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colmap::IncrementalMapper Class Reference

#include <incremental_mapper.h>

Classes

struct  LocalBundleAdjustmentReport
 
struct  Options
 

Public Member Functions

 IncrementalMapper (const DatabaseCache *database_cache)
 
void BeginReconstruction (Reconstruction *reconstruction)
 
void EndReconstruction (const bool discard)
 
bool FindInitialImagePair (const Options &options, image_t *image_id1, image_t *image_id2)
 
std::vector< image_t > FindNextImages (const Options &options)
 
bool RegisterInitialImagePair (const Options &options, const image_t image_id1, const image_t image_id2)
 
bool RegisterNextImage (const Options &options, const image_t image_id)
 
size_t TriangulateImage (const IncrementalTriangulator::Options &tri_options, const image_t image_id)
 
size_t Retriangulate (const IncrementalTriangulator::Options &tri_options)
 
size_t CompleteTracks (const IncrementalTriangulator::Options &tri_options)
 
size_t MergeTracks (const IncrementalTriangulator::Options &tri_options)
 
LocalBundleAdjustmentReport AdjustLocalBundle (const Options &options, const BundleAdjustmentOptions &ba_options, const IncrementalTriangulator::Options &tri_options, const image_t image_id, const std::unordered_set< point3D_t > &point3D_ids)
 
bool AdjustGlobalBundle (const Options &options, const BundleAdjustmentOptions &ba_options)
 
size_t FilterImages (const Options &options)
 
size_t FilterPoints (const Options &options)
 
const Reconstruction & GetReconstruction () const
 
size_t NumTotalRegImages () const
 
size_t NumSharedRegImages () const
 
const std::unordered_set< point3D_t > & GetModifiedPoints3D ()
 
void ClearModifiedPoints3D ()
 

Detailed Description

Definition at line 39 of file incremental_mapper.h.

Constructor & Destructor Documentation

◆ IncrementalMapper()

colmap::IncrementalMapper::IncrementalMapper ( const DatabaseCache *  database_cache)
explicit

Definition at line 99 of file incremental_mapper.cc.

Member Function Documentation

◆ AdjustGlobalBundle()

bool colmap::IncrementalMapper::AdjustGlobalBundle ( const Options &  options,
const BundleAdjustmentOptions &  ba_options 
)

Definition at line 689 of file incremental_mapper.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::Reconstruction::FilterObservationsWithNegativeDepth(), colmap::IncrementalMapper::Options::fix_existing_images, colmap::Reconstruction::Normalize(), colmap::Reconstruction::RegImageIds(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjustmentConfig::SetConstantTvec(), and colmap::BundleAdjuster::Solve().

◆ AdjustLocalBundle()

IncrementalMapper::LocalBundleAdjustmentReport colmap::IncrementalMapper::AdjustLocalBundle ( const Options &  options,
const BundleAdjustmentOptions &  ba_options,
const IncrementalTriangulator::Options &  tri_options,
const image_t  image_id,
const std::unordered_set< point3D_t > &  point3D_ids 
)

Definition at line 569 of file incremental_mapper.cc.

References colmap::BundleAdjustmentConfig::AddImage(), colmap::BundleAdjustmentConfig::AddVariablePoint(), colmap::IncrementalMapper::Options::Check(), colmap::IncrementalMapper::Options::filter_max_reproj_error, colmap::IncrementalMapper::Options::filter_min_tri_angle, colmap::Reconstruction::FilterPoints3D(), colmap::Reconstruction::FilterPoints3DInImages(), colmap::IncrementalMapper::Options::fix_existing_images, colmap::Point3D::HasError(), image, colmap::Reconstruction::Image(), colmap::BundleAdjustmentConfig::Images(), colmap::Track::Length(), colmap::IncrementalMapper::LocalBundleAdjustmentReport::num_adjusted_observations, colmap::IncrementalMapper::LocalBundleAdjustmentReport::num_completed_observations, colmap::IncrementalMapper::LocalBundleAdjustmentReport::num_filtered_observations, colmap::IncrementalMapper::LocalBundleAdjustmentReport::num_merged_observations, colmap::Reconstruction::Point3D(), colmap::BundleAdjustmentConfig::SetConstantCamera(), colmap::BundleAdjustmentConfig::SetConstantPose(), colmap::BundleAdjustmentConfig::SetConstantTvec(), colmap::BundleAdjuster::Solve(), colmap::BundleAdjuster::Summary(), and colmap::Point3D::Track().

