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

#include <reconstruction.h>

Classes

struct  ImagePairStat
 

Public Member Functions

 Reconstruction ()
 
 Reconstruction (const Reconstruction &other)
 
Reconstruction & operator= (const Reconstruction &other)
 
size_t NumCameras () const
 
size_t NumImages () const
 
size_t NumRegImages () const
 
size_t NumPoints3D () const
 
size_t NumImagePairs () const
 
size_t NumAddedPoints3D () const
 
const class Camera & Camera (const camera_t camera_id) const
 
const class Image & Image (const image_t image_id) const
 
const class Point3D & Point3D (const point3D_t point3D_id) const
 
const ImagePairStat & ImagePair (const image_pair_t pair_id) const
 
ImagePairStat & ImagePair (const image_t image_id1, const image_t image_id2)
 
class Camera & Camera (const camera_t camera_id)
 
class Image & Image (const image_t image_id)
 
class Point3D & Point3D (const point3D_t point3D_id)
 
ImagePairStat & ImagePair (const image_pair_t pair_id)
 
const ImagePairStat & ImagePair (const image_t image_id1, const image_t image_id2) const
 
const std::unordered_map< camera_t, class Camera > & Cameras () const
 
const std::unordered_map< image_t, class Image > & Images () const
 
const std::vector< image_t > & RegImageIds () const
 
const std::unordered_map< point3D_t, class Point3D > & Points3D () const
 
const std::unordered_map< image_pair_t, ImagePairStat > & ImagePairs () const
 
std::unordered_set< point3D_t > Point3DIds () const
 
bool ExistsCamera (const camera_t camera_id) const
 
bool ExistsImage (const image_t image_id) const
 
bool ExistsPoint3D (const point3D_t point3D_id) const
 
bool ExistsImagePair (const image_pair_t pair_id) const
 
void Load (const DatabaseCache &database_cache)
 
void SetUp (const CorrespondenceGraph *correspondence_graph)
 
void TearDown ()
 
void AddCamera (const class Camera &camera)
 
void AddImage (const class Image &image)
 
point3D_t AddPoint3D (const Eigen::Vector3d &xyz, const Track &track, const Eigen::Vector3ub &color=Eigen::Vector3ub::Zero())
 
void AddObservation (const point3D_t point3D_id, const TrackElement &track_el)
 
point3D_t MergePoints3D (const point3D_t point3D_id1, const point3D_t point3D_id2)
 
void DeletePoint3D (const point3D_t point3D_id)
 
void DeleteObservation (const image_t image_id, const point2D_t point2D_idx)
 
void DeleteAllPoints2DAndPoints3D ()
 
void RegisterImage (const image_t image_id)
 
void DeRegisterImage (const image_t image_id)
 
bool IsImageRegistered (const image_t image_id) const
 
void Normalize (const double extent=10.0, const double p0=0.1, const double p1=0.9, const bool use_images=true)
 
Eigen::Vector3d ComputeCentroid (const double p0=0.1, const double p1=0.9) const
 
std::pair< Eigen::Vector3d, Eigen::Vector3d > ComputeBoundingBox (const double p0=0.0, const double p1=1.0) const
 
void Transform (const SimilarityTransform3 &tform)
 
Reconstruction Crop (const std::pair< Eigen::Vector3d, Eigen::Vector3d > &bbox) const
 
bool Merge (const Reconstruction &reconstruction, const double max_reproj_error)
 
template<bool kEstimateScale = true>
bool Align (const std::vector< std::string > &image_names, const std::vector< Eigen::Vector3d > &locations, const int min_common_images, SimilarityTransform3 *tform=nullptr)
 
template<bool kEstimateScale = true>
bool AlignRobust (const std::vector< std::string > &image_names, const std::vector< Eigen::Vector3d > &locations, const int min_common_images, const RANSACOptions &ransac_options, SimilarityTransform3 *tform=nullptr)
 
const class Image * FindImageWithName (const std::string &name) const
 
std::vector< image_t > FindCommonRegImageIds (const Reconstruction &reconstruction) const
 
void TranscribeImageIdsToDatabase (const Database &database)
 
size_t FilterPoints3D (const double max_reproj_error, const double min_tri_angle, const std::unordered_set< point3D_t > &point3D_ids)
 
size_t FilterPoints3DInImages (const double max_reproj_error, const double min_tri_angle, const std::unordered_set< image_t > &image_ids)
 
size_t FilterAllPoints3D (const double max_reproj_error, const double min_tri_angle)
 
size_t FilterObservationsWithNegativeDepth ()
 
std::vector< image_t > FilterImages (const double min_focal_length_ratio, const double max_focal_length_ratio, const double max_extra_param)
 
size_t ComputeNumObservations () const
 
double ComputeMeanTrackLength () const
 
double ComputeMeanObservationsPerRegImage () const
 
double ComputeMeanReprojectionError () const
 
void Read (const std::string &path)
 
void Write (const std::string &path) const
 
void ReadText (const std::string &path)
 
void ReadBinary (const std::string &path)
 
void WriteText (const std::string &path) const
 
void WriteBinary (const std::string &path) const
 
std::vector< PlyPoint > ConvertToPLY () const
 
void ImportPLY (const std::string &path)
 
void ImportPLY (const std::vector< PlyPoint > &ply_points)
 
bool ExportNVM (const std::string &path, bool skip_distortion=false) const
 
bool ExportCam (const std::string &path, bool skip_distortion=false) const
 
bool ExportRecon3D (const std::string &path, bool skip_distortion=false) const
 
bool ExportBundler (const std::string &path, const std::string &list_path, bool skip_distortion=false) const
 
void ExportPLY (const std::string &path) const
 
void ExportVRML (const std::string &images_path, const std::string &points3D_path, const double image_scale, const Eigen::Vector3d &image_rgb) const
 
bool ExtractColorsForImage (const image_t image_id, const std::string &path)
 
void ExtractColorsForAllImages (const std::string &path)
 
void CreateImageDirs (const std::string &path) const
 
const CorrespondenceGraph * GetCorrespondenceGraph () const
 
bool HasCorrespondenceGraph () const
 

Detailed Description

Definition at line 40 of file reconstruction.h.

