Function iterative_local_refinement

python/examples/custom_bundle_adjustment.py:257–308

Equivalent to mapper.iterative_local_refinement(...)

(
    mapper: pycolmap.IncrementalMapper,
    max_num_refinements: int,
    max_refinement_change: float,
    mapper_options: pycolmap.IncrementalMapperOptions,
    ba_options: pycolmap.BundleAdjustmentOptions,
    tri_options: pycolmap.IncrementalTriangulatorOptions,
    image_id: int,
)

def iterative_local_refinement(
    mapper: pycolmap.IncrementalMapper,
    max_num_refinements: int,
    max_refinement_change: float,
    mapper_options: pycolmap.IncrementalMapperOptions,
    ba_options: pycolmap.BundleAdjustmentOptions,
    tri_options: pycolmap.IncrementalTriangulatorOptions,
    image_id: int,
) -> None:
    """Equivalent to mapper.iterative_local_refinement(...)"""
    custom_ba_options = copy.deepcopy(ba_options)
    for _ in range(max_num_refinements):
        # report = mapper.adjust_local_bundle(
        #     mapper_options,
        #     custom_ba_options,
        #     tri_options,
        #     image_id,
        #     mapper.get_modified_points3D(),
        # )
        report = adjust_local_bundle(
            mapper,
            mapper_options,
            custom_ba_options,
            tri_options,
            image_id,
            mapper.get_modified_points3D(),
        )
        logging.verbose(
            1, f"=> Merged observations: {report.num_merged_observations}"
        )
        logging.verbose(
            1, f"=> Completed observations: {report.num_completed_observations}"
        )
        logging.verbose(
            1, f"=> Filtered observations: {report.num_filtered_observations}"
        )
        changed = 0.0
        if report.num_adjusted_observations > 0:
            changed = (
                report.num_merged_observations
                + report.num_completed_observations
                + report.num_filtered_observations
            ) / report.num_adjusted_observations
        logging.verbose(1, f"=> Changed observations: {changed:.6f}")
        if changed < max_refinement_change:
            break

        # Only use robust cost function for first iteration
        custom_ba_options.ceres.loss_function_type = (
            pycolmap.LossFunctionType.TRIVIAL
        )
    mapper.clear_modified_points3D()