Fix the usage of filter_frames_ in FindNextImages.

[B1ueber2y]

Bugfix.

[gemini-code-assist]

Summary of Changes

Hello, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

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.

Changelog

• 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>.

Activity

• No activity has occurred on this pull request yet.

Using Gemini Code Assist

The full guide for Gemini Code Assist can be found on our documentation page, here are some quick tips.

Invoking Gemini

You can request assistance from Gemini at any point by creating a comment using either /gemini <command> or @gemini-code-assist <command>. Below is a summary of the supported commands on the current page.

Feature	Command	Description
Code Review	/gemini review	Performs a code review for the current pull request in its current state.
Pull Request Summary	/gemini summary	Provides a summary of the current pull request in its current state.
Comment	@gemini-code-assist	Responds in comments when explicitly tagged, both in pull request comments and review comments.
Help	/gemini help	Displays a list of available commands.

Customization

To customize Gemini Code Assist for GitHub experience, repository maintainers can create a configuration file and/or provide a custom code review style guide (such as PEP-8 for Python) by creating and adding files to a .gemini/ folder in the base of the repository. Detailed instructions can be found here.

Limitations & Feedback

Gemini Code Assist may make mistakes. Please leave feedback on any instances where its feedback is incorrect or counter productive. You can react with 👍 and 👎 on @gemini-code-assist comments. If you're interested in giving your feedback about your experience with Gemini Code Assist for Github and other Google products, sign up here.

You can also get AI-powered code generation, chat, as well as code reviews directly in the IDE at no cost with the Gemini Code Assist IDE Extension.

Footnotes

1. Review the Privacy Notices, Generative AI Prohibited Use Policy, Terms of Service, and learn how to configure Gemini Code Assist in GitHub here. Gemini can make mistakes, so double check it and use code with caution. ↩

[gemini-code-assist]

Code Review

This pull request refactors the image filtering logic within FindNextImages. The change modifies the function to accept a set of filtered frame_t IDs and updates the filtering condition to check against the frame ID of each image, rather than its image ID. This aligns the implementation with the concept of frame-based filtering and improves semantic correctness. The changes are correct and I have no further suggestions.

[ahojnnes]

Oooh, bad one. Unfortunately, most of the filtering logic is untested, ideally something we address soon. I guess it could be possible by corrupting the correspondences for images.

[ahojnnes]

See: #4155