◆ BeginReconstruction()

void colmap::IncrementalMapper::BeginReconstruction ( Reconstruction *  reconstruction)

Definition at line 107 of file incremental_mapper.cc.

References colmap::DatabaseCache::CorrespondenceGraph(), colmap::kInvalidImagePairId, colmap::Reconstruction::Load(), colmap::Reconstruction::RegImageIds(), and colmap::Reconstruction::SetUp().

Referenced by colmap::RunImageRegistrator(), and colmap::RunPointTriangulator().

◆ ClearModifiedPoints3D()

void colmap::IncrementalMapper::ClearModifiedPoints3D ( )

Definition at line 821 of file incremental_mapper.cc.

◆ CompleteTracks()

size_t colmap::IncrementalMapper::CompleteTracks ( const IncrementalTriangulator::Options &  tri_options)

Definition at line 556 of file incremental_mapper.cc.

Referenced by colmap::CompleteAndMergeTracks().

◆ EndReconstruction()

void colmap::IncrementalMapper::EndReconstruction ( const bool  discard)

Definition at line 132 of file incremental_mapper.cc.

References colmap::Reconstruction::RegImageIds(), and colmap::Reconstruction::TearDown().

Referenced by colmap::RunImageRegistrator(), and colmap::RunPointTriangulator().

◆ FilterImages()

size_t colmap::IncrementalMapper::FilterImages ( const Options &  options)

Definition at line 773 of file incremental_mapper.cc.

References colmap::IncrementalMapper::Options::Check(), colmap::Reconstruction::FilterImages(), colmap::IncrementalMapper::Options::max_extra_param, colmap::IncrementalMapper::Options::max_focal_length_ratio, colmap::IncrementalMapper::Options::min_focal_length_ratio, and colmap::Reconstruction::NumRegImages().

Referenced by colmap::FilterImages().

◆ FilterPoints()

size_t colmap::IncrementalMapper::FilterPoints ( const Options &  options)

Definition at line 797 of file incremental_mapper.cc.

References colmap::IncrementalMapper::Options::Check(), colmap::IncrementalMapper::Options::filter_max_reproj_error, colmap::IncrementalMapper::Options::filter_min_tri_angle, and colmap::Reconstruction::FilterAllPoints3D().

Referenced by colmap::FilterPoints().

◆ FindInitialImagePair()

bool colmap::IncrementalMapper::FindInitialImagePair ( const Options &  options,
image_t *  image_id1,
image_t *  image_id2 
)

Definition at line 146 of file incremental_mapper.cc.

References colmap::IncrementalMapper::Options::Check(), colmap::DatabaseCache::ExistsImage(), colmap::Database::ImagePairToPairId(), and colmap::kInvalidImageId.

◆ FindNextImages()

std::vector< image_t > colmap::IncrementalMapper::FindNextImages ( const Options &  options)

Definition at line 203 of file incremental_mapper.cc.

References colmap::IncrementalMapper::Options::abs_pose_min_num_inliers, colmap::IncrementalMapper::Options::Check(), float, image, colmap::IncrementalMapper::Options::image_selection_method, colmap::Reconstruction::Images(), colmap::IncrementalMapper::Options::max_reg_trials, colmap::IncrementalMapper::Options::MAX_VISIBLE_POINTS_NUM, colmap::IncrementalMapper::Options::MAX_VISIBLE_POINTS_RATIO, and colmap::IncrementalMapper::Options::MIN_UNCERTAINTY.

◆ GetModifiedPoints3D()

const std::unordered_set< point3D_t > & colmap::IncrementalMapper::GetModifiedPoints3D ( )

Definition at line 817 of file incremental_mapper.cc.

◆ GetReconstruction()

const Reconstruction & colmap::IncrementalMapper::GetReconstruction ( ) const

Definition at line 804 of file incremental_mapper.cc.

◆ MergeTracks()

size_t colmap::IncrementalMapper::MergeTracks ( const IncrementalTriangulator::Options &  tri_options)

Definition at line 562 of file incremental_mapper.cc.

Referenced by colmap::CompleteAndMergeTracks().

◆ NumSharedRegImages()

size_t colmap::IncrementalMapper::NumSharedRegImages ( ) const

Definition at line 813 of file incremental_mapper.cc.

◆ NumTotalRegImages()

size_t colmap::IncrementalMapper::NumTotalRegImages ( ) const

Definition at line 809 of file incremental_mapper.cc.

◆ RegisterInitialImagePair()

bool colmap::IncrementalMapper::RegisterInitialImagePair ( const Options &  options,
const image_t  image_id1,
const image_t  image_id2 
)

Definition at line 259 of file incremental_mapper.cc.

