| // 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 | |
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| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
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| // POSSIBILITY OF SUCH DAMAGE. | |
| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| 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 | |