Incremental Model Refiner

[tsattler]

A variant of the point_triangulator (the code is based on the point_triangulator). For a given number of iterations, it, in each iteration, runs bundle adjustment and then completes and merges tracks. The bundle adjustment optimizes the camera parameters as well, allowing the refiner to handle inaccurate input poses better than the point_triangulator.

[ahojnnes]

@tsattler This is a nice new feature. The CI pipeline fails for some reasons though, which prevents me from merging the changes. Thanks.

[tsattler]

It used to work on some earlier release. Unfortunately, I haven't had the time to figure out where the problem is and to fix it. Planning to do this on one of the next days.

[ahojnnes]

No rush at all, thanks.

[eduardohenriquearnold]

Hi @tsattler, I believe I have fixed the compiling errors due to code changes,. I'm not sure if there were any tests failing as the pipeline logs are no longer available. What is the best way to submit my changes? Can I push to your local branch?

[sarlinpe]

What is a typical use case for this?

[tsattler]

You are given an initial set of camera poses and intrinsics that might not be super accurate, so you want to refine them. This helps getting better poses and a better model.

[sarlinpe]

Since PR #2429 simplifies the point triangulator, it would make sense to also simplify this PR to reuse components of the IncrementalMapper and IncrementalMapperController (maybe by providing a way to overwrite existing_image_ids_)

[tsattler]

Will have a look once I find some time on my hands