Bootstrap with injected depths from Depthmaps #1994

servantftransperfect · 2025-09-29T10:57:58Z

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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src/software/pipeline/main_sfmBootstrapping.cpp

src/aliceVision/sfm/pipeline/bootstrapping/Bootstrap.hpp

Copilot

Pull Request Overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated 4 comments.

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Copilot · 2025-10-13T06:34:15Z

src/software/pipeline/main_sfmBootstrapping.cpp

    requiredParams.add_options()
    ("input,i", po::value<std::string>(&sfmDataFilename)->required(), "SfMData file.")
    ("output,o", po::value<std::string>(&sfmDataOutputFilename)->required(), "SfMData output file.")
+    ("method", po::value<std::string>(&methodString)->required(), "Method choice.")


[nitpick] The parameter description 'Method choice.' is too vague. Consider providing more descriptive text like 'Bootstrapping method: classic (epipolar geometry), mesh (3D mesh constraints), or depth (depth map information)'.

Suggested change

("method", po::value<std::string>(&methodString)->required(), "Method choice.")

("method", po::value<std::string>(&methodString)->required(), "Bootstrapping method: classic (epipolar geometry), mesh (3D mesh constraints), or depth (depth map information).")

Copilot · 2025-10-13T06:34:16Z

src/software/pipeline/main_sfmBootstrapping.cpp

+
+    if (!firstViewFilters.empty())
+    {        
+        ALICEVISION_LOG_ERROR("No known pose for mesh");


The error message 'No known pose for mesh' is unclear. It should explain that mesh bootstrapping requires empty view filters or provide guidance on the expected configuration.

Suggested change

ALICEVISION_LOG_ERROR("No known pose for mesh");

ALICEVISION_LOG_ERROR("Mesh bootstrapping requires empty view filters. Please ensure that no view filters are set when using mesh bootstrapping.");

Copilot · 2025-10-13T06:34:16Z

src/aliceVision/sfm/pipeline/bootstrapping/PairsScoring.cpp

+
+    sfm::SfmResection resection;
+    resection.setMaxIterations(1024);
+    resection.setResectionMaxError(std::numeric_limits<double>::infinity());


Setting resection max error to infinity removes error constraints entirely. Consider using a reasonable upper bound or making this configurable to maintain stability and prevent degenerate solutions.

Suggested change

resection.setResectionMaxError(std::numeric_limits<double>::infinity());

// Use a reasonable finite reprojection error threshold (in pixels) instead of infinity.

// Consider making this value configurable if needed.

resection.setResectionMaxError(4.0);

no, it's a problem with acransac, infinite value has some algotihmic meaning

Copilot · 2025-10-13T06:34:17Z

src/aliceVision/sfm/pipeline/bootstrapping/Bootstrap.cpp

+    resection.setMaxIterations(50000);
+    resection.setResectionMaxError(std::numeric_limits<double>::infinity());


Using infinity for max error and 50000 iterations are magic numbers that should be defined as named constants or made configurable parameters for better maintainability.

will do in another PR

servantftransperfect added this to the 3.4.0 milestone Sep 29, 2025

servantftransperfect requested a review from Copilot September 29, 2025 10:57

servantftransperfect changed the title ~~Bootstrap with prior depth~~ Bootstrap with injected depths from Depthmaps Sep 29, 2025

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servantftransperfect force-pushed the dev/bootstrapDepth branch from 12f4da3 to f8c3bbf Compare September 29, 2025 11:09

servantftransperfect requested review from CedricThebault and Copilot September 29, 2025 11:10

Copilot AI reviewed Sep 29, 2025

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src/aliceVision/sfm/pipeline/bootstrapping/Bootstrap.hpp Outdated Show resolved Hide resolved

servantftransperfect force-pushed the dev/bootstrapDepth branch 2 times, most recently from 5966172 to 9e91e84 Compare October 10, 2025 08:56

CedricThebault requested a review from Copilot October 13, 2025 06:33

Copilot AI reviewed Oct 13, 2025

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servantftransperfect force-pushed the dev/bootstrapDepth branch 3 times, most recently from ffdc025 to c2e42ff Compare October 14, 2025 07:38

CedricThebault approved these changes Oct 14, 2025

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Bootstrap with prior depth

79cbdd8

servantftransperfect force-pushed the dev/bootstrapDepth branch from c2e42ff to 79cbdd8 Compare October 14, 2025 09:17

servantftransperfect merged commit 628d758 into develop Oct 14, 2025
2 of 4 checks passed

servantftransperfect deleted the dev/bootstrapDepth branch October 14, 2025 09:17

	("method", po::value<std::string>(&methodString)->required(), "Method choice.")
	("method", po::value<std::string>(&methodString)->required(), "Bootstrapping method: classic (epipolar geometry), mesh (3D mesh constraints), or depth (depth map information).")

	ALICEVISION_LOG_ERROR("No known pose for mesh");
	ALICEVISION_LOG_ERROR("Mesh bootstrapping requires empty view filters. Please ensure that no view filters are set when using mesh bootstrapping.");

-    resection.setResectionMaxError(std::numeric_limits<double>::infinity());
+    // Use a reasonable finite reprojection error threshold (in pixels) instead of infinity.
+    // Consider making this value configurable if needed.
+    resection.setResectionMaxError(4.0);

		resection.setMaxIterations(50000);
		resection.setResectionMaxError(std::numeric_limits<double>::infinity());

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Bootstrap with injected depths from Depthmaps #1994

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servantftransperfect commented Sep 29, 2025 •

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servantftransperfect Oct 14, 2025 •

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