Constructor & Destructor Documentation

◆ Reconstruction() [1/2]

colmap::Reconstruction::Reconstruction ( )

Definition at line 47 of file reconstruction.cc.

◆ Reconstruction() [2/2]

colmap::Reconstruction::Reconstruction ( const Reconstruction &  other)

Definition at line 50 of file reconstruction.cc.

Member Function Documentation

◆ AddCamera()

void colmap::Reconstruction::AddCamera ( const class Camera &  camera)

Definition at line 178 of file reconstruction.cc.

References colmap::Camera::CameraId(), ExistsCamera(), and colmap::Camera::VerifyParams().

Referenced by BOOST_AUTO_TEST_CASE(), Crop(), GenerateReconstruction(), Load(), and Merge().

◆ AddImage()

void colmap::Reconstruction::AddImage ( const class Image &  image)

Definition at line 184 of file reconstruction.cc.

References ExistsImage(), and image.

Referenced by BOOST_AUTO_TEST_CASE(), Crop(), GenerateReconstruction(), Load(), and Merge().

◆ AddObservation()

void colmap::Reconstruction::AddObservation ( const point3D_t  point3D_id,
const TrackElement &  track_el 
)

Definition at line 218 of file reconstruction.cc.

References colmap::Track::AddElement(), image, Image(), colmap::TrackElement::image_id, colmap::TrackElement::point2D_idx, Point3D(), and colmap::Point3D::Track().

Referenced by BOOST_AUTO_TEST_CASE(), GenerateReconstruction(), and colmap::IncrementalMapper::RegisterNextImage().

◆ AddPoint3D()

point3D_t colmap::Reconstruction::AddPoint3D ( const Eigen::Vector3d &  xyz,
const Track &  track,
const Eigen::Vector3ub &  color = Eigen::Vector3ub::Zero() 
)

Definition at line 189 of file reconstruction.cc.

References color, colmap::Track::Elements(), ExistsPoint3D(), image, Image(), colmap::Point3D::SetColor(), colmap::Point3D::SetTrack(), and colmap::Point3D::SetXYZ().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::IncrementalTriangulator::CompleteImage(), Crop(), GeneratePointCloud(), ImportPLY(), Merge(), MergePoints3D(), and colmap::IncrementalMapper::RegisterInitialImagePair().

◆ Align()

template<bool kEstimateScale>
bool colmap::Reconstruction::Align ( const std::vector< std::string > &  image_names,
const std::vector< Eigen::Vector3d > &  locations,
const int  min_common_images,
SimilarityTransform3 *  tform = nullptr 
)

Definition at line 546 of file reconstruction.h.

References colmap::SimilarityTransform3::Estimate(), FindImageWithName(), image, IsImageRegistered(), and Transform().

Referenced by colmap::RunModelAligner().

◆ AlignRobust()

template<bool kEstimateScale>
bool colmap::Reconstruction::AlignRobust ( const std::vector< std::string > &  image_names,
const std::vector< Eigen::Vector3d > &  locations,
const int  min_common_images,
const RANSACOptions &  ransac_options,
SimilarityTransform3 *  tform = nullptr 
)

Definition at line 598 of file reconstruction.h.

References colmap::LORANSAC< Estimator, LocalEstimator, SupportMeasurer, Sampler >::Estimate(), FindImageWithName(), image, IsImageRegistered(), and Transform().

Referenced by colmap::RunModelAligner().

◆ Camera() [1/2]

class Camera & colmap::Reconstruction::Camera ( const camera_t  camera_id)
inline

Definition at line 473 of file reconstruction.h.

◆ Camera() [2/2]

const class Camera & colmap::Reconstruction::Camera ( const camera_t  camera_id) const
inline

Definition at line 450 of file reconstruction.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::IncrementalTriangulator::CompleteImage(), colmap::EstimateManhattanWorldFrame(), ExportBundler(), ExportCam(), ExportNVM(), ExportRecon3D(), FilterImages(), Merge(), colmap::BundleAdjuster::ParameterizeCameras(), colmap::mvs::Model::ReadFromCOLMAP(), colmap::IncrementalMapper::RegisterInitialImagePair(), colmap::IncrementalMapper::RegisterNextImage(), colmap::IncrementalTriangulator::Retriangulate(), SetUp(), colmap::IncrementalTriangulator::TriangulateImage(), and colmap::UndistortReconstruction().

◆ Cameras()

const std::unordered_map< camera_t, Camera > & colmap::Reconstruction::Cameras ( ) const
inline

Definition at line 496 of file reconstruction.h.

Referenced by BOOST_AUTO_TEST_CASE(), operator=(), cloudViewer::ModelViewerWidget::ReloadReconstruction(), colmap::ModelViewerWidget::ReloadReconstruction(), and colmap::UndistortReconstruction().

