Question regarding pipeline_localization

[UriyMihailov]

I have a problem when trying to run the "pipeline_localization" script inside the C++ code. To call the script I use the system command. Problem is, each time I launch the code, the first time a script is called - everything runs fine. Then with the second, third, etc. script calls the colmap's image_registration starts working and then it simply skips the pose refinement completely. Because of that the trajectories.txt file is never created and the script falls into an error. It goes on like that until the program is terminated and launched all over again. The proper output after first script call:

============================================================================== [image_localization-1] Registering image #538 (538) [image_localization-1] ============================================================================== [image_localization-1] [image_localization-1] => Image sees 4 / 1865 points [image_localization-1] [image_localization-1] Pose refinement report [image_localization-1] ---------------------- [image_localization-1] Residuals : 8 [image_localization-1] Parameters : 6 [image_localization-1] Iterations : 6 [image_localization-1] Time : 0.000523492 [s] [image_localization-1] Initial cost : 0.197273 [px] [image_localization-1] Final cost : 0.156344 [px] [image_localization-1] Termination : Convergence [image_localization-1] [image_localization-1] INFO ::colmap_localize: Step 4: Export reconstruction results to txt

The output after next calls:

============================================================================== [image_localization-1] Registering image #538 (538) [image_localization-1] ============================================================================== [image_localization-1] [image_localization-1] => Image sees 4 / 1865 points [image_localization-1] INFO ::colmap_localize: Step 4: Export reconstruction results to txt