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Added input model support in incremental mapping pipeline #84

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merged 3 commits into from
Apr 19, 2023
Merged

Added input model support in incremental mapping pipeline #84

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239a0c9
Added input model support in incremental mapping pipeline
Aug 22, 2022
d1d6667
Merge branch 'master' into grucin/master
mihaidusmanu Feb 17, 2023
239fe2a
Move input path to last parameter.
mihaidusmanu Feb 17, 2023
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21 changes: 16 additions & 5 deletions pipeline/sfm.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -51,16 +51,22 @@ std::map<size_t, Reconstruction> incremental_mapping(
const py::object database_path_,
const py::object image_path_,
const py::object output_path_,
const IncrementalMapperOptions& options) {
const IncrementalMapperOptions& options,
const py::object input_path_) {
std::string database_path = py::str(database_path_).cast<std::string>();
THROW_CHECK_FILE_EXISTS(database_path);
std::string image_path = py::str(image_path_).cast<std::string>();
THROW_CHECK_DIR_EXISTS(image_path);
std::string input_path = py::str(input_path_).cast<std::string>();
std::string output_path = py::str(output_path_).cast<std::string>();
CreateDirIfNotExists(output_path);

py::gil_scoped_release release;
ReconstructionManager reconstruction_manager;
if (input_path != "") {
THROW_CHECK_DIR_EXISTS(input_path);
reconstruction_manager.Read(input_path);
}
IncrementalMapperController mapper(
&options, image_path, database_path, &reconstruction_manager);

Expand Down Expand Up @@ -103,12 +109,13 @@ std::map<size_t, Reconstruction> incremental_mapping(
const py::object image_path_,
const py::object output_path_,
const int num_threads,
const int min_num_matches) {
const int min_num_matches,
const py::object input_path_) {
IncrementalMapperOptions options;
options.num_threads = num_threads;
options.min_num_matches = min_num_matches;
return incremental_mapping(
database_path_, image_path_, output_path_, options);
database_path_, image_path_, output_path_, options, input_path_);
}

void init_sfm(py::module& m) {
Expand Down Expand Up @@ -194,24 +201,28 @@ void init_sfm(py::module& m) {
const py::object,
const py::object,
const py::object,
const IncrementalMapperOptions&)>(&incremental_mapping),
const IncrementalMapperOptions&,
const py::object)>(&incremental_mapping),
py::arg("database_path"),
py::arg("image_path"),
py::arg("output_path"),
py::arg("options") = mapper_options,
py::arg("input_path") = py::str(""),
"Triangulate 3D points from known poses");

m.def("incremental_mapping",
static_cast<std::map<size_t, Reconstruction> (*)(const py::object,
const py::object,
const py::object,
const int,
const int)>(
const int,
const py::object)>(
&incremental_mapping),
py::arg("database_path"),
py::arg("image_path"),
py::arg("output_path"),
py::arg("num_threads") = mapper_options.num_threads,
py::arg("min_num_matches") = mapper_options.min_num_matches,
py::arg("input_path") = py::str(""),
"Triangulate 3D points from known poses");
}