◆ ComputeBoundingBox()

std::pair< Eigen::Vector3d, Eigen::Vector3d > colmap::Reconstruction::ComputeBoundingBox ( const double  p0 = 0.0,
const double  p1 = 1.0 
) const

Definition at line 380 of file reconstruction.cc.

References cloudViewer::core::make_pair().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::RunModelCropper(), and colmap::RunModelSplitter().

◆ ComputeCentroid()

Eigen::Vector3d colmap::Reconstruction::ComputeCentroid ( const double  p0 = 0.1,
const double  p1 = 0.9 
) const

Definition at line 375 of file reconstruction.cc.

Referenced by colmap::AlignToENUPlane(), colmap::AlignToPrincipalPlane(), and BOOST_AUTO_TEST_CASE().

◆ ComputeMeanObservationsPerRegImage()

double colmap::Reconstruction::ComputeMeanObservationsPerRegImage ( ) const

Definition at line 746 of file reconstruction.cc.

References ComputeNumObservations().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::RunModelAnalyzer(), cloudViewer::ReconstructionStatsWidget::Show(), and colmap::ReconstructionStatsWidget::Show().

◆ ComputeMeanReprojectionError()

double colmap::Reconstruction::ComputeMeanReprojectionError ( ) const

Definition at line 755 of file reconstruction.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::RunModelAnalyzer(), cloudViewer::ReconstructionStatsWidget::Show(), and colmap::ReconstructionStatsWidget::Show().

◆ ComputeMeanTrackLength()

double colmap::Reconstruction::ComputeMeanTrackLength ( ) const

Definition at line 738 of file reconstruction.cc.

References ComputeNumObservations().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::RunModelAnalyzer(), cloudViewer::ReconstructionStatsWidget::Show(), and colmap::ReconstructionStatsWidget::Show().

◆ ComputeNumObservations()

size_t colmap::Reconstruction::ComputeNumObservations ( ) const

Definition at line 730 of file reconstruction.cc.

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

Referenced by BOOST_AUTO_TEST_CASE(), ComputeMeanObservationsPerRegImage(), ComputeMeanTrackLength(), colmap::RunModelAnalyzer(), colmap::RunPointTriangulator(), cloudViewer::ReconstructionStatsWidget::Show(), and colmap::ReconstructionStatsWidget::Show().

◆ ConvertToPLY()

std::vector< PlyPoint > colmap::Reconstruction::ConvertToPLY ( ) const

Definition at line 813 of file reconstruction.cc.

References colmap::PlyPoint::b, colmap::PlyPoint::g, colmap::PlyPoint::r, colmap::PlyPoint::x, colmap::PlyPoint::y, and colmap::PlyPoint::z.

Referenced by ExportPLY().

◆ CreateImageDirs()

void colmap::Reconstruction::CreateImageDirs ( const std::string &  path) const

Definition at line 1447 of file reconstruction.cc.

References colmap::CreateDirIfNotExists(), image, colmap::JoinPaths(), cloudViewer::t::geometry::path, and colmap::StringSplit().

Referenced by ExportCam().

◆ Crop()

Reconstruction colmap::Reconstruction::Crop ( const std::pair< Eigen::Vector3d, Eigen::Vector3d > &  bbox) const

Definition at line 464 of file reconstruction.cc.

References AddCamera(), AddImage(), AddPoint3D(), image, Image(), and RegisterImage().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::RunModelCropper(), and colmap::RunModelSplitter().

◆ DeleteAllPoints2DAndPoints3D()

void colmap::Reconstruction::DeleteAllPoints2DAndPoints3D ( )

Definition at line 305 of file reconstruction.cc.

References image, colmap::Image::SetCameraId(), colmap::Image::SetImageId(), colmap::Image::SetName(), colmap::Image::SetNumCorrespondences(), colmap::Image::SetQvec(), colmap::Image::SetQvecPrior(), colmap::Image::SetRegistered(), colmap::Image::SetTvec(), and colmap::Image::SetTvecPrior().

Referenced by colmap::mvs::Model::ReadFromCOLMAP(), and colmap::RunPointTriangulator().

◆ DeleteObservation()

void colmap::Reconstruction::DeleteObservation ( const image_t  image_id,
const point2D_t  point2D_idx 
)

Definition at line 283 of file reconstruction.cc.

References colmap::Track::DeleteElement(), DeletePoint3D(), image, Image(), colmap::Track::Length(), Point3D(), and colmap::Point3D::Track().

Referenced by BOOST_AUTO_TEST_CASE(), DeRegisterImage(), and FilterObservationsWithNegativeDepth().

◆ DeletePoint3D()

void colmap::Reconstruction::DeletePoint3D ( const point3D_t  point3D_id)

Definition at line 262 of file reconstruction.cc.

References colmap::Track::Elements(), image, Image(), Point3D(), and colmap::Point3D::Track().

Referenced by BOOST_AUTO_TEST_CASE(), DeleteObservation(), MergePoints3D(), and colmap::RunPointFiltering().

◆ DeRegisterImage()

void colmap::Reconstruction::DeRegisterImage ( const image_t  image_id)

Definition at line 330 of file reconstruction.cc.

References DeleteObservation(), image, and Image().

Referenced by BOOST_AUTO_TEST_CASE(), FilterImages(), colmap::RunImageDeleter(), and colmap::RunImageFilterer().

◆ ExistsCamera()

bool colmap::Reconstruction::ExistsCamera ( const camera_t  camera_id) const
inline

Definition at line 517 of file reconstruction.h.

Referenced by AddCamera(), BOOST_AUTO_TEST_CASE(), colmap::CameraRig::Check(), Load(), and Merge().

