Summary of Changes

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This pull request enhances the triangulation process in COLMAP by enabling the loading of keypoints for all images, regardless of whether they have valid two-view geometry. This is achieved through the introduction of a load_all_images option, which, when enabled, ensures that keypoints from all images are available for triangulation, potentially benefiting structure-less registration and localization of new images.

Highlights

• Keypoint Loading: This PR introduces a new option to load keypoints for all images into the database cache, even those without valid two-view geometry.
• Triangulation Enhancement: The primary goal is to improve triangulation with known poses by utilizing keypoints from images that might otherwise be excluded due to lack of two-view geometry.
• New load_all_images Option: A new boolean option, load_all_images, is added to control whether all images are loaded, regardless of correspondences. This is exposed in the C++ and Python APIs.

Changelog

• src/colmap/controllers/incremental_pipeline.cc
  • Added load_all_images option to DatabaseCacheOptions.
• src/colmap/controllers/incremental_pipeline.h
  • Introduced load_all_images option to IncrementalPipelineOptions to control loading of all images from the database.
• src/colmap/exe/sfm.cc
  • Set load_all_images to true for point triangulator.
• src/colmap/scene/database_cache.cc
  • Modified database cache loading logic to conditionally load all images based on the load_all_images option.
  • Updated logging to include the number of connected and loaded images.
• src/colmap/scene/database_cache.h
  • Added load_all_images option to the DatabaseCache::Options struct.
• src/pycolmap/scene/database_cache.cc
  • Exposed the load_all_images option to the Python API.
• src/pycolmap/sfm/incremental_mapper.cc
  • Exposed the load_all_images option to the Python API for incremental pipeline.

Activity

• The pull request introduces a new feature to load keypoints for all images, regardless of whether they have valid two-view geometry.
• The load_all_images option is added to both C++ and Python APIs.
• The code changes modify the database cache loading logic to conditionally load all images based on the new option.

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