bundle_adjustment_widget.cc

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// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//
//     * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
//       its contributors may be used to endorse or promote products derived
//       from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
 
#include "ui/bundle_adjustment_widget.h"
 
#include "controllers/bundle_adjustment.h"
#include "ui/main_window.h"
 
namespace colmap {
 
BundleAdjustmentWidget::BundleAdjustmentWidget(MainWindow* main_window,
                                               OptionManager* options)
    : OptionsWidget(main_window),
      main_window_(main_window),
      options_(options),
      reconstruction_(nullptr),
      thread_control_widget_(new ThreadControlWidget(this)) {
  setWindowTitle("Bundle adjustment");
 
  AddOptionInt(&options->bundle_adjustment->solver_options.max_num_iterations,
               "max_num_iterations");
  AddOptionInt(
      &options->bundle_adjustment->solver_options.max_linear_solver_iterations,
      "max_linear_solver_iterations");
 
  AddOptionDoubleLog(
      &options->bundle_adjustment->solver_options.function_tolerance,
      "function_tolerance [10eX]", -1000, 1000);
  AddOptionDoubleLog(
      &options->bundle_adjustment->solver_options.gradient_tolerance,
      "gradient_tolerance [10eX]", -1000, 1000);
  AddOptionDoubleLog(
      &options->bundle_adjustment->solver_options.parameter_tolerance,
      "parameter_tolerance [10eX]", -1000, 1000);
 
  AddOptionBool(&options->bundle_adjustment->refine_focal_length,
                "refine_focal_length");
  AddOptionBool(&options->bundle_adjustment->refine_principal_point,
                "refine_principal_point");
  AddOptionBool(&options->bundle_adjustment->refine_extra_params,
                "refine_extra_params");
  AddOptionBool(&options->bundle_adjustment->refine_extrinsics,
                "refine_extrinsics");
 
  QPushButton* run_button = new QPushButton(tr("Run"), this);
  grid_layout_->addWidget(run_button, grid_layout_->rowCount(), 1);
  connect(run_button, &QPushButton::released, this,
          &BundleAdjustmentWidget::Run);
 
  render_action_ = new QAction(this);
  connect(render_action_, &QAction::triggered, this,
          &BundleAdjustmentWidget::Render, Qt::QueuedConnection);
}
 
void BundleAdjustmentWidget::Show(Reconstruction* reconstruction) {
  reconstruction_ = reconstruction;
  show();
  raise();
}
 
void BundleAdjustmentWidget::Run() {
  CHECK_NOTNULL(reconstruction_);
 
  WriteOptions();
 
  Thread* thread = new BundleAdjustmentController(*options_, reconstruction_);
  thread->AddCallback(Thread::FINISHED_CALLBACK,
                      [this]() { render_action_->trigger(); });
 
  // Normalize scene for numerical stability and
  // to avoid large scale changes in viewer.
  reconstruction_->Normalize();
 
  thread_control_widget_->StartThread("Bundle adjusting...", true, thread);
}
 
void BundleAdjustmentWidget::Render() { main_window_->RenderNow(); }
 
}  // namespace colmap