Function reconstruct

python/examples/custom_incremental_pipeline.py:294–378

Equivalent to IncrementalPipeline.reconstruct(...)

(
    controller: IncrementalPipeline,
    mapper: IncrementalMapper,
    mapper_options: IncrementalMapperOptions,
    continue_reconstruction: bool,
)

def reconstruct(
    controller: IncrementalPipeline,
    mapper: IncrementalMapper,
    mapper_options: IncrementalMapperOptions,
    continue_reconstruction: bool,
) -> IncrementalPipelineStatus:
    """Equivalent to IncrementalPipeline.reconstruct(...)"""
    options = controller.options

    database_cache = controller.database_cache
    reconstruction_manager = controller.reconstruction_manager

    for num_trials in range(options.init_num_trials):
        if controller.check_reached_max_runtime():
            break
        if not continue_reconstruction or num_trials > 0:
            reconstruction_idx = reconstruction_manager.add()
        else:
            reconstruction_idx = 0

        reconstruction = reconstruction_manager.get(reconstruction_idx)
        status = reconstruct_sub_model(
            controller, mapper, mapper_options, reconstruction
        )
        if status == IncrementalPipelineStatus.INTERRUPTED:
            reconstruction.update_point_3d_errors()
            logging.info("Keeping reconstruction due to interrupt")
            mapper.end_reconstruction(False)
            pycolmap.align_reconstruction_to_orig_rig_scales(
                database_cache.rigs, reconstruction
            )
        elif status == IncrementalPipelineStatus.UNKNOWN_SENSOR_FROM_RIG:
            logging.error(
                "Discarding reconstruction due to unknown sensor_from_rig "
                "poses. Either explicitly define the poses by configuring the "
                "rigs or first run reconstruction without configured rigs and "
                "then derive the poses from the initial reconstruction for a "
                "subsequent reconstruction with rig constraints. See "
                "documentation for detailed instructions."
            )
            mapper.end_reconstruction(True)
            reconstruction_manager.delete(reconstruction_idx)
            return IncrementalPipelineStatus.STOP
        elif status == IncrementalPipelineStatus.BAD_INITIAL_PAIR:
            logging.info("Disacarding reconstruction due to bad initial pair")
            mapper.end_reconstruction(True)
            reconstruction_manager.delete(reconstruction_idx)
        elif status == IncrementalPipelineStatus.NO_INITIAL_PAIR:
            logging.info("Disacarding reconstruction due to no initial pair")
            mapper.end_reconstruction(True)
            reconstruction_manager.delete(reconstruction_idx)
            return IncrementalPipelineStatus.CONTINUE
        elif status == IncrementalPipelineStatus.SUCCESS:
            num_reg_images = reconstruction.num_reg_images()
            total_num_reg_images = mapper.num_total_reg_images()
            if (
                options.multiple_models
                and reconstruction_manager.size() > 1