References colmap::Track::AddElement(), colmap::Reconstruction::AddPoint3D(), colmap::CalculateTriangulationAngle(), colmap::Reconstruction::Camera(), colmap::Image::CameraId(), colmap::IncrementalMapper::Options::Check(), colmap::ComposeIdentityQuaternion(), colmap::DatabaseCache::CorrespondenceGraph(), colmap::DegToRad(), colmap::Track::Element(), colmap::CorrespondenceGraph::FindCorrespondencesBetweenImages(), colmap::HasPointPositiveDepth(), colmap::Reconstruction::Image(), colmap::TrackElement::image_id, colmap::Database::ImagePairToPairId(), colmap::Camera::ImageToWorld(), colmap::IncrementalMapper::Options::init_min_tri_angle, colmap::Reconstruction::NumRegImages(), colmap::Image::Point2D(), colmap::TrackElement::point2D_idx, colmap::Image::ProjectionCenter(), colmap::Image::ProjectionMatrix(), colmap::Image::Qvec(), colmap::TwoViewGeometry::qvec, colmap::Reconstruction::RegisterImage(), colmap::Track::Reserve(), colmap::TriangulatePoint(), colmap::Image::Tvec(), colmap::TwoViewGeometry::tvec, and colmap::Point2D::XY().

◆ RegisterNextImage()

bool colmap::IncrementalMapper::RegisterNextImage ( const Options &  options,
const image_t  image_id 
)

Definition at line 345 of file incremental_mapper.cc.

References colmap::IncrementalMapper::Options::abs_pose_max_error, colmap::IncrementalMapper::Options::abs_pose_min_inlier_ratio, colmap::IncrementalMapper::Options::abs_pose_min_num_inliers, colmap::IncrementalMapper::Options::abs_pose_refine_extra_params, colmap::IncrementalMapper::Options::abs_pose_refine_focal_length, colmap::Reconstruction::AddObservation(), colmap::DatabaseCache::Camera(), colmap::Reconstruction::Camera(), colmap::Image::CameraId(), colmap::IncrementalMapper::Options::Check(), colmap::RANSACOptions::confidence, colmap::DatabaseCache::CorrespondenceGraph(), QtCompat::endl(), colmap::AbsolutePoseEstimationOptions::estimate_focal_length, colmap::EstimateAbsolutePose(), colmap::Reconstruction::ExistsImage(), colmap::CorrespondenceGraph::FindTransitiveCorrespondences(), colmap::Camera::HasBogusParams(), colmap::Point2D::HasPoint3D(), colmap::Camera::HasPriorFocalLength(), image, colmap::Reconstruction::Image(), colmap::Image::IsRegistered(), colmap::RANSACOptions::max_error, colmap::IncrementalMapper::Options::max_extra_param, colmap::AbsolutePoseEstimationOptions::max_focal_length_ratio, colmap::IncrementalMapper::Options::max_focal_length_ratio, colmap::RANSACOptions::max_num_trials, colmap::AbsolutePoseEstimationOptions::min_focal_length_ratio, colmap::IncrementalMapper::Options::min_focal_length_ratio, colmap::RANSACOptions::min_inlier_ratio, colmap::RANSACOptions::min_num_trials, colmap::AbsolutePoseEstimationOptions::num_focal_length_samples, colmap::AbsolutePoseEstimationOptions::num_threads, colmap::IncrementalMapper::Options::num_threads, colmap::Reconstruction::NumRegImages(), colmap::Camera::Params(), colmap::Image::Point2D(), colmap::Reconstruction::Point3D(), colmap::Point2D::Point3DId(), colmap::AbsolutePoseEstimationOptions::ransac_options, colmap::AbsolutePoseRefinementOptions::refine_extra_params, colmap::AbsolutePoseRefinementOptions::refine_focal_length, colmap::RefineAbsolutePose(), colmap::Reconstruction::RegisterImage(), colmap::Camera::SetParams(), colmap::Point2D::XY(), and colmap::Point3D::XYZ().

Referenced by colmap::RunImageRegistrator().

◆ Retriangulate()

size_t colmap::IncrementalMapper::Retriangulate ( const IncrementalTriangulator::Options &  tri_options)

Definition at line 550 of file incremental_mapper.cc.

◆ TriangulateImage()

size_t colmap::IncrementalMapper::TriangulateImage ( const IncrementalTriangulator::Options &  tri_options,
const image_t  image_id 
)

Definition at line 543 of file incremental_mapper.cc.

Referenced by colmap::RunPointTriangulator().

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