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Summary of Changes

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This pull request refactors the view graph calibration process in COLMAP, making it a distinct and independent module. Previously integrated within the GlobalPipeline, calibration is now automatically executed by the AutomaticReconstructionController when initiating a global reconstruction. The GlobalPipeline itself has been streamlined to focus solely on mapping, with added checks to warn users if camera focal length priors are insufficient, guiding them to use the dedicated view_graph_calibrator if needed. This change improves modularity and clarifies the responsibilities of different components within the reconstruction pipeline.

Highlights

• Modularity: View graph calibration is now a standalone module, decoupled from the GlobalPipeline.
• Automatic Execution: The AutomaticReconstructionController now automatically invokes view graph calibration when using the global mapper.
• Global Pipeline Behavior: The GlobalPipeline no longer performs calibration internally but instead checks for sufficient focal length priors and issues warnings if they are lacking.
• Documentation and Options: Documentation and command-line options have been updated to reflect these changes and guide users on the new workflow.
• Camera Prior Flag: The has_prior_focal_length flag in Camera objects is now explicitly set by the view graph calibration process.

• doc/cli.rst
  • Updated global_mapper description to advise running view_graph_calibrator if focal length priors are poor.
  • Clarified view_graph_calibrator's role as a prerequisite for global_mapper when intrinsics are unknown.
• src/colmap/controllers/automatic_reconstruction.cc
  • Included view_graph_calibration.h.
  • Added a call to CalibrateViewGraph within the GLOBAL mapping case, passing relevant options.
• src/colmap/controllers/global_pipeline.cc
  • Introduced helper functions HasInsufficientPriorFocalLengths and WarnInsufficientPriorFocalLengths.
  • Removed the internal execution of view graph calibration from GlobalPipeline::Run().
  • Added checks and warnings for insufficient focal length priors at the start and end of GlobalPipeline::Run().
• src/colmap/controllers/global_pipeline.h
  • Removed the include for view_graph_calibration.h.
  • Removed skip_view_graph_calibration and view_graph_calibration options from GlobalPipelineOptions.
• src/colmap/controllers/global_pipeline_test.cc
  • Included view_graph_calibration.h.
  • Modified GlobalPipeline tests to explicitly call CalibrateViewGraph before pipeline execution.
• src/colmap/controllers/option_manager.cc
  • Removed command-line options related to skip_view_graph_calibration and view_graph_calibration from GlobalMapper settings.
• src/colmap/estimators/view_graph_calibration.cc
  • Set camera.has_prior_focal_length to true for cameras whose focal lengths are calibrated.
• src/colmap/estimators/view_graph_calibration_test.cc
  • Set camera.has_prior_focal_length to false before calibration in tests.
  • Added an assertion to verify camera.has_prior_focal_length is true after successful calibration.
• src/colmap/scene/camera.h
  • Updated the comment for has_prior_focal_length to include view graph calibration as a source for good priors.

• No specific review comments or activity have been recorded for this pull request yet.

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ahojnnes deleted the user/jsch/vgc-standalone branch