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Allow refining principal point during bundle adjustment #203

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Allow refining principal point during bundle adjustment #203

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15 changes: 11 additions & 4 deletions hloc/reconstruction.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,15 +42,20 @@ def get_image_ids(database_path):
return images


def run_reconstruction(sfm_dir, database_path, image_dir, verbose=False):
def run_reconstruction(sfm_dir, database_path, image_dir, verbose=False,
ba_refine_principal_point=False):
models_path = sfm_dir / 'models'
models_path.mkdir(exist_ok=True, parents=True)
logger.info('Running 3D reconstruction...')
reconstruction_options = pycolmap.IncrementalMapperOptions()
reconstruction_options.num_threads = min(multiprocessing.cpu_count(), 16)
reconstruction_options.ba_refine_principal_point = (
ba_refine_principal_point)
with OutputCapture(verbose):
with pycolmap.ostream():
reconstructions = pycolmap.incremental_mapping(
database_path, image_dir, models_path,
num_threads=min(multiprocessing.cpu_count(), 16))
options=reconstruction_options)

if len(reconstructions) == 0:
logger.error('Could not reconstruct any model!')
Expand Down Expand Up @@ -79,7 +84,8 @@ def run_reconstruction(sfm_dir, database_path, image_dir, verbose=False):
def main(sfm_dir, image_dir, pairs, features, matches,
camera_mode=pycolmap.CameraMode.AUTO, verbose=False,
skip_geometric_verification=False, min_match_score=None,
image_list: Optional[List[str]] = None):
image_list: Optional[List[str]] = None,
ba_refine_principal_point=False):

assert features.exists(), features
assert pairs.exists(), pairs
Expand All @@ -96,7 +102,8 @@ def main(sfm_dir, image_dir, pairs, features, matches,
min_match_score, skip_geometric_verification)
if not skip_geometric_verification:
estimation_and_geometric_verification(database, pairs, verbose)
reconstruction = run_reconstruction(sfm_dir, database, image_dir, verbose)
reconstruction = run_reconstruction(sfm_dir, database, image_dir, verbose,
ba_refine_principal_point)
if reconstruction is not None:
logger.info(f'Reconstruction statistics:\n{reconstruction.summary()}'
+ f'\n\tnum_input_images = {len(image_ids)}')
Expand Down