Function iterative_global_refinement

python/examples/custom_bundle_adjustment.py:98–131

Equivalent to mapper.iterative_global_refinement(...)

(
    mapper: pycolmap.IncrementalMapper,
    max_num_refinements: int,
    max_refinement_change: float,
    mapper_options: pycolmap.IncrementalMapperOptions,
    ba_options: pycolmap.BundleAdjustmentOptions,
    tri_options: pycolmap.IncrementalTriangulatorOptions,
    normalize_reconstruction: bool = True,
)

def iterative_global_refinement(
    mapper: pycolmap.IncrementalMapper,
    max_num_refinements: int,
    max_refinement_change: float,
    mapper_options: pycolmap.IncrementalMapperOptions,
    ba_options: pycolmap.BundleAdjustmentOptions,
    tri_options: pycolmap.IncrementalTriangulatorOptions,
    normalize_reconstruction: bool = True,
) -> bool:
    """Equivalent to mapper.iterative_global_refinement(...)"""
    reconstruction = mapper.reconstruction
    mapper.complete_and_merge_tracks(tri_options)
    num_retriangulated_observations = mapper.retriangulate(tri_options)
    logging.verbose(
        1, f"=> Retriangulated observations: {num_retriangulated_observations}"
    )
    for _ in range(max_num_refinements):
        num_observations = reconstruction.compute_num_observations()
        # mapper.adjust_global_bundle(mapper_options, ba_options)
        if not adjust_global_bundle(mapper, mapper_options, ba_options):
            return False
        if normalize_reconstruction:
            reconstruction.normalize()
        num_changed_observations = mapper.complete_and_merge_tracks(tri_options)
        num_changed_observations += mapper.filter_points(mapper_options)
        changed = (
            num_changed_observations / num_observations
            if num_observations > 0
            else 0
        )
        logging.verbose(1, f"=> Changed observations: {changed:.6f}")
        if changed < max_refinement_change:
            break
    return True


def adjust_local_bundle(