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Unify BA options OR expose solver thresholds during incremental_mapping #4446
Description
I'd like to set the solver type thresholds for incremental_mapping (e.g. max_num_images_direct_sparse_gpu_solver) without rebuilding the codebase depending on the problem configuration (rigs, fixed intrinsics, etc).
If I understand correctly, currently incremental mapper has duplicate/exposed some ceres specific BA params that are later set in global/local BA for BundleAdjustmentOptions.ceres.
These are: ba_local_function_tolerance, ba_local_max_num_iterations for local and ba_global_function_tolerance, ba_global_max_num_iterations, num_threads, ba_min_num_residuals_for_cpu_multi_threading, ba_use_gpu, ba_gpu_index for global BA.
The rest of the ceres options are not exposed, BundleAdjustmentOptions.ceres cannot be directly set.
colmap/src/colmap/controllers/incremental_pipeline.cc
Lines 167 to 187 in e6cc736
IMO it would be a good option if we could edit the settings returned by IncrementalPipelineOptions.get_local_bundle_adjustment, currently it is returning a copy. https://colmap.github.io/pycolmap/pycolmap.html#pycolmap.IncrementalPipelineOptions.get_local_bundle_adjustment
Is there another way to set these at runtime?
Activity
Expose Ceres solver thresholds in incremental mapping (#4892)