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fix: vector out of bounds in ViewGraph::KeepLargestConnectedComponents #99

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merged 2 commits into from
Sep 14, 2024
Merged

fix: vector out of bounds in ViewGraph::KeepLargestConnectedComponents #99

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7795f34
fix: vector out of bounds in ViewGraph::KeepLargestConnectedComponents
lnexenl Sep 10, 2024
7f966c4
fix: return GlobalMapper::Solve when no connected components
lnexenl Sep 10, 2024
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14 changes: 12 additions & 2 deletions glomap/controllers/global_mapper.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,10 @@ bool GlobalMapper::Solve(const colmap::Database& database,
RelPoseFilter::FilterInlierRatio(
view_graph, options_.inlier_thresholds.min_inlier_ratio);

view_graph.KeepLargestConnectedComponents(images);
if (view_graph.KeepLargestConnectedComponents(images) == 0) {
LOG(ERROR) << "no connected components are found";
return false;
}

run_timer.PrintSeconds();
}
Expand All @@ -83,7 +86,10 @@ bool GlobalMapper::Solve(const colmap::Database& database,

RelPoseFilter::FilterRotations(
view_graph, images, options_.inlier_thresholds.max_rotation_error);
view_graph.KeepLargestConnectedComponents(images);
if (view_graph.KeepLargestConnectedComponents(images) == 0) {
LOG(ERROR) << "no connected components are found";
return false;
}

// The second run is for final estimation
if (!ra_engine.EstimateRotations(view_graph, images)) {
Expand All @@ -92,6 +98,10 @@ bool GlobalMapper::Solve(const colmap::Database& database,
RelPoseFilter::FilterRotations(
view_graph, images, options_.inlier_thresholds.max_rotation_error);
image_t num_img = view_graph.KeepLargestConnectedComponents(images);
if (num_img == 0) {
LOG(ERROR) << "no connected components are found";
return false;
}
LOG(INFO) << num_img << " / " << images.size()
<< " images are within the connected component." << std::endl;

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2 changes: 2 additions & 0 deletions glomap/scene/view_graph.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@ int ViewGraph::KeepLargestConnectedComponents(
}
}

if (max_img == 0) return 0;

std::unordered_set<image_t> largest_component = connected_components[max_idx];

// Set all images to not registered
Expand Down