minor adjustments to pipeline

Author: geoeo

examples/ba/olsson.rs

@@ -28,14 +28,14 @@ fn main() -> Result<()> {
     let ahlströmer = "Jonas_Ahlströmer";
     let fountain = "fountain";
     let vasa = "vasa_statue"; // transposed features
-    let ninjo = "nijo";
+    let nijo = "nijo";
     let de_guerre = "de_guerre";
     let fort_channing = "Fort_Channing_gate";
     let park_gate = "park_gate";
     let kronan = "kronan";
     let round_church = "round_church";
 
-    let olsen_dataset_name = fort_channing;
+    let olsen_dataset_name = fountain;
     let olsen_data_path = format!("{}/Olsson/{}/",runtime_conf.dataset_path,olsen_dataset_name);
 
     let feature_skip_count = 1;
@@ -67,10 +67,14 @@ fn main() -> Result<()> {
     // let paths = vec!(vec!(5,6));
     // let root_id = 4;
 
-    // fountain
+    // nijo
     // let paths = vec!(vec!(5,6,7,8));
     // let root_id = 4;
 
+    // fountain
+    let paths = vec!(vec!(5,6,7,8));
+    let root_id = 4;
+
     // park gate 
     // let paths = vec!(vec!(5,6,7,8));
     // let root_id = 4;
@@ -85,18 +89,18 @@ fn main() -> Result<()> {
     // let root_id = 4;
 
     // Fort Channing
-    let paths = vec!(vec!(8,10));
-    let root_id = 7;
+    // let paths = vec!(vec!(8,10));
+    // let root_id = 7;
 
-    // Round Church
-    // let paths = vec!(vec!(7,8,10,11,12,13,14,15,16));
+    // // Round Church
+    // let paths = vec!(vec!(7,8,10,11,12,13));
     // let root_id = 5;
 
 
     //TODO: implement switch for loftr matches!
     let (match_map, camera_map, image_width, image_height) = olsen_data.get_data_for_sfm(root_id, &paths, positive_principal_distance, invert_focal_length, invert_y, transpose_features, feature_skip_count, olsen_dataset_name);
     let mut ba_config_fundamental = BAConfig::new(root_id, &paths, None, camera_map, &match_map, 
-    BifocalType::FUNDAMENTAL, Triangulation::LOST, 1.0, 2.0e0, false, image_width, image_height);
+    BifocalType::FUNDAMENTAL, Triangulation::LOST, 1.0, 1.0e0, image_width, image_height);
     let mut ba_config_fundamental = filter_config(&mut ba_config_fundamental,1e5, false, refince_rotation_via_rcd, Triangulation::LOST);
 
     for (key, pose) in ba_config_fundamental.pose_map().iter() {

examples/ba/synthetic.rs

@@ -120,7 +120,7 @@ fn main() -> Result<()> {
 
     //TODO: Add GT Landmarks
     let mut ba_config_fundamental = BAConfig::new(root_id, &paths, pose_map_gt_option , camera_map, &match_map, 
-        BifocalType::FUNDAMENTAL, Triangulation::LOST, 1.0, 2e0, false, image_width, image_height); 
+        BifocalType::FUNDAMENTAL, Triangulation::LOST, 1.0, 1e0, image_width, image_height); 
     let mut sfm_config_fundamental = filter_config(&mut ba_config_fundamental, 3e5, false, true, Triangulation::LOST);
 
     let initial_z = sfm_config_fundamental.pose_map().get(&camera_id_pairs[0]).unwrap().translation.z;

src/image/pyramid/ba/ba_octave.rs

@@ -1,6 +1,5 @@
 
 use std::collections::HashMap;
-use plotters::coord::combinators::IntoLinspace;
 
 use crate::image::features::Feature;
 

src/sfm/bundle_adjustment/ba_config/filtering.rs

@@ -93,47 +93,54 @@ pub fn filter_config<C: Camera<Float> + Clone, Feat: Feature> (
         println!("After DUAL Outlier: SFM Config Max Reprojection Error 2): {}, Min Reprojection Error: {}", max_reprojection_error_outlier_dual, min_reprojection_error_outlier_dual);
     }
 
