Add relative poses to DatabaseCache and update the signature of global mapper. #3960
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ahojnnes
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Jan 7, 2026
| const bool ignore_watermarks, | ||
| const std::unordered_set<std::string>& image_names) { | ||
| const std::unordered_set<std::string>& image_names, | ||
| const bool load_relative_pose) { |
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Maybe it's now time to introduce options class DatabaseCache { struct Options { ... }; };
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Nice idea. This is done. To align the pybind interfaces with C++, we would have to introduce breaking changes there. Updated the PR description.
ahojnnes
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Jan 7, 2026
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The regression issues actually happened here. If every camera is calibrated, the view graph calibration will directly return true without re-estimating relative poses, leaving all cam2_from_cam1 empty. Will send in a fix. |
B1ueber2y
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Jan 8, 2026
…e. (#3966) Fix regression issues from #3960. This was due to the fact that relative pose re-estimation only works on pairs that are newly calibrated. So if every camera is calibrated, the relative pose wont be decomposed without this fix. This actually reveals another inconsistency from #3943. If it is the calibrated case, the original code will just skip relative pose re-estimation so that the default colmap two-view geometry is respected, rather than the one in the re-estimation.
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Breaking change: Now the static methods of DatabaseCache, including Create, CreateFromCache, and Load, take a DatabaseCache::Options object rather than scattered arguments.
Replace database_ member with database_cache_ throughout the global mapper logic except for GlobalPipeline, which requires view graph calibrator to live outside the pipeline logic.