◆ ExistsImage()

bool colmap::Reconstruction::ExistsImage ( const image_t  image_id) const
inline

Definition at line 521 of file reconstruction.h.

Referenced by AddImage(), BOOST_AUTO_TEST_CASE(), colmap::CameraRig::Check(), colmap::IncrementalTriangulator::CompleteImage(), FindCommonRegImageIds(), Load(), Merge(), colmap::IncrementalMapper::RegisterNextImage(), colmap::IncrementalTriangulator::Retriangulate(), colmap::RunImageDeleter(), and colmap::IncrementalTriangulator::TriangulateImage().

◆ ExistsImagePair()

bool colmap::Reconstruction::ExistsImagePair ( const image_pair_t  pair_id) const
inline

Definition at line 529 of file reconstruction.h.

◆ ExistsPoint3D()

bool colmap::Reconstruction::ExistsPoint3D ( const point3D_t  point3D_id) const
inline

Definition at line 525 of file reconstruction.h.

Referenced by AddPoint3D(), BOOST_AUTO_TEST_CASE(), and colmap::IncrementalTriangulator::GetModifiedPoints3D().

◆ ExportBundler()

bool colmap::Reconstruction::ExportBundler ( const std::string &  path,
const std::string &  list_path,
bool  skip_distortion = false 
) const

Definition at line 1137 of file reconstruction.cc.

References Camera(), QtCompat::endl(), colmap::SimpleRadialCameraModel::extra_params_idxs, colmap::RadialCameraModel::extra_params_idxs, image, Image(), colmap::Camera::MeanFocalLength(), colmap::SimplePinholeCameraModel::model_id, colmap::PinholeCameraModel::model_id, colmap::SimpleRadialCameraModel::model_id, colmap::RadialCameraModel::model_id, colmap::Camera::ModelId(), colmap::Camera::Params(), cloudViewer::t::geometry::path, colmap::Camera::PrincipalPointX(), colmap::Camera::PrincipalPointY(), colmap::Point2D::X(), and colmap::Point2D::Y().

Referenced by colmap::RunModelConverter().

◆ ExportCam()

bool colmap::Reconstruction::ExportCam ( const std::string &  path,
bool  skip_distortion = false 
) const

Definition at line 945 of file reconstruction.cc.

References Camera(), CreateImageDirs(), e, QtCompat::endl(), colmap::SimpleRadialCameraModel::extra_params_idxs, colmap::RadialCameraModel::extra_params_idxs, colmap::Camera::FocalLengthIdxs(), colmap::Camera::FocalLengthX(), colmap::Camera::FocalLengthY(), colmap::Camera::Height(), image, Image(), colmap::JoinPaths(), colmap::Camera::MeanFocalLength(), colmap::SimplePinholeCameraModel::model_id, colmap::PinholeCameraModel::model_id, colmap::SimpleRadialCameraModel::model_id, colmap::RadialCameraModel::model_id, colmap::Camera::ModelId(), name, colmap::Camera::Params(), cloudViewer::t::geometry::path, colmap::Camera::PrincipalPointX(), colmap::Camera::PrincipalPointY(), colmap::SplitFileExtension(), and colmap::Camera::Width().

Referenced by colmap::RunModelConverter().

◆ ExportNVM()

bool colmap::Reconstruction::ExportNVM ( const std::string &  path,
bool  skip_distortion = false 
) const

Definition at line 855 of file reconstruction.cc.

References Camera(), QtCompat::endl(), colmap::SimpleRadialCameraModel::extra_params_idxs, image, Image(), colmap::Camera::MeanFocalLength(), colmap::SimplePinholeCameraModel::model_id, colmap::PinholeCameraModel::model_id, colmap::SimpleRadialCameraModel::model_id, colmap::Camera::ModelId(), colmap::Camera::Params(), cloudViewer::t::geometry::path, colmap::Point2D::X(), and colmap::Point2D::Y().

Referenced by colmap::RunModelConverter().

◆ ExportPLY()

void colmap::Reconstruction::ExportPLY ( const std::string &  path) const

Definition at line 1236 of file reconstruction.cc.

References ConvertToPLY(), cloudViewer::t::geometry::path, and colmap::WriteBinaryPlyPoints().

Referenced by colmap::RunModelConverter(), and colmap::RunModelTransformer().

◆ ExportRecon3D()

bool colmap::Reconstruction::ExportRecon3D ( const std::string &  path,
bool  skip_distortion = false 
) const

Definition at line 1019 of file reconstruction.cc.

References Camera(), colmap::CreateDirIfNotExists(), QtCompat::endl(), colmap::EnsureTrailingSlash(), colmap::SimpleRadialCameraModel::extra_params_idxs, colmap::RadialCameraModel::extra_params_idxs, colmap::Camera::Height(), image, Image(), colmap::Camera::MeanFocalLength(), colmap::SimplePinholeCameraModel::model_id, colmap::PinholeCameraModel::model_id, colmap::SimpleRadialCameraModel::model_id, colmap::RadialCameraModel::model_id, colmap::Camera::ModelId(), colmap::NormalizeQuaternion(), colmap::Camera::Params(), cloudViewer::t::geometry::path, colmap::Camera::PrincipalPointX(), colmap::Camera::PrincipalPointY(), colmap::QuaternionToRotationMatrix(), colmap::StringReplace(), colmap::Camera::Width(), colmap::Point2D::X(), and colmap::Point2D::Y().

Referenced by colmap::RunModelConverter().

