hierarchical_mapper.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "base/reconstruction_manager.h"
#include "base/scene_clustering.h"
#include "controllers/incremental_mapper.h"
#include "util/threading.h"
 
namespace colmap {
 
// Hierarchical mapping first hierarchically partitions the scene into multiple
// overlapping clusters, then reconstructs them separately using incremental
// mapping, and finally merges them all into a globally consistent
// reconstruction. This is especially useful for larger-scale scenes, since
// incremental mapping becomes slow with an increasing number of images.
class HierarchicalMapperController : public Thread {
public:
    struct Options {
        // The path to the image folder which are used as input.
        std::string image_path;
 
        // The path to the database file which is used as input.
        std::string database_path;
 
        // The maximum number of trials to initialize a cluster.
        int init_num_trials = 10;
 
        // The number of workers used to reconstruct clusters in parallel.
        int num_workers = -1;
 
        bool Check() const;
    };
 
    HierarchicalMapperController(
            const Options& options,
            const SceneClustering::Options& clustering_options,
            const IncrementalMapperOptions& mapper_options,
            ReconstructionManager* reconstruction_manager);
 
private:
    void Run() override;
 
    const Options options_;
    const SceneClustering::Options clustering_options_;
    const IncrementalMapperOptions mapper_options_;
    ReconstructionManager* reconstruction_manager_;
};
 
}  // namespace colmap