Summary of Changes

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This pull request resolves a crash within the model_aligner component by significantly improving the method of accessing pose prior data. It introduces an optimized approach to retrieve and manage pose prior information, ensuring data consistency and preventing the previously reported issue.

Highlights

• Pose Prior API Usage Refactor: Refactored the ReadDatabaseCameraLocations function to optimize access to pose prior data. Instead of individual database queries, all pose priors are now read once and stored in an std::unordered_map for efficient lookup.
• Crash Fix: Addressed a crash in the model_aligner by ensuring correct and optimized retrieval of pose prior information, resolving issue model_aligner crashes with std::runtime_error due to PosePrior API change #4218.
• Data ID Correction: Switched the lookup key for pose priors from image.ImageId() to image.DataId(), aligning with the corr_data_id used in the PosePrior structure for accurate mapping.

• src/colmap/exe/model.cc
  • Included the <unordered_map> header for efficient data storage.
  • Implemented a pre-fetching mechanism for pose priors, storing them in an unordered_map indexed by corr_data_id.
  • Modified the pose prior lookup logic to use the pre-fetched map and image.DataId().

• Identified and addressed a crash in the model_aligner component, as reported in issue model_aligner crashes with std::runtime_error due to PosePrior API change #4218.
• Implemented a fix for an issue that was inadvertently missed in a previous pull request (Associate pose priors to generic sensor measurement data #3777).

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