◆ ExportVRML()

void colmap::Reconstruction::ExportVRML ( const std::string &  images_path,
const std::string &  points3D_path,
const double  image_scale,
const Eigen::Vector3d &  image_rgb 
) const

Definition at line 1244 of file reconstruction.cc.

References QtCompat::endl(), image, and points.

Referenced by colmap::RunModelConverter().

◆ ExtractColorsForAllImages()

void colmap::Reconstruction::ExtractColorsForAllImages ( const std::string &  path)

Definition at line 1391 of file reconstruction.cc.

References color, QtCompat::endl(), image, Image(), colmap::Bitmap::InterpolateBilinear(), colmap::JoinPaths(), cloudViewer::t::geometry::path, colmap::Bitmap::Read(), and colmap::StringPrintf().

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

◆ ExtractColorsForImage()

bool colmap::Reconstruction::ExtractColorsForImage ( const image_t  image_id,
const std::string &  path 
)

Definition at line 1361 of file reconstruction.cc.

References colmap::BitmapColor< T >::b, color, colmap::Point3D::Color(), colmap::BitmapColor< T >::g, image, Image(), colmap::Bitmap::InterpolateBilinear(), colmap::JoinPaths(), cloudViewer::t::geometry::path, Point3D(), colmap::BitmapColor< T >::r, colmap::Bitmap::Read(), and colmap::Point3D::SetColor().

◆ FilterAllPoints3D()

size_t colmap::Reconstruction::FilterAllPoints3D ( const double  max_reproj_error,
const double  min_tri_angle 
)

Definition at line 670 of file reconstruction.cc.

References Point3DIds().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::IncrementalMapper::FilterPoints(), and colmap::RunPointFiltering().

◆ FilterImages()

std::vector< image_t > colmap::Reconstruction::FilterImages ( const double  min_focal_length_ratio,
const double  max_focal_length_ratio,
const double  max_extra_param 
)

Definition at line 704 of file reconstruction.cc.

References Camera(), DeRegisterImage(), colmap::Camera::HasBogusParams(), image, Image(), and RegImageIds().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::IncrementalMapper::FilterImages(), and colmap::RunImageFilterer().

◆ FilterObservationsWithNegativeDepth()

size_t colmap::Reconstruction::FilterObservationsWithNegativeDepth ( )

Definition at line 684 of file reconstruction.cc.

References DeleteObservation(), colmap::Point2D::HasPoint3D(), colmap::HasPointPositiveDepth(), image, Image(), Point3D(), colmap::Point2D::Point3DId(), and colmap::Point3D::XYZ().

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

◆ FilterPoints3D()

size_t colmap::Reconstruction::FilterPoints3D ( const double  max_reproj_error,
const double  min_tri_angle,
const std::unordered_set< point3D_t > &  point3D_ids 
)

Definition at line 642 of file reconstruction.cc.

Referenced by colmap::IncrementalMapper::AdjustLocalBundle(), BOOST_AUTO_TEST_CASE(), and FilterPoints3DInImages().

◆ FilterPoints3DInImages()

size_t colmap::Reconstruction::FilterPoints3DInImages ( const double  max_reproj_error,
const double  min_tri_angle,
const std::unordered_set< image_t > &  image_ids 
)

Definition at line 654 of file reconstruction.cc.

References FilterPoints3D(), image, and Image().

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

◆ FindCommonRegImageIds()

std::vector< image_t > colmap::Reconstruction::FindCommonRegImageIds ( const Reconstruction &  reconstruction) const

Definition at line 594 of file reconstruction.cc.

References ExistsImage(), Image(), IsImageRegistered(), and colmap::Image::Name().

Referenced by colmap::ComputeAlignmentBetweenReconstructions(), and colmap::RunModelComparer().

◆ FindImageWithName()

const class Image * colmap::Reconstruction::FindImageWithName ( const std::string &  name) const

Definition at line 584 of file reconstruction.cc.

References image, and name.

Referenced by Align(), AlignRobust(), BOOST_AUTO_TEST_CASE(), colmap::RunImageDeleter(), colmap::RunImageUndistorter(), and colmap::RunModelAligner().

◆ GetCorrespondenceGraph()

const CorrespondenceGraph * colmap::Reconstruction::GetCorrespondenceGraph ( ) const
inline

Definition at line 537 of file reconstruction.h.

Referenced by operator=().

◆ HasCorrespondenceGraph()

bool colmap::Reconstruction::HasCorrespondenceGraph ( ) const
inline

Definition at line 541 of file reconstruction.h.

◆ Image() [1/2]

class Image & colmap::Reconstruction::Image ( const image_t  image_id)
inline

Definition at line 477 of file reconstruction.h.

◆ Image() [2/2]

const class Image & colmap::Reconstruction::Image ( const image_t  image_id) const
inline

Definition at line 454 of file reconstruction.h.

