d

Author: lpanaf

glomap/exe/global_mapper.cc

@@ -68,11 +68,13 @@ int RunMapper(int argc, char** argv) {
     return EXIT_FAILURE;
   }
 
+  std::unordered_set<std::string> image_filenames;
   if (image_list_path != "") {
     if (!colmap::ExistsFile(image_list_path)) {
       LOG(ERROR) << "`image_list_path` is not a file";
       return EXIT_FAILURE;
     }
+    ReadImageList(image_list_path, image_filenames);
   }
 
   // Load the database
@@ -82,7 +84,7 @@ int RunMapper(int argc, char** argv) {
   std::unordered_map<track_t, Track> tracks;
 
   const colmap::Database database(database_path);
-  ConvertDatabaseToGlomap(database, view_graph, cameras, images);
+  ConvertDatabaseToGlomap(database, view_graph, cameras, images, &image_filenames);
 
   if (view_graph.image_pairs.empty()) {
     LOG(ERROR) << "Can't continue without image pairs";

glomap/io/colmap_converter.cc

@@ -176,10 +176,12 @@ void ConvertColmapPoints3DToGlomapTracks(
 
 // For ease of debug, go through the database twice: first extract the available
 // pairs, then read matches from pairs.
-void ConvertDatabaseToGlomap(const colmap::Database& database,
-                             ViewGraph& view_graph,
-                             std::unordered_map<camera_t, Camera>& cameras,
-                             std::unordered_map<image_t, Image>& images) {
+void ConvertDatabaseToGlomap(
+    const colmap::Database& database,
+    ViewGraph& view_graph,
+    std::unordered_map<camera_t, Camera>& cameras,
+    std::unordered_map<image_t, Image>& images,
+    const std::unordered_set<std::string>* image_filenames) {
   // Add the images
   std::vector<colmap::Image> images_colmap = database.ReadAllImages();
   image_t counter = 0;
@@ -188,6 +190,11 @@ void ConvertDatabaseToGlomap(const colmap::Database& database,
               << images_colmap.size() << std::flush;
     counter++;
 
+    if (image_filenames &&
+        image_filenames->find(image.Name()) == image_filenames->end()) {
+      continue;  // Skip images not in the specified set
+    }
+
     const image_t image_id = image.ImageId();
     if (image_id == colmap::kInvalidImageId) continue;
     auto ite = images.insert(std::make_pair(
@@ -239,6 +246,12 @@ void ConvertDatabaseToGlomap(const colmap::Database& database,
     colmap::image_t image_id1 = image_pair_colmap.first;
     colmap::image_t image_id2 = image_pair_colmap.second;
 
+    if (images.find(image_id1) == images.end() ||
+        images.find(image_id2) == images.end()) {
+      // If the image is not added to the images map, then skip
+      continue;
+    }
+
     colmap::FeatureMatches& feature_matches = all_matches[match_idx].second;
 
     // Initialize the image pair

glomap/io/colmap_converter.h

@@ -27,9 +27,11 @@ void ConvertColmapPoints3DToGlomapTracks(
     const colmap::Reconstruction& reconstruction,
     std::unordered_map<track_t, Track>& tracks);
 
-void ConvertDatabaseToGlomap(const colmap::Database& database,
-                             ViewGraph& view_graph,
-                             std::unordered_map<camera_t, Camera>& cameras,
-                             std::unordered_map<image_t, Image>& images);
+void ConvertDatabaseToGlomap(
+    const colmap::Database& database,
+    ViewGraph& view_graph,
+    std::unordered_map<camera_t, Camera>& cameras,
+    std::unordered_map<image_t, Image>& images,
+    const std::unordered_set<std::string>* image_filenames = nullptr);
 
 }  // namespace glomap