmentConfig ba_config;
for (const image_t image_id : reg_image_ids) {
ba_config.AddImage(image_id);
}
ba_config.SetConstantPose(reg_image_ids[0]);
ba_config.SetConstantTvec(reg_image_ids[1], {0});
// Run bundle adjustment.
BundleAdjuster bundle_adjuster(ba_options, ba_config);
bundle_adjuster.Solve(reconstruction_);
GetTimer().PrintMinutes();
}
} // namespace colmap
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