#include <bundle_adjustment.h>

Public Member Functions
	BundleAdjustmentConfig ()

size_t	NumImages () const

size_t	NumPoints () const

size_t	NumConstantCameras () const

size_t	NumConstantPoses () const

size_t	NumConstantTvecs () const

size_t	NumVariablePoints () const

size_t	NumConstantPoints () const

size_t	NumResiduals (const Reconstruction &reconstruction) const

void	AddImage (const image_t image_id)

bool	HasImage (const image_t image_id) const

void	RemoveImage (const image_t image_id)

void	SetConstantCamera (const camera_t camera_id)

void	SetVariableCamera (const camera_t camera_id)

bool	IsConstantCamera (const camera_t camera_id) const

void	SetConstantPose (const image_t image_id)

void	SetVariablePose (const image_t image_id)

bool	HasConstantPose (const image_t image_id) const

void	SetConstantTvec (const image_t image_id, const std::vector< int > &idxs)

void	RemoveConstantTvec (const image_t image_id)

bool	HasConstantTvec (const image_t image_id) const

void	AddVariablePoint (const point3D_t point3D_id)

void	AddConstantPoint (const point3D_t point3D_id)

bool	HasPoint (const point3D_t point3D_id) const

bool	HasVariablePoint (const point3D_t point3D_id) const

bool	HasConstantPoint (const point3D_t point3D_id) const

void	RemoveVariablePoint (const point3D_t point3D_id)

void	RemoveConstantPoint (const point3D_t point3D_id)

const std::unordered_set< image_t > &	Images () const

const std::unordered_set< point3D_t > &	VariablePoints () const

const std::unordered_set< point3D_t > &	ConstantPoints () const

const std::vector< int > &	ConstantTvec (const image_t image_id) const

Detailed Description

Definition at line 27 of file bundle_adjustment.h.

Constructor & Destructor Documentation

◆ BundleAdjustmentConfig()

colmap::BundleAdjustmentConfig::BundleAdjustmentConfig ( )

Definition at line 55 of file bundle_adjustment.cc.

Member Function Documentation

◆ AddConstantPoint()

void colmap::BundleAdjustmentConfig::AddConstantPoint ( const point3D_t point3D_id )

Definition at line 197 of file bundle_adjustment.cc.

References HasVariablePoint().

Referenced by BOOST_AUTO_TEST_CASE().

◆ AddImage()

void colmap::BundleAdjustmentConfig::AddImage ( const image_t image_id )

Definition at line 116 of file bundle_adjustment.cc.

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

◆ AddVariablePoint()

void colmap::BundleAdjustmentConfig::AddVariablePoint ( const point3D_t point3D_id )

Definition at line 192 of file bundle_adjustment.cc.

References HasConstantPoint().

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

◆ ConstantPoints()

const std::unordered_set< point3D_t > & colmap::BundleAdjustmentConfig::ConstantPoints ( ) const

Definition at line 182 of file bundle_adjustment.cc.

Referenced by colmap::BundleAdjuster::ParameterizePoints().

◆ ConstantTvec()

const std::vector< int > & colmap::BundleAdjustmentConfig::ConstantTvec ( const image_t image_id ) const

Definition at line 187 of file bundle_adjustment.cc.

◆ HasConstantPoint()

bool colmap::BundleAdjustmentConfig::HasConstantPoint ( const point3D_t point3D_id ) const

Definition at line 212 of file bundle_adjustment.cc.

Referenced by AddVariablePoint(), and HasPoint().

◆ HasConstantPose()

bool colmap::BundleAdjustmentConfig::HasConstantPose ( const image_t image_id ) const

Definition at line 150 of file bundle_adjustment.cc.

Referenced by SetConstantTvec().

◆ HasConstantTvec()

bool colmap::BundleAdjustmentConfig::HasConstantTvec ( const image_t image_id ) const

Definition at line 169 of file bundle_adjustment.cc.

Referenced by SetConstantPose().

◆ HasImage()

bool colmap::BundleAdjustmentConfig::HasImage ( const image_t image_id ) const

Definition at line 120 of file bundle_adjustment.cc.

Referenced by SetConstantPose(), and SetConstantTvec().