Referenced by AddObservation(), AddPoint3D(), colmap::IncrementalMapper::AdjustLocalBundle(), BOOST_AUTO_TEST_CASE(), colmap::CameraRig::Check(), colmap::IncrementalTriangulator::CompleteImage(), colmap::CameraRig::ComputeAbsolutePose(), colmap::ComputeAlignmentBetweenReconstructions(), ComputeNumObservations(), colmap::CameraRig::ComputeRelativePoses(), colmap::CameraRig::ComputeScale(), Crop(), DeleteObservation(), DeletePoint3D(), DeRegisterImage(), colmap::EstimateGravityVectorFromImageOrientation(), colmap::EstimateManhattanWorldFrame(), ExportBundler(), ExportCam(), ExportNVM(), ExportRecon3D(), ExtractColorsForAllImages(), ExtractColorsForImage(), FilterImages(), FilterObservationsWithNegativeDepth(), FilterPoints3DInImages(), FindCommonRegImageIds(), GenerateReconstruction(), IsImageRegistered(), Load(), Merge(), colmap::BundleAdjustmentConfig::NumResiduals(), colmap::mvs::Model::ReadFromCOLMAP(), RegisterImage(), colmap::IncrementalMapper::RegisterInitialImagePair(), colmap::IncrementalMapper::RegisterNextImage(), cloudViewer::ModelViewerWidget::ReloadReconstruction(), colmap::ModelViewerWidget::ReloadReconstruction(), colmap::IncrementalTriangulator::Retriangulate(), colmap::RunImageDeleter(), colmap::RunModelComparer(), colmap::RunPointTriangulator(), SetUp(), colmap::IncrementalTriangulator::TriangulateImage(), and colmap::UndistortReconstruction().

◆ ImagePair() [1/4]

Reconstruction::ImagePairStat & colmap::Reconstruction::ImagePair ( const image_pair_t  pair_id)
inline

Definition at line 485 of file reconstruction.h.

◆ ImagePair() [2/4]

const Reconstruction::ImagePairStat & colmap::Reconstruction::ImagePair ( const image_pair_t  pair_id) const
inline

Definition at line 462 of file reconstruction.h.

◆ ImagePair() [3/4]

Reconstruction::ImagePairStat & colmap::Reconstruction::ImagePair ( const image_t  image_id1,
const image_t  image_id2 
)
inline

Definition at line 490 of file reconstruction.h.

References colmap::Database::ImagePairToPairId().

◆ ImagePair() [4/4]

const Reconstruction::ImagePairStat & colmap::Reconstruction::ImagePair ( const image_t  image_id1,
const image_t  image_id2 
) const
inline

Definition at line 467 of file reconstruction.h.

References colmap::Database::ImagePairToPairId().

◆ ImagePairs()

const std::unordered_map< image_pair_t, Reconstruction::ImagePairStat > & colmap::Reconstruction::ImagePairs ( ) const
inline

Definition at line 513 of file reconstruction.h.

Referenced by operator=(), and colmap::IncrementalTriangulator::Retriangulate().

◆ Images()

const std::unordered_map< image_t, class Image > & colmap::Reconstruction::Images ( ) const
inline

Definition at line 500 of file reconstruction.h.

Referenced by colmap::AlignToPrincipalPlane(), BOOST_AUTO_TEST_CASE(), colmap::IncrementalMapper::FindNextImages(), operator=(), colmap::RunImageFilterer(), colmap::RunImageRegistrator(), and colmap::UndistortReconstruction().

◆ ImportPLY() [1/2]

void colmap::Reconstruction::ImportPLY ( const std::string &  path)

Definition at line 831 of file reconstruction.cc.

References AddPoint3D(), cloudViewer::t::geometry::path, and colmap::ReadPly().

Referenced by colmap::RunModelTransformer(), and colmap::RunStereoFuser().

◆ ImportPLY() [2/2]

void colmap::Reconstruction::ImportPLY ( const std::vector< PlyPoint > &  ply_points)

Definition at line 845 of file reconstruction.cc.

References AddPoint3D().

◆ IsImageRegistered()

bool colmap::Reconstruction::IsImageRegistered ( const image_t  image_id) const
inline

Definition at line 533 of file reconstruction.h.

References Image(), and colmap::Image::IsRegistered().

Referenced by Align(), AlignRobust(), BOOST_AUTO_TEST_CASE(), and FindCommonRegImageIds().

◆ Load()

void colmap::Reconstruction::Load ( const DatabaseCache &  database_cache)

Definition at line 83 of file reconstruction.cc.

References AddCamera(), AddImage(), colmap::DatabaseCache::Cameras(), colmap::DatabaseCache::CorrespondenceGraph(), ExistsCamera(), ExistsImage(), image, Image(), colmap::DatabaseCache::Images(), colmap::Image::Name(), colmap::Reconstruction::ImagePairStat::num_total_corrs, colmap::DatabaseCache::NumCameras(), colmap::CorrespondenceGraph::NumCorrespondencesBetweenImages(), colmap::DatabaseCache::NumImages(), colmap::Image::NumPoints2D(), colmap::Image::SetNumCorrespondences(), colmap::Image::SetNumObservations(), and colmap::Image::SetPoints2D().

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

◆ Merge()

bool colmap::Reconstruction::Merge ( const Reconstruction &  reconstruction,
const double  max_reproj_error 
)

Definition at line 493 of file reconstruction.cc.

References AddCamera(), colmap::Track::AddElement(), AddImage(), AddPoint3D(), Camera(), colmap::ComputeAlignmentBetweenReconstructions(), ExistsCamera(), ExistsImage(), image, Image(), colmap::Track::Length(), MergePoints3D(), NumRegImages(), colmap::Image::Point2D(), Point3DIds(), Points3D(), RegImageIds(), RegisterImage(), colmap::Image::ResetPoint3DForPoint2D(), colmap::Image::SetRegistered(), colmap::SimilarityTransform3::TransformPoint(), and colmap::SimilarityTransform3::TransformPose().

Referenced by colmap::RunModelMerger().

◆ MergePoints3D()

point3D_t colmap::Reconstruction::MergePoints3D ( const point3D_t  point3D_id1,
const point3D_t  point3D_id2 
)

Definition at line 234 of file reconstruction.cc.