-    if refine_rotation_via_rcd {
-        let new_pose_map = refine_rotation_by_rcd(root, &paths, &pose_map);
-        let path_pairs = conversions::compute_path_id_pairs(root, &paths);
-        let mut new_landmark_map = compute_landmark_maps(&path_pairs, &new_pose_map, &match_map, &camera_map, triangulation);
-        let mut new_reprojection_error_map =
-            compute_reprojection_maps(
-                &path_pairs,
-                &new_landmark_map,
-                &new_pose_map,
-                &match_norm_map,
-                &camera_norm_map
-            );
-        let keys = landmark_map.keys().map(|k| *k).collect::<Vec<_>>();
-        for key in keys {
-            let new_reprojection_errors = new_reprojection_error_map.get(&key).unwrap();
-            let current_reprojection_errors = reprojection_error_map.get_mut(&key).unwrap();
-
-            if new_reprojection_errors.mean() < current_reprojection_errors.mean() {
-                landmark_map.insert(key, new_landmark_map.remove(&key).unwrap());
-                reprojection_error_map
-                    .insert(key, new_reprojection_error_map.remove(&key).unwrap());
-                pose_map.insert(key, new_pose_map.get(&key).unwrap().clone());
-            }
-        }
-        abs_pose_map = conversions::compute_absolute_poses_for_root(root, &paths_pairs, &pose_map);
-        if run_outlier_detection_pipeline {
-            let new_rejected_camera_ids = reject_landmark_outliers(
-                &mut landmark_map,
-                &mut reprojection_error_map,
-                &mut match_map,
-                &mut match_norm_map,
-                landmark_cutoff_thresh,
-            );
-            rejected_camera_ids.extend(new_rejected_camera_ids.iter());
-            assert!(!rejected_camera_ids.contains(&root));
 
+    let new_pose_map = match refine_rotation_via_rcd {
+        true => refine_rotation_by_rcd(root, &paths, &pose_map),
+        false => pose_map.clone()
+    };
+
+    // We re-triangulate regardless of rcd because matches, landmarks may have been removed by the outlier rejection
+    let path_pairs = conversions::compute_path_id_pairs(root, &paths);
+    let mut new_landmark_map = compute_landmark_maps(&path_pairs, &new_pose_map, &match_map, &camera_map, triangulation);
+    let mut new_reprojection_error_map =
+        compute_reprojection_maps(
+            &path_pairs,
+            &new_landmark_map,
+            &new_pose_map,
+            &match_norm_map,
+            &camera_norm_map
+        );
+
+    let keys = landmark_map.keys().map(|k| *k).collect::<Vec<_>>();
+    for key in keys {
+        let new_reprojection_errors = new_reprojection_error_map.get(&key).unwrap();
+        let current_reprojection_errors = reprojection_error_map.get_mut(&key).unwrap();
+
+        if new_reprojection_errors.mean() < current_reprojection_errors.mean() {
+            landmark_map.insert(key, new_landmark_map.remove(&key).unwrap());
+            reprojection_error_map
+                .insert(key, new_reprojection_error_map.remove(&key).unwrap());
+            pose_map.insert(key, new_pose_map.get(&key).unwrap().clone());
         }
-        let (min_reprojection_error_refined, max_reprojection_error_refined) =
-            compute_reprojection_ranges(&reprojection_error_map);
-        println!("After Rotation: BA Config Max Reprojection Error 2): {}, Min Reprojection Error: {}", max_reprojection_error_refined, min_reprojection_error_refined);
     }
+    abs_pose_map = conversions::compute_absolute_poses_for_root(root, &paths_pairs, &pose_map);
+    if run_outlier_detection_pipeline {
+        let new_rejected_camera_ids = reject_landmark_outliers(
+            &mut landmark_map,
+            &mut reprojection_error_map,
+            &mut match_map,
+            &mut match_norm_map,
+            landmark_cutoff_thresh,
+        );
+        rejected_camera_ids.extend(new_rejected_camera_ids.iter());
+        assert!(!rejected_camera_ids.contains(&root));
+
+    }
+    let (min_reprojection_error_refined, max_reprojection_error_refined) =
+        compute_reprojection_ranges(&reprojection_error_map);
+    println!("After Rotation: BA Config Max Reprojection Error 2): {}, Min Reprojection Error: {}", max_reprojection_error_refined, min_reprojection_error_refined);
+
+
 
     for (k,v) in match_map.iter(){
         println!("Final matches for Cam {:?} : {}",k,v.len());

src/sfm/bundle_adjustment/ba_config/mod.rs

@@ -57,7 +57,6 @@ impl<C: Camera<Float> + Clone, Feat: Feature>
         triangulation: Triangulation,
         perc_tresh: Float,
         epipolar_thresh: Float,
-        run_outlier_detection_pipeline: bool,
         image_width: usize,
         image_height: usize
     ) -> BAConfig<C, Feat> {
@@ -70,15 +69,10 @@ impl<C: Camera<Float> + Clone, Feat: Feature>
             &matches_with_tracks
         ));
 
+        //TODO: add option to set windows size > 2 ( 2 is implicit at the moment)
         let mut match_map =
             Self::generate_match_map_with_landmark_ids(root, &paths, matches_with_tracks);
 
-    
-        let disparity_map = Self::compute_disparity_map(root, &paths, &match_map);
-        if run_outlier_detection_pipeline {
-            //TODO: tie this to min angular distance. Currently it also triggers on Z-only motion
-            //reject_matches_via_disparity(disparity_map, &mut match_map, disparity_cutoff_thresh);
-        }
 
         //TODO: Move this out to a prior stage
         let feature_map_per_cam = Self::generate_features_per_cam(&match_map);