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Fix LocalBA intrinsics edges management #624

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merged 7 commits into from
Apr 19, 2019
Merged

Fix LocalBA intrinsics edges management #624

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5832c64
[sfm] fix invalid map iterator dereferencing
yann-lty Apr 1, 2019
844a260
[sfm] LocalBA: update internal intrinsic edge ids map after view removal
yann-lty Apr 3, 2019
ca951d8
[sfm] LocalBA: add sanity check assertions when erasing edges from graph
yann-lty Apr 3, 2019
d542a4a
[sfm] LocalBA: avoid connecting new views twice by intrinsic
yann-lty Apr 3, 2019
fa0e8d4
[sfm] LocalBA: add countNodes/countEdges methods
yann-lty Apr 3, 2019
605df1c
[sfm] LocalBA: fix constness
yann-lty Apr 18, 2019
8e0ce18
[sfm] LocalBA: wording and comments
yann-lty Apr 19, 2019
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32 changes: 17 additions & 15 deletions src/aliceVision/sfm/LocalBundleAdjustmentGraph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -296,7 +296,7 @@ void LocalBundleAdjustmentGraph::updateGraphWithNewViews(
for(const Pair& edge: newEdges)
_graph.addEdge(_nodePerViewId.at(edge.first), _nodePerViewId.at(edge.second));

addIntrinsicEdgesToTheGraph(sfmData, addedViewsId);
numAddedEdges += addIntrinsicEdgesToTheGraph(sfmData, addedViewsId);
}

ALICEVISION_LOG_DEBUG("The distances graph has been completed with " << nbAddedNodes<< " nodes & " << numAddedEdges << " edges.");
Expand Down Expand Up @@ -646,7 +646,7 @@ void LocalBundleAdjustmentGraph::drawGraph(const sfmData::SfMData& sfmData, cons

std::size_t LocalBundleAdjustmentGraph::addIntrinsicEdgesToTheGraph(const sfmData::SfMData& sfmData, const std::set<IndexT>& newReconstructedViews)
{
std::size_t numAddedEdges = 0;
std::map<Pair, IndexT> newIntrinsicEdges;

for(IndexT newViewId : newReconstructedViews) // for each new view
{
Expand All @@ -657,24 +657,26 @@ std::size_t LocalBundleAdjustmentGraph::addIntrinsicEdgesToTheGraph(const sfmDat

for(const auto& x : _nodePerViewId) // for each reconstructed view in the graph
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{
if(newViewId == x.first) // do not compare a view with itself
continue;

const IndexT reconstructedViewIntrinsicId = sfmData.getViews().at(x.first)->getIntrinsicId();

const auto& otherViewId = x.first;

// if the new view share the same intrinsic than previously reconstructed views
if(reconstructedViewIntrinsicId == newViewIntrinsicId)
if(newViewId != otherViewId // do not compare a view with itself
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&& newViewIntrinsicId == sfmData.getViews().at(otherViewId)->getIntrinsicId())
{
const IndexT minId = std::min(x.first, newViewId);
const IndexT maxId = std::max(x.first, newViewId);

lemon::ListGraph::Edge edge = _graph.addEdge(_nodePerViewId[minId], _nodePerViewId[maxId]);
_intrinsicEdgesId[newViewIntrinsicId].push_back(_graph.id(edge));
numAddedEdges++;
// register a new intrinsic edge between those views
newIntrinsicEdges[std::minmax(otherViewId, newViewId)] = newViewIntrinsicId;
}
}
}
return numAddedEdges;

// create registered intrinsic edges in lemon graph
// and update _intrinsicEdgesId accordingly
for(const auto& newEdge : newIntrinsicEdges)
{
lemon::ListGraph::Edge edge = _graph.addEdge(_nodePerViewId[newEdge.first.first], _nodePerViewId[newEdge.first.second]);
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_intrinsicEdgesId[newEdge.second].push_back(_graph.id(edge));
}
return newIntrinsicEdges.size();
}

void LocalBundleAdjustmentGraph::removeIntrinsicEdgesFromTheGraph(IndexT intrinsicId)
Expand Down