colmap::BundleAdjuster Class Reference

#include <bundle_adjustment.h>

Inheritance diagram for colmap::BundleAdjuster:

Collaboration diagram for colmap::BundleAdjuster:

Public Member Functions
	BundleAdjuster (const BundleAdjustmentOptions &options, const BundleAdjustmentConfig &config)
bool	Solve (Reconstruction *reconstruction)
const ceres::Solver::Summary &	Summary () const

Protected Member Functions
void	ParameterizeCameras (Reconstruction *reconstruction)
void	ParameterizePoints (Reconstruction *reconstruction)

Protected Attributes
const BundleAdjustmentOptions	options_
BundleAdjustmentConfig	config_
std::unique_ptr< ceres::Problem >	problem_
ceres::Solver::Summary	summary_
std::unordered_set< camera_t >	camera_ids_
std::unordered_map< point3D_t, size_t >	point3D_num_observations_

Detailed Description

Definition at line 172 of file bundle_adjustment.h.

Constructor & Destructor Documentation

BundleAdjuster()

colmap::BundleAdjuster::BundleAdjuster	(	const BundleAdjustmentOptions &	options,
		const BundleAdjustmentConfig &	config
	)

Definition at line 366 of file bundle_adjustment.cc.

Member Function Documentation

ParameterizeCameras()

void colmap::BundleAdjuster::ParameterizeCameras ( Reconstruction *  reconstruction )

protected

Definition at line 572 of file bundle_adjustment.cc.

References colmap::Reconstruction::Camera(), camera_ids_, config_, colmap::Camera::ExtraParamsIdxs(), colmap::Camera::FocalLengthIdxs(), colmap::BundleAdjustmentConfig::IsConstantCamera(), colmap::Camera::NumParams(), options_, colmap::Camera::ParamsData(), colmap::Camera::PrincipalPointIdxs(), problem_, colmap::BundleAdjustmentOptions::refine_extra_params, colmap::BundleAdjustmentOptions::refine_focal_length, colmap::BundleAdjustmentOptions::refine_principal_point, and colmap::SetSubsetManifold().

ParameterizePoints()

void colmap::BundleAdjuster::ParameterizePoints ( Reconstruction *  reconstruction )

protected

Definition at line 623 of file bundle_adjustment.cc.

References config_, colmap::BundleAdjustmentConfig::ConstantPoints(), colmap::Track::Length(), colmap::Reconstruction::Point3D(), point3D_num_observations_, problem_, colmap::Point3D::Track(), and colmap::Point3D::XYZ().

Solve()

bool colmap::BundleAdjuster::Solve

(

Reconstruction *

reconstruction

)

Definition at line 372 of file bundle_adjustment.cc.

References config_, colmap::BundleAdjustmentOptions::CreateLossFunction(), colmap::BundleAdjustmentOptions::CreateSolverOptions(), QtCompat::endl(), options_, colmap::BundleAdjustmentOptions::print_summary, colmap::PrintHeading2(), colmap::PrintSolverSummary(), problem_, cloudViewer::core::Solve(), and summary_.

Referenced by colmap::IncrementalMapper::AdjustGlobalBundle(), colmap::IncrementalMapper::AdjustLocalBundle(), BOOST_AUTO_TEST_CASE(), and colmap::RunPointTriangulator().

Summary()

const ceres::Solver::Summary & colmap::BundleAdjuster::Summary

(

)

const

Definition at line 404 of file bundle_adjustment.cc.

References summary_.

Referenced by colmap::IncrementalMapper::AdjustLocalBundle(), and BOOST_AUTO_TEST_CASE().

Member Data Documentation

camera_ids_

std::unordered_set<camera_t> colmap::BundleAdjuster::camera_ids_

protected

Definition at line 203 of file bundle_adjustment.h.

Referenced by ParameterizeCameras().

config_

BundleAdjustmentConfig colmap::BundleAdjuster::config_

protected

Definition at line 200 of file bundle_adjustment.h.

Referenced by ParameterizeCameras(), ParameterizePoints(), Solve(), and colmap::RigBundleAdjuster::Solve().

options_

const BundleAdjustmentOptions colmap::BundleAdjuster::options_

protected

Definition at line 199 of file bundle_adjustment.h.

Referenced by ParameterizeCameras(), Solve(), and colmap::RigBundleAdjuster::Solve().

point3D_num_observations_

std::unordered_map<point3D_t, size_t> colmap::BundleAdjuster::point3D_num_observations_

protected

Definition at line 204 of file bundle_adjustment.h.

Referenced by ParameterizePoints().

problem_

std::unique_ptr<ceres::Problem> colmap::BundleAdjuster::problem_

protected

Definition at line 201 of file bundle_adjustment.h.

Referenced by ParameterizeCameras(), ParameterizePoints(), Solve(), and colmap::RigBundleAdjuster::Solve().

summary_

ceres::Solver::Summary colmap::BundleAdjuster::summary_

protected

Definition at line 202 of file bundle_adjustment.h.

Referenced by Solve(), colmap::RigBundleAdjuster::Solve(), and Summary().

---

The documentation for this class was generated from the following files:

• /root/ACloudViewer/libs/Reconstruction/src/optim/bundle_adjustment.h
• /root/ACloudViewer/libs/Reconstruction/src/optim/bundle_adjustment.cc