Method Reconstruct

src/colmap/controllers/incremental_pipeline.cc:643–750

}

IncrementalPipeline::Status IncrementalPipeline::Reconstruct(
    IncrementalMapper& mapper,
    const IncrementalMapper::Options& mapper_options,
    bool continue_reconstruction) {
  for (int num_trials = 0; num_trials < options_->init_num_trials;
       ++num_trials) {
    if (CheckIfStopped() || CheckReachedMaxRuntime()) {
      return Status::STOP;
    }

    const size_t reconstruction_idx =
        (!continue_reconstruction || num_trials > 0)
            ? reconstruction_manager_->Add()
            : 0;
    std::shared_ptr<Reconstruction> reconstruction =
        reconstruction_manager_->Get(reconstruction_idx);

    const Status status =
        ReconstructSubModel(mapper, mapper_options, reconstruction);
    switch (status) {
      case Status::INTERRUPTED: {
        reconstruction->UpdatePoint3DErrors();
        LOG(INFO) << "Keeping reconstruction due to interrupt";
        mapper.EndReconstruction(/*discard=*/false);
        AlignReconstructionToOrigRigScales(database_cache_->Rigs(),
                                           reconstruction.get());
        return Status::STOP;
      }

      case Status::UNKNOWN_SENSOR_FROM_RIG: {
        LOG(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.EndReconstruction(/*discard=*/true);
        reconstruction_manager_->Delete(reconstruction_idx);
        // If the reconstruction was discarded due to an unknown sensor from
        // rig, we can stop the outer trial loop, because all trials will fail.
        return Status::STOP;
      }

      case Status::BAD_INITIAL_PAIR: {
        LOG(INFO) << "Discarding reconstruction due to bad initial pair";
        mapper.EndReconstruction(/*discard=*/true);
        reconstruction_manager_->Delete(reconstruction_idx);
        // If an initial pair was found but it was bad, we discard and attempt
        // to initialize from any of the remaining pairs in the next trials.
        break;
      }

      case Status::NO_INITIAL_PAIR: {
        LOG(INFO) << "Discarding reconstruction due to no initial pair";
        mapper.EndReconstruction(/*discard=*/true);
        reconstruction_manager_->Delete(reconstruction_idx);
        // If no pair could be found, we can exit the trial loop, because