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Fix the view-graph calibration crash #39

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Fix the view-graph calibration crash #39

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49 changes: 29 additions & 20 deletions instantsfm/processors/view_graph_calibration.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,30 +15,39 @@
from bae.optim import LM
from bae.autograd.function import TrackingTensor

def SolveViewGraphCalibration(view_graph:ViewGraph, cameras, images, VIEW_GRAPH_CALIBRATOR_OPTIONS):
valid_image_pairs = {pair_id: image_pair for pair_id, image_pair in view_graph.image_pairs.items()
if image_pair.is_valid and image_pair.config in [ConfigurationType.CALIBRATED, ConfigurationType.UNCALIBRATED]}
focals = np.array([np.mean(cam.focal_length) for cam in cameras])

problem = pyceres.Problem()
options = pyceres.SolverOptions()
loss_function = pyceres.CauchyLoss(VIEW_GRAPH_CALIBRATOR_OPTIONS['thres_loss_function'])
def SolveViewGraphCalibration(view_graph:ViewGraph, cameras, images, VIEW_GRAPH_CALIBRATOR_OPTIONS):
valid_image_pairs = {pair_id: image_pair for pair_id, image_pair in view_graph.image_pairs.items()
if image_pair.is_valid and image_pair.config in [ConfigurationType.CALIBRATED, ConfigurationType.UNCALIBRATED]}
if len(valid_image_pairs) == 0:
print('No valid image pairs for view graph calibration; skipping.')
return
focals = np.array([np.mean(cam.focal_length) for cam in cameras])

problem = pyceres.Problem()
options = pyceres.SolverOptions()
loss_function = pyceres.CauchyLoss(VIEW_GRAPH_CALIBRATOR_OPTIONS['thres_loss_function'])
if len(cameras) < 50:
options.linear_solver_type = pyceres.LinearSolverType.DENSE_NORMAL_CHOLESKY
else:
options.linear_solver_type = pyceres.LinearSolverType.SPARSE_NORMAL_CHOLESKY

for image_pair in valid_image_pairs.values():
image1, image2 = images[image_pair.image_id1], images[image_pair.image_id2]
cam1, cam2 = cameras[image1.cam_id], cameras[image2.cam_id]
cam_id1, cam_id2 = image1.cam_id, image2.cam_id
if cam_id1 == cam_id2:
cost_function = FetzerFocalLengthSameCameraCostFunction(image_pair.F, cam1.principal_point)
problem.add_residual_block(cost_function, loss_function, [focals[cam_id1:cam_id1+1]])
else:
cost_function = FetzerFocalLengthCostFunction(image_pair.F, cam1.principal_point, cam2.principal_point)
problem.add_residual_block(cost_function, loss_function, [focals[cam_id1:cam_id1+1], focals[cam_id2:cam_id2+1]])
problem.set_parameter_lower_bound(focals, 0, 1e-3)
bounded_cam_ids = set()
for image_pair in valid_image_pairs.values():
image1, image2 = images[image_pair.image_id1], images[image_pair.image_id2]
cam1, cam2 = cameras[image1.cam_id], cameras[image2.cam_id]
cam_id1, cam_id2 = image1.cam_id, image2.cam_id
if cam_id1 == cam_id2:
cost_function = FetzerFocalLengthSameCameraCostFunction(image_pair.F, cam1.principal_point)
problem.add_residual_block(cost_function, loss_function, [focals[cam_id1:cam_id1+1]])
else:
cost_function = FetzerFocalLengthCostFunction(image_pair.F, cam1.principal_point, cam2.principal_point)
problem.add_residual_block(cost_function, loss_function, [focals[cam_id1:cam_id1+1], focals[cam_id2:cam_id2+1]])
if cam_id1 not in bounded_cam_ids:
problem.set_parameter_lower_bound(focals[cam_id1:cam_id1+1], 0, 1e-3)
bounded_cam_ids.add(cam_id1)
if cam_id2 not in bounded_cam_ids:
problem.set_parameter_lower_bound(focals[cam_id2:cam_id2+1], 0, 1e-3)
bounded_cam_ids.add(cam_id2)

options.max_num_iterations = VIEW_GRAPH_CALIBRATOR_OPTIONS['max_num_iterations']
options.function_tolerance = VIEW_GRAPH_CALIBRATOR_OPTIONS['function_tolerance']
Expand Down Expand Up @@ -179,4 +188,4 @@ def forward(self, ds, camera_indices1, camera_indices2):
if loss_sq[idx*2] > thres_two_view_error_sq:
invalid_counter += 1
view_graph.image_pairs[pair_id].is_valid = False
print(f'invalid / total number of two view geometry: {invalid_counter} / {len(valid_image_pairs)}')
print(f'invalid / total number of two view geometry: {invalid_counter} / {len(valid_image_pairs)}')
10 changes: 7 additions & 3 deletions instantsfm/scripts/feat.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
import os
import time
from argparse import ArgumentParser

Expand All @@ -19,9 +20,12 @@ def run_feature_handler():
if not path_info:
print('Invalid data path, please check the provided path')
return
if path_info.database_exists:
print('Database path already exists')
return
force_rebuild = os.environ.get("INSTANTSFM_FORCE_REBUILD_DB", "1").lower() in ("1", "true", "yes")
if path_info.database_exists and not force_rebuild:
if os.path.getsize(path_info.database_path) > 0:
print('Database already exists; skipping feature extraction/matching.')
return
print('Database file exists but is empty; rebuilding.')

start_time = time.time()
config = Config(handler_args.feature_handler, handler_args.manual_config_name)
Expand Down