Improve incremental mapper initialization logic #3161
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sarlinpe
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Feb 17, 2025
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sarlinpe
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Nice improvements, thank you! LGTM, but let's wait that @B1ueber2y reviews too.
sarlinpe
approved these changes
Feb 17, 2025
…om/colmap/colmap into user/jsch/init-mapper-improvements
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Currently, if we manage to initialize from one pair but get stuck after a few images and none of the other pairs satisfy the initialization thresholds, then we never try to initialize from a relaxed set of thresholds anymore for the remaining images, even though there is a high chance to succeed. In addition, we unnecessarily tried the same pairs redundantly for the same initialization constraints. This should result in more complete reconstruction results and faster initialization.