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Avoid unnecessary copy of queue in IncrementalTriangulator::Complete() #2764

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Merged
ahojnnes merged 1 commit into from
Sep 9, 2024
Merged

Avoid unnecessary copy of queue in IncrementalTriangulator::Complete() #2764

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22 changes: 11 additions & 11 deletions src/colmap/sfm/incremental_triangulator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -688,15 +688,11 @@ size_t IncrementalTriangulator::Complete(const Options& options,
std::vector<TrackElement> queue = point3D.track.Elements();

const int max_transitivity = options.complete_max_transitivity;
for (int transitivity = 0; transitivity < max_transitivity; ++transitivity) {
if (queue.empty()) {
break;
}

const std::vector<TrackElement> prev_queue = queue;
queue.clear();
for (int transitivity = 1; transitivity <= max_transitivity; ++transitivity) {
while (!queue.empty()) {
const TrackElement queue_elem = queue.back();
queue.pop_back();

for (const TrackElement& queue_elem : prev_queue) {
const auto corr_range = correspondence_graph_->FindCorrespondences(
queue_elem.image_id, queue_elem.point2D_idx);
for (const auto* corr = corr_range.beg; corr < corr_range.end; ++corr) {
Expand All @@ -722,18 +718,22 @@ size_t IncrementalTriangulator::Complete(const Options& options,
}

// Success, add observation to point track.
const TrackElement track_el(corr->image_id, corr->point2D_idx);
obs_manager_->AddObservation(point3D_id, track_el);
obs_manager_->AddObservation(
point3D_id, TrackElement(corr->image_id, corr->point2D_idx));
modified_point3D_ids_.insert(point3D_id);

// Recursively complete track for this new correspondence.
if (transitivity < max_transitivity - 1) {
if (transitivity < max_transitivity) {
queue.emplace_back(corr->image_id, corr->point2D_idx);
}

num_completed += 1;
}
}

if (queue.empty()) {
break;
}
}

return num_completed;
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