fix the rotation averaging bug (#227)

* fix the rotation averaging bug

* f

Author: lpanaf

glomap/estimators/global_rotation_averaging.cc

@@ -759,7 +759,7 @@ double RotationEstimator::ComputeAverageStepSize(
     const std::unordered_map<frame_t, Frame>& frames) {
   double total_update = 0;
   for (const auto& [frame_id, frame] : frames) {
-    if (frames.at(frame_id).is_registered) continue;
+    if (!frames.at(frame_id).is_registered) continue;
 
     if (options_.use_gravity && frame.HasGravity()) {
       total_update += std::abs(tangent_space_step_[frame_id_to_idx_[frame_id]]);

glomap/exe/rotation_averager.cc

@@ -74,6 +74,7 @@ int RunRotationAverager(int argc, char** argv) {
   for (auto& [image_id, image] : images) {
     image.camera_id = image.image_id;
     cameras[image.camera_id] = Camera();
+    cameras[image.camera_id].camera_id = image.camera_id;
   }
 
   CreateOneRigPerCamera(cameras, rigs);

glomap/io/colmap_converter.cc

@@ -429,6 +429,7 @@ void CreateOneRigPerCamera(const std::unordered_map<camera_t, Camera>& cameras,
     Rig rig;
     rig.SetRigId(camera_id);
     rig.AddRefSensor(camera.SensorId());
+    rigs[rig.RigId()] = rig;
   }
 }
 

glomap/io/pose_io.cc

@@ -10,10 +10,12 @@ void ReadRelPose(const std::string& file_path,
                  ViewGraph& view_graph) {
   std::unordered_map<std::string, image_t> name_idx;
   image_t max_image_id = 0;
+  camera_t max_camera_id = 0;
   for (const auto& [image_id, image] : images) {
     name_idx[image.file_name] = image_id;
 
     max_image_id = std::max(max_image_id, image_id);
+    max_camera_id = std::max(max_camera_id, image.camera_id);
   }
 
   // Mark every edge in te view graph as invalid
@@ -42,14 +44,16 @@ void ReadRelPose(const std::string& file_path,
 
     if (name_idx.find(file1) == name_idx.end()) {
       max_image_id += 1;
-      images.insert(
-          std::make_pair(max_image_id, Image(max_image_id, -1, file1)));
+      max_camera_id += 1;
+      images.insert(std::make_pair(max_image_id,
+                                   Image(max_image_id, max_camera_id, file1)));
       name_idx[file1] = max_image_id;
     }
     if (name_idx.find(file2) == name_idx.end()) {
       max_image_id += 1;
-      images.insert(
-          std::make_pair(max_image_id, Image(max_image_id, -1, file2)));
+      max_camera_id += 1;
+      images.insert(std::make_pair(max_image_id,
+                                   Image(max_image_id, max_camera_id, file2)));
       name_idx[file2] = max_image_id;
     }
 

glomap/scene/view_graph.cc

@@ -89,6 +89,7 @@ int ViewGraph::KeepLargestConnectedComponents(
     }
   }
 
+  max_img = 0;
   for (auto& [image_id, image] : images) {
     if (image.IsRegistered()) max_img++;
   }