| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Hierarchical mapping first hierarchically partitions the scene into multiple | |
| // overlapping clusters, then reconstructs them separately using incremental | |
| // mapping, and finally merges them all into a globally consistent | |
| // reconstruction. This is especially useful for larger-scale scenes, since | |
| // incremental mapping becomes slow with an increasing number of images. | |
| class HierarchicalMapperController : public Thread { | |
| public: | |
| struct Options { | |
| // The path to the image folder which are used as input. | |
| std::string image_path; | |
| // The path to the database file which is used as input. | |
| std::string database_path; | |
| // The maximum number of trials to initialize a cluster. | |
| int init_num_trials = 10; | |
| // The number of workers used to reconstruct clusters in parallel. | |
| int num_workers = -1; | |
| bool Check() const; | |
| }; | |
| HierarchicalMapperController( | |
| const Options& options, | |
| const SceneClustering::Options& clustering_options, | |
| const IncrementalMapperOptions& mapper_options, | |
| ReconstructionManager* reconstruction_manager); | |
| private: | |
| void Run() override; | |
| const Options options_; | |
| const SceneClustering::Options clustering_options_; | |
| const IncrementalMapperOptions mapper_options_; | |
| ReconstructionManager* reconstruction_manager_; | |
| }; | |
| } // namespace colmap | |