Enhance pose filtering and bundle adjustment with new parameters

[CedricThebault]

This pull request introduces several improvements and new features to the Structure-from-Motion (SfM) temporal filtering and bundle adjustment modules, focusing on enhanced configurability, improved logging, and better control over solver iterations and reprojection error management. The most significant changes are grouped below by theme.

Add support for imageGroup to SfM Temporal Filtering

• The pose filter is now only applied on image sequences imageGroups.

SfM Temporal Filtering Enhancements

• Added advanced parameters to the SfMTemporalFiltering node, allowing users to limit reprojection error during filtering. New parameters include limitReprojError, maxErrorIncreasePos, maxErrorIncreaseRot, minIterationCount, and minScaleFactor, all of which provide finer control over the filtering process. The command-line interface and node UI have been updated accordingly.
• Updated the pose filter utility to support the new filtering options, including error-limited filtering and new reprojection error computation utilities.

Bundle Adjustment and Solver Iteration Control

• Introduced a maxIterationCount parameter to the expanding SfM pipeline, allowing users to limit the number of solver iterations in bundle adjustment. This is exposed in the command-line interface and propagated through the pipeline.
• Improved bundle adjustment logging by adding a custom Ceres solver iteration callback (IterationInfos) that logs the cost and cost change at each iteration, and ensured that solver progress is updated every iteration.

Version Updates

• Bumped version numbers for SfMTemporalFiltering, SfmExpanding, and their corresponding main pipeline files to reflect the new features and command-line changes.

These changes collectively provide users with more robust and flexible tools for SfM workflows, particularly in controlling the quality and stability of camera pose filtering and bundle adjustment processes.

[gemini-code-assist]

Code Review

This pull request enhances AliceVision's SfM pipeline by introducing options to limit reprojection error during temporal filtering and adding a maximum iteration count parameter to SfM expanding. It also implements a custom logging callback in Ceres bundle adjustment to track solver progress. The review feedback highlights several performance and code quality improvements, such as capturing large objects by reference in lambda expressions to avoid expensive copies, using standard library functions (std::abs, std::round) from <cmath> to prevent truncation and ensure compliance, removing redundant .clear() calls on newly declared vectors, fixing a typo in the Python description, and removing a redundant standalone function declaration in poseFilter.hpp.

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[Copilot]

Pull request overview

This PR enhances AliceVision’s SfM temporal pose filtering and expanding pipeline bundle adjustment by adding new configuration parameters (reprojection-error-limited filtering and solver iteration caps) and improving solver progress reporting/logging.

Changes:

• Extend poseFilter to operate per imageGroup image sequences and optionally constrain filtering based on reprojection error growth.
• Add a maxIterationCount parameter to the SfM expanding pipeline and propagate it into Ceres bundle adjustment options.
• Add a Ceres iteration callback and adjust solver logging/progress update behavior.

Reviewed changes

Copilot reviewed 10 out of 10 changed files in this pull request and generated 11 comments.

Show a summary per file

File	Description
src/software/pipeline/main_sfmTemporalFiltering.cpp	Adds CLI parameters for reprojection-error-limited temporal filtering and updates version.
src/software/pipeline/main_sfmExpanding.cpp	Adds CLI parameter to cap BA solver iterations and updates version.
src/aliceVision/sfm/utils/poseFilter.hpp	Updates poseFilter API and adds reprojection error utilities declarations.
src/aliceVision/sfm/utils/poseFilter.cpp	Implements imageGroup-aware filtering and reprojection-error-limited filtering logic.
src/aliceVision/sfm/pipeline/expanding/SfmBundle.hpp	Adds setter/storage for max BA iteration count.
src/aliceVision/sfm/pipeline/expanding/SfmBundle.cpp	Plumbs max iteration count into Ceres options.
src/aliceVision/sfm/bundle/BundleAdjustmentCeres.hpp	Adds a Ceres iteration callback interface for logging.
src/aliceVision/sfm/bundle/BundleAdjustmentCeres.cpp	Hooks callback into Solve, tweaks solver logging/progress settings.
meshroom/aliceVision/SfMTemporalFiltering.py	Adds UI params and CLI wiring for reprojection-error-limited filtering; bumps node version.
meshroom/aliceVision/SfmExpanding.py	Adds UI param for max solver iterations; bumps node version.

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[Copilot]

Pull request overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated 5 comments.

[Copilot]

Pull request overview

Copilot reviewed 11 out of 11 changed files in this pull request and generated 8 comments.

[sonarqubecloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud