Bootstrap with injected depths from Depthmaps

[servantftransperfect]

This is a first bootstrapping solution for depthmaps. It is very basic at the moment and should be improved over time !

This pull request introduces a new "depth" bootstrapping method to the Structure-from-Motion (SfM) pipeline, alongside the existing "classic" and "mesh" methods. It adds the necessary infrastructure to handle depth-based bootstrapping, including new C++ logic, Python interface updates, and supporting utilities for constructing SfM data from depth maps. The changes are grouped below by theme.

New bootstrapping method: "depth"

• Added a new parameter method (choices: "classic", "mesh", "depth") to the SfMBootStrapping node in the Python interface, allowing users to select the bootstrapping approach. The mesh file parameter is now only enabled if the "mesh" method is selected. [1] [2]
• Introduced an enum EBOOTSTRAPMETHOD and a string-to-enum conversion utility to handle the new method in the C++ pipeline entry point.

Depth-based bootstrapping implementation

• Added the bootstrapDepth function, which constructs initial camera poses and landmarks using depth information from tracks, and integrates it into the bootstrapping pipeline. [1] [2]
• Implemented buildSfmDataFromDepthMap in new files TracksDepths.cpp and TracksDepths.hpp, providing utilities to build minimal SfMData objects from depth maps for a given view. [1] [2]
• Updated CMake and includes to register and use the new depth-based files and logic. [1] [2] [3] [4]

Pair selection using depth information

• Added findBestPairFromTrackDepths to select the best initial image pair using depth information, with supporting documentation and logic. [1] [2]

Supporting API improvements

• Added a const overload for getViewSharedPtr in SfMData to facilitate safe access during depth-based operations.

[Copilot]

Pull Request Overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated 2 comments.

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[Copilot]

This should return false instead of EXIT_FAILURE to match the function's return type and be consistent with other error returns in the same function.

Suggested change

	return EXIT_FAILURE;
	return false;

[Copilot]

The parameter name in the documentation (otherTreference) doesn't match the actual parameter name in the function signature. The function doesn't have this parameter.

Suggested change

	* @param otherTreference the relative pose
	* @param tracksMap the input map of tracks
	* @param tracksPerView tracks grouped by views
	* @return true
	*/
	* @param tracksMap the input map of tracks
	* @param tracksPerView tracks grouped by views
	* @return true
	*/