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A Modern Library for 3D Data Processing
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colmap::CameraRig Class Reference

#include <camera_rig.h>

Public Member Functions

 CameraRig ()
 
size_t NumCameras () const
 
size_t NumSnapshots () const
 
bool HasCamera (const camera_t camera_id) const
 
camera_t RefCameraId () const
 
void SetRefCameraId (const camera_t camera_id)
 
std::vector< camera_t > GetCameraIds () const
 
const std::vector< std::vector< image_t > > & Snapshots () const
 
void AddCamera (const camera_t camera_id, const Eigen::Vector4d &rel_qvec, const Eigen::Vector3d &rel_tvec)
 
void AddSnapshot (const std::vector< image_t > &image_ids)
 
void Check (const Reconstruction &reconstruction) const
 
Eigen::Vector4d & RelativeQvec (const camera_t camera_id)
 
const Eigen::Vector4d & RelativeQvec (const camera_t camera_id) const
 
Eigen::Vector3d & RelativeTvec (const camera_t camera_id)
 
const Eigen::Vector3d & RelativeTvec (const camera_t camera_id) const
 
double ComputeScale (const Reconstruction &reconstruction) const
 
bool ComputeRelativePoses (const Reconstruction &reconstruction)
 
void ComputeAbsolutePose (const size_t snapshot_idx, const Reconstruction &reconstruction, Eigen::Vector4d *abs_qvec, Eigen::Vector3d *abs_tvec) const
 

Detailed Description

Definition at line 25 of file camera_rig.h.

Constructor & Destructor Documentation

◆ CameraRig()

colmap::CameraRig::CameraRig ( )

Definition at line 38 of file camera_rig.cc.

Member Function Documentation

◆ AddCamera()

void colmap::CameraRig::AddCamera ( const camera_t  camera_id,
const Eigen::Vector4d &  rel_qvec,
const Eigen::Vector3d &  rel_tvec 
)

Definition at line 68 of file camera_rig.cc.

References HasCamera(), and NumSnapshots().

Referenced by BOOST_AUTO_TEST_CASE().

◆ AddSnapshot()

void colmap::CameraRig::AddSnapshot ( const std::vector< image_t > &  image_ids)

Definition at line 79 of file camera_rig.cc.

References NumCameras(), and colmap::VectorContainsDuplicateValues().

Referenced by BOOST_AUTO_TEST_CASE().

◆ Check()

void colmap::CameraRig::Check ( const Reconstruction &  reconstruction) const

Definition at line 86 of file camera_rig.cc.

References colmap::Reconstruction::ExistsCamera(), colmap::Reconstruction::ExistsImage(), HasCamera(), image, colmap::Reconstruction::Image(), and NumCameras().

Referenced by BOOST_AUTO_TEST_CASE().

◆ ComputeAbsolutePose()

void colmap::CameraRig::ComputeAbsolutePose ( const size_t  snapshot_idx,
const Reconstruction &  reconstruction,
Eigen::Vector4d *  abs_qvec,
Eigen::Vector3d *  abs_tvec 
) const

Definition at line 230 of file camera_rig.cc.

References colmap::AverageQuaternions(), colmap::ConcatenateQuaternions(), image, colmap::Reconstruction::Image(), colmap::InvertPose(), colmap::QuaternionRotatePoint(), RelativeQvec(), and RelativeTvec().

Referenced by BOOST_AUTO_TEST_CASE().

◆ ComputeRelativePoses()

bool colmap::CameraRig::ComputeRelativePoses ( const Reconstruction &  reconstruction)

Definition at line 167 of file camera_rig.cc.

References colmap::AverageQuaternions(), colmap::ComposeIdentityQuaternion(), colmap::ComputeRelativePose(), QtCompat::endl(), image, colmap::Reconstruction::Image(), colmap::kInvalidCameraId, NumSnapshots(), colmap::Image::Qvec(), RelativeQvec(), RelativeTvec(), and colmap::Image::Tvec().

Referenced by BOOST_AUTO_TEST_CASE().

◆ ComputeScale()

double colmap::CameraRig::ComputeScale ( const Reconstruction &  reconstruction) const

Definition at line 128 of file camera_rig.cc.

References e, image, colmap::Reconstruction::Image(), NumCameras(), NumSnapshots(), colmap::ProjectionCenterFromPose(), RelativeQvec(), and RelativeTvec().

Referenced by BOOST_AUTO_TEST_CASE().

◆ GetCameraIds()

std::vector< camera_t > colmap::CameraRig::GetCameraIds ( ) const

Definition at line 55 of file camera_rig.cc.

References NumCameras().

Referenced by BOOST_AUTO_TEST_CASE().

◆ HasCamera()

bool colmap::CameraRig::HasCamera ( const camera_t  camera_id) const

Definition at line 44 of file camera_rig.cc.

Referenced by AddCamera(), BOOST_AUTO_TEST_CASE(), Check(), and SetRefCameraId().

◆ NumCameras()

size_t colmap::CameraRig::NumCameras ( ) const

Definition at line 40 of file camera_rig.cc.

Referenced by AddSnapshot(), BOOST_AUTO_TEST_CASE(), Check(), ComputeScale(), and GetCameraIds().

◆ NumSnapshots()

size_t colmap::CameraRig::NumSnapshots ( ) const

Definition at line 42 of file camera_rig.cc.

Referenced by AddCamera(), BOOST_AUTO_TEST_CASE(), ComputeRelativePoses(), and ComputeScale().

◆ RefCameraId()

camera_t colmap::CameraRig::RefCameraId ( ) const

Definition at line 48 of file camera_rig.cc.

◆ RelativeQvec() [1/2]

Eigen::Vector4d & colmap::CameraRig::RelativeQvec ( const camera_t  camera_id)

Definition at line 112 of file camera_rig.cc.

Referenced by BOOST_AUTO_TEST_CASE(), ComputeAbsolutePose(), ComputeRelativePoses(), and ComputeScale().

◆ RelativeQvec() [2/2]

const Eigen::Vector4d & colmap::CameraRig::RelativeQvec ( const camera_t  camera_id) const

Definition at line 116 of file camera_rig.cc.

◆ RelativeTvec() [1/2]

Eigen::Vector3d & colmap::CameraRig::RelativeTvec ( const camera_t  camera_id)

Definition at line 120 of file camera_rig.cc.

Referenced by BOOST_AUTO_TEST_CASE(), ComputeAbsolutePose(), ComputeRelativePoses(), and ComputeScale().

◆ RelativeTvec() [2/2]

const Eigen::Vector3d & colmap::CameraRig::RelativeTvec ( const camera_t  camera_id) const

Definition at line 124 of file camera_rig.cc.

◆ SetRefCameraId()

void colmap::CameraRig::SetRefCameraId ( const camera_t  camera_id)

Definition at line 50 of file camera_rig.cc.

References HasCamera().

Referenced by BOOST_AUTO_TEST_CASE().

◆ Snapshots()

const std::vector< std::vector< image_t > > & colmap::CameraRig::Snapshots ( ) const

Definition at line 64 of file camera_rig.cc.

Referenced by BOOST_AUTO_TEST_CASE().

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