Fix LocalBA intrinsics edges management #624
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don't use it->second after erasing it->first from map
When a view is removed from the graph, remove all ids from `_intrinsicEdgesId` corresponding to the node's incident edges that were erased in the process.
* prepare intrinsic-sharing connections before creating them (ensure uniqueness) * consider intrinsic edges in number of created edges when printing debug log
* ease graph introspection for testing/debugging from outside * use in existing localBA test * geometricFiltersUtils: fix build error on windows - remove implicit conversions to float
simogasp
requested changes
Apr 17, 2019
src/aliceVision/sfm/pipeline/sequential/ReconstructionEngine_sequentialSfM.cpp
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fabiencastan
approved these changes
Apr 18, 2019
simogasp
approved these changes
Apr 18, 2019
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I could not go through the whole algorithm, so I limited my review to the changes. I think it's a very good idea to add the comments proposed by @fabiencastan , maybe put the comments the line before and not on the same line as the code. |
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Description
This PR fixes management of intrinsics related connections in the local bundle adjustment graph which could lead to removal of wrong edges and potential corruption of the graph. This could end up with the SfM going in an infinite loop and/or undefined behavior.
Features list
_intrinsicEdgesIdwhen a view is removed from the graphLocalBundleAdjustmentGraph::countEdges/countNodesmethodsImplementation details
Internal data structure containing edge IDs by intrinsic (
_intrinsicEdgesId) is now properly updated to match changes in the underlying lemon graph when a view is removed from it. This avoids removing wrong edges (leading to potential corruption of the graph) when locking an intrinsics.