◆ HasPoint()

bool colmap::BundleAdjustmentConfig::HasPoint ( const point3D_t point3D_id ) const

Definition at line 202 of file bundle_adjustment.cc.

References HasConstantPoint(), and HasVariablePoint().

◆ HasVariablePoint()

bool colmap::BundleAdjustmentConfig::HasVariablePoint ( const point3D_t point3D_id ) const

Definition at line 206 of file bundle_adjustment.cc.

Referenced by AddConstantPoint(), and HasPoint().

◆ Images()

const std::unordered_set< image_t > & colmap::BundleAdjustmentConfig::Images ( ) const

Definition at line 173 of file bundle_adjustment.cc.

Referenced by colmap::IncrementalMapper::AdjustLocalBundle().

◆ IsConstantCamera()

bool colmap::BundleAdjustmentConfig::IsConstantCamera ( const camera_t camera_id ) const

Definition at line 136 of file bundle_adjustment.cc.

Referenced by colmap::BundleAdjuster::ParameterizeCameras().

◆ NumConstantCameras()

size_t colmap::BundleAdjustmentConfig::NumConstantCameras ( ) const

Definition at line 63 of file bundle_adjustment.cc.

◆ NumConstantPoints()

size_t colmap::BundleAdjustmentConfig::NumConstantPoints ( ) const

Definition at line 79 of file bundle_adjustment.cc.

◆ NumConstantPoses()

size_t colmap::BundleAdjustmentConfig::NumConstantPoses ( ) const

Definition at line 67 of file bundle_adjustment.cc.

◆ NumConstantTvecs()

size_t colmap::BundleAdjustmentConfig::NumConstantTvecs ( ) const

Definition at line 71 of file bundle_adjustment.cc.

◆ NumImages()

size_t colmap::BundleAdjustmentConfig::NumImages ( ) const

Definition at line 57 of file bundle_adjustment.cc.

Referenced by colmap::BundleAdjustmentOptions::CreateSolverOptions().

◆ NumPoints()

size_t colmap::BundleAdjustmentConfig::NumPoints ( ) const

Definition at line 59 of file bundle_adjustment.cc.

◆ NumResiduals()

size_t colmap::BundleAdjustmentConfig::NumResiduals ( const Reconstruction & reconstruction ) const

Definition at line 83 of file bundle_adjustment.cc.

References colmap::Reconstruction::Image(), colmap::Image::NumPoints3D(), and colmap::Reconstruction::Point3D().

Referenced by BOOST_AUTO_TEST_CASE().

◆ NumVariablePoints()

size_t colmap::BundleAdjustmentConfig::NumVariablePoints ( ) const

Definition at line 75 of file bundle_adjustment.cc.

◆ RemoveConstantPoint()

void colmap::BundleAdjustmentConfig::RemoveConstantPoint ( const point3D_t point3D_id )

Definition at line 222 of file bundle_adjustment.cc.

◆ RemoveConstantTvec()

void colmap::BundleAdjustmentConfig::RemoveConstantTvec ( const image_t image_id )

Definition at line 165 of file bundle_adjustment.cc.

◆ RemoveImage()

void colmap::BundleAdjustmentConfig::RemoveImage ( const image_t image_id )

Definition at line 124 of file bundle_adjustment.cc.

◆ RemoveVariablePoint()

void colmap::BundleAdjustmentConfig::RemoveVariablePoint ( const point3D_t point3D_id )

Definition at line 218 of file bundle_adjustment.cc.

◆ SetConstantCamera()

void colmap::BundleAdjustmentConfig::SetConstantCamera ( const camera_t camera_id )

Definition at line 128 of file bundle_adjustment.cc.

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

◆ SetConstantPose()

void colmap::BundleAdjustmentConfig::SetConstantPose ( const image_t image_id )

Definition at line 140 of file bundle_adjustment.cc.

References HasConstantTvec(), and HasImage().

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

◆ SetConstantTvec()

void colmap::BundleAdjustmentConfig::SetConstantTvec	(	const image_t	image_id,
		const std::vector< int > &	idxs
	)

Definition at line 154 of file bundle_adjustment.cc.

References HasConstantPose(), HasImage(), and colmap::VectorContainsDuplicateValues().