Summary of Changes

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This pull request addresses a deficiency in the structure-less image registration process by introducing a mechanism to track the number of registration attempts for each image. Previously, structure-less registration lacked a trial counter, which could lead to inefficient or infinite retries for problematic images. By adding a dedicated counter and integrating it into the registration logic, the system can now manage and potentially limit registration attempts, improving robustness and performance.

Highlights

• New Trial Counter: Introduced a dedicated trial counter (num_structure_less_reg_trials) within IncrementalMapper::RegStats to track attempts for structure-less image registration.
• Counter Initialization: Ensured the new structure-less registration trial counter is properly cleared at the beginning of each reconstruction.
• Conditional Counter Usage: Modified the FindNextImages method to dynamically select between the standard and structure-less trial counters based on the registration type.
• Trial Increment: Implemented the incrementing of the num_structure_less_reg_trials counter each time RegisterNextStructureLessImage is called for an image.

• src/colmap/sfm/incremental_mapper.cc
  • Initialized num_structure_less_reg_trials at the start of reconstruction.
  • Updated FindNextImages to use num_structure_less_reg_trials when structure_less is true.
  • Incremented num_structure_less_reg_trials in RegisterNextStructureLessImage.
• src/colmap/sfm/incremental_mapper.h
  • Added num_structure_less_reg_trials to the RegStats struct.

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B1ueber2y deleted the shaohui/structureless_trial_counter branch