bundle_adjustment.cc

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// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
 
#include "controllers/bundle_adjustment.h"
 
#include <ceres/ceres.h>
 
#include "optim/bundle_adjustment.h"
#include "util/misc.h"
 
namespace colmap {
namespace {
 
// Callback functor called after each bundle adjustment iteration.
class BundleAdjustmentIterationCallback : public ceres::IterationCallback {
 public:
  explicit BundleAdjustmentIterationCallback(Thread* thread)
      : thread_(thread) {}
 
  virtual ceres::CallbackReturnType operator()(
      const ceres::IterationSummary& summary) {
    CHECK_NOTNULL(thread_);
    thread_->BlockIfPaused();
    if (thread_->IsStopped()) {
      return ceres::SOLVER_TERMINATE_SUCCESSFULLY;
    } else {
      return ceres::SOLVER_CONTINUE;
    }
  }
 
 private:
  Thread* thread_;
};
 
}  // namespace
 
BundleAdjustmentController::BundleAdjustmentController(
    const OptionManager& options, Reconstruction* reconstruction)
    : options_(options), reconstruction_(reconstruction) {}
 
void BundleAdjustmentController::Run() {
  CHECK_NOTNULL(reconstruction_);
 
  PrintHeading1("Global bundle adjustment");
 
  const std::vector<image_t>& reg_image_ids = reconstruction_->RegImageIds();
 
  if (reg_image_ids.size() < 2) {
    std::cout << "WARNING: Need at least two views." << std::endl;
    return;
  }
 
  // Avoid degeneracies in bundle adjustment.
  reconstruction_->FilterObservationsWithNegativeDepth();
 
  BundleAdjustmentOptions ba_options = *options_.bundle_adjustment;
  ba_options.solver_options.minimizer_progress_to_stdout = true;
 
  BundleAdjustmentIterationCallback iteration_callback(this);
  ba_options.solver_options.callbacks.push_back(&iteration_callback);
 
  // Configure bundle adjustment.
  BundleAdjustmentConfig ba_config;
  for (const image_t image_id : reg_image_ids) {
    ba_config.AddImage(image_id);
  }
  ba_config.SetConstantPose(reg_image_ids[0]);
  ba_config.SetConstantTvec(reg_image_ids[1], {0});
 
  // Run bundle adjustment.
  BundleAdjuster bundle_adjuster(ba_options, ba_config);
  bundle_adjuster.Solve(reconstruction_);
 
  GetTimer().PrintMinutes();
}
 
}  // namespace colmap