Summary of Changes

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This pull request addresses a bug in the FindNextImages function by correcting the type of the filtering parameter and updating the filtering logic. The change ensures that images are accurately filtered based on their frame identifiers, which is crucial for the correct operation of the incremental mapping process.

Highlights

• Parameter Type Correction: Corrected the type of the filtering parameter in the FindNextImages function from std::unordered_set<image_t> to std::unordered_set<frame_t>.
• Filtering Logic Update: Ensured that the image filtering logic within FindNextImages now correctly uses the frame_id for comparison against the filtered set, resolving a bug where image_id was previously used.

• src/colmap/sfm/incremental_mapper_impl.cc
  • Updated the FindNextImages function signature to accept std::unordered_set<frame_t> instead of std::unordered_set<image_t> for filtered items.
  • Modified the internal logic of FindNextImages to extract the frame_id from an image and use it for checking against the filtered_frames set.
• src/colmap/sfm/incremental_mapper_impl.h
  • Adjusted the declaration of the FindNextImages static method to reflect the parameter type change from std::unordered_set<image_t> to std::unordered_set<frame_t>.

• No activity has occurred on this pull request yet.

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B1ueber2y deleted the shaohui/fix_find_next_images branch