References colmap::Track::AddElements(), AddPoint3D(), colmap::Point3D::Color(), DeletePoint3D(), colmap::Track::Elements(), colmap::Track::Length(), Point3D(), colmap::Track::Reserve(), colmap::Point3D::Track(), and colmap::Point3D::XYZ().

Referenced by BOOST_AUTO_TEST_CASE(), and Merge().

◆ Normalize()

void colmap::Reconstruction::Normalize ( const double  extent = 10.0,
const double  p0 = 0.1,
const double  p1 = 0.9,
const bool  use_images = true 
)

Definition at line 347 of file reconstruction.cc.

References colmap::ComposeIdentityQuaternion(), and Transform().

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

◆ NumAddedPoints3D()

size_t colmap::Reconstruction::NumAddedPoints3D ( ) const
inline

Definition at line 448 of file reconstruction.h.

Referenced by operator=().

◆ NumCameras()

size_t colmap::Reconstruction::NumCameras ( ) const
inline

Definition at line 436 of file reconstruction.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::RunModelAnalyzer(), cloudViewer::ReconstructionStatsWidget::Show(), and colmap::ReconstructionStatsWidget::Show().

◆ NumImagePairs()

size_t colmap::Reconstruction::NumImagePairs ( ) const
inline

Definition at line 444 of file reconstruction.h.

Referenced by BOOST_AUTO_TEST_CASE().

◆ NumImages()

size_t colmap::Reconstruction::NumImages ( ) const
inline

Definition at line 438 of file reconstruction.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::RunImageTexturer(), colmap::RunImageUndistorter(), colmap::RunModelAnalyzer(), cloudViewer::ReconstructionStatsWidget::Show(), colmap::ReconstructionStatsWidget::Show(), and TranscribeImageIdsToDatabase().

◆ NumPoints3D()

size_t colmap::Reconstruction::NumPoints3D ( ) const
inline

Definition at line 442 of file reconstruction.h.

Referenced by colmap::AlignToPrincipalPlane(), BOOST_AUTO_TEST_CASE(), colmap::mvs::Model::ReadFromCOLMAP(), colmap::RunImageTexturer(), colmap::RunImageUndistorter(), colmap::RunModelAnalyzer(), colmap::RunModelComparer(), colmap::RunModelMerger(), colmap::RunModelSplitter(), colmap::RunModelTransformer(), cloudViewer::ReconstructionStatsWidget::Show(), colmap::ReconstructionStatsWidget::Show(), cloudViewer::ReconstructionManagerWidget::Update(), and colmap::ReconstructionManagerWidget::Update().

◆ NumRegImages()

size_t colmap::Reconstruction::NumRegImages ( ) const
inline

Definition at line 440 of file reconstruction.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::EstimateGravityVectorFromImageOrientation(), colmap::EstimateManhattanWorldFrame(), colmap::IncrementalMapper::FilterImages(), Merge(), colmap::mvs::Model::ReadFromCOLMAP(), colmap::IncrementalMapper::RegisterInitialImagePair(), colmap::IncrementalMapper::RegisterNextImage(), colmap::AutomaticReconstructionController::RunDenseMapper(), colmap::RunImageFilterer(), colmap::RunImageRegistrator(), colmap::RunModelAnalyzer(), colmap::RunModelComparer(), colmap::RunModelMerger(), colmap::RunModelSplitter(), colmap::RunPointTriangulator(), cloudViewer::ReconstructionStatsWidget::Show(), colmap::ReconstructionStatsWidget::Show(), cloudViewer::ReconstructionManagerWidget::Update(), and colmap::ReconstructionManagerWidget::Update().

◆ operator=()

Reconstruction & colmap::Reconstruction::operator= ( const Reconstruction &  other)

Definition at line 59 of file reconstruction.cc.

References Cameras(), GetCorrespondenceGraph(), ImagePairs(), Images(), NumAddedPoints3D(), Points3D(), and RegImageIds().

◆ Point3D() [1/2]

class Point3D & colmap::Reconstruction::Point3D ( const point3D_t  point3D_id)
inline

Definition at line 481 of file reconstruction.h.

◆ Point3D() [2/2]

const class Point3D & colmap::Reconstruction::Point3D ( const point3D_t  point3D_id) const
inline

Definition at line 458 of file reconstruction.h.

Referenced by AddObservation(), colmap::IncrementalMapper::AdjustLocalBundle(), BOOST_AUTO_TEST_CASE(), DeleteObservation(), DeletePoint3D(), ExtractColorsForImage(), FilterObservationsWithNegativeDepth(), MergePoints3D(), colmap::BundleAdjustmentConfig::NumResiduals(), colmap::BundleAdjuster::ParameterizePoints(), colmap::IncrementalMapper::RegisterNextImage(), and colmap::RunPointFiltering().

◆ Point3DIds()

std::unordered_set< point3D_t > colmap::Reconstruction::Point3DIds ( ) const

Definition at line 72 of file reconstruction.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::IncrementalTriangulator::CompleteAllTracks(), FilterAllPoints3D(), Merge(), colmap::IncrementalTriangulator::MergeAllTracks(), and colmap::RunPointFiltering().

◆ Points3D()

const std::unordered_map< point3D_t, Point3D > & colmap::Reconstruction::Points3D ( ) const
inline

Definition at line 508 of file reconstruction.h.

Referenced by colmap::AlignToPrincipalPlane(), BOOST_AUTO_TEST_CASE(), GenerateReconstruction(), Merge(), operator=(), colmap::mvs::Model::ReadFromCOLMAP(), cloudViewer::ModelViewerWidget::ReloadReconstruction(), and colmap::ModelViewerWidget::ReloadReconstruction().

◆ Read()

void colmap::Reconstruction::Read ( const std::string &  path)

Definition at line 772 of file reconstruction.cc.

References colmap::ExistsFile(), colmap::JoinPaths(), cloudViewer::t::geometry::path, ReadBinary(), and ReadText().

Referenced by main(), colmap::mvs::Model::ReadFromCOLMAP(), colmap::RunBundleAdjuster(), colmap::RunColorExtractor(), colmap::RunImageDeleter(), colmap::RunImageFilterer(), colmap::RunImageRectifier(), colmap::RunImageRegistrator(), colmap::RunImageTexturer(), colmap::RunImageUndistorter(), colmap::RunModelAligner(), colmap::RunModelAnalyzer(), colmap::RunModelComparer(), colmap::RunModelConverter(), colmap::RunModelCropper(), colmap::RunModelMerger(), colmap::RunModelOrientationAligner(), colmap::RunModelSplitter(), colmap::RunModelTransformer(), colmap::RunPointFiltering(), colmap::RunPointTriangulator(), colmap::RunRigBundleAdjuster(), and colmap::RunStereoFuser().

◆ ReadBinary()

void colmap::Reconstruction::ReadBinary ( const std::string &  path)

Definition at line 795 of file reconstruction.cc.

References colmap::JoinPaths(), and cloudViewer::t::geometry::path.

Referenced by Read().

◆ ReadText()

void colmap::Reconstruction::ReadText ( const std::string &  path)

Definition at line 789 of file reconstruction.cc.

References colmap::JoinPaths(), and cloudViewer::t::geometry::path.

Referenced by Read().

◆ RegImageIds()

const std::vector< image_t > & colmap::Reconstruction::RegImageIds ( ) const
inline

Definition at line 504 of file reconstruction.h.

Referenced by colmap::IncrementalMapper::AdjustGlobalBundle(), colmap::IncrementalMapper::BeginReconstruction(), colmap::IncrementalMapper::EndReconstruction(), colmap::EstimateGravityVectorFromImageOrientation(), colmap::EstimateManhattanWorldFrame(), FilterImages(), Merge(), operator=(), colmap::mvs::Model::ReadFromCOLMAP(), cloudViewer::ModelViewerWidget::ReloadReconstruction(), colmap::ModelViewerWidget::ReloadReconstruction(), colmap::RunPointTriangulator(), and colmap::RunRigBundleAdjuster().

◆ RegisterImage()

void colmap::Reconstruction::RegisterImage ( const image_t  image_id)

Definition at line 322 of file reconstruction.cc.

References image, and Image().

Referenced by BOOST_AUTO_TEST_CASE(), Crop(), GenerateReconstruction(), Merge(), colmap::IncrementalMapper::RegisterInitialImagePair(), and colmap::IncrementalMapper::RegisterNextImage().

◆ SetUp()

void colmap::Reconstruction::SetUp ( const CorrespondenceGraph *  correspondence_graph)

Definition at line 125 of file reconstruction.cc.

References Camera(), image, and Image().

Referenced by colmap::IncrementalMapper::BeginReconstruction(), and GenerateReconstruction().

◆ TearDown()

void colmap::Reconstruction::TearDown ( )

Definition at line 147 of file reconstruction.cc.

Referenced by colmap::IncrementalMapper::EndReconstruction(), and colmap::mvs::Model::ReadFromCOLMAP().

◆ TranscribeImageIdsToDatabase()

void colmap::Reconstruction::TranscribeImageIdsToDatabase ( const Database &  database)

Definition at line 608 of file reconstruction.cc.

References colmap::Database::ExistsImageWithName(), image, NumImages(), and colmap::Database::ReadImageWithName().

Referenced by colmap::RunPointTriangulator().

◆ Transform()

void colmap::Reconstruction::Transform ( const SimilarityTransform3 &  tform)

Definition at line 455 of file reconstruction.cc.

References image, colmap::SimilarityTransform3::TransformPoint(), and colmap::SimilarityTransform3::TransformPose().

Referenced by Align(), AlignRobust(), colmap::AlignToENUPlane(), colmap::AlignToPrincipalPlane(), BOOST_AUTO_TEST_CASE(), Normalize(), colmap::RunModelOrientationAligner(), and colmap::RunModelTransformer().

◆ Write()

void colmap::Reconstruction::Write ( const std::string &  path) const

Definition at line 787 of file reconstruction.cc.

References cloudViewer::t::geometry::path, and WriteBinary().

Referenced by main(), colmap::RunBundleAdjuster(), colmap::RunColorExtractor(), colmap::RunImageDeleter(), colmap::RunImageFilterer(), colmap::RunImageRegistrator(), colmap::RunMapper(), colmap::RunModelAligner(), colmap::RunModelCropper(), colmap::RunModelMerger(), colmap::RunModelOrientationAligner(), colmap::RunModelSplitter(), colmap::RunModelTransformer(), colmap::RunPointFiltering(), colmap::RunPointTriangulator(), and colmap::RunRigBundleAdjuster().

◆ WriteBinary()

void colmap::Reconstruction::WriteBinary ( const std::string &  path) const

Definition at line 807 of file reconstruction.cc.

References colmap::JoinPaths(), and cloudViewer::t::geometry::path.

Referenced by colmap::RunModelConverter(), colmap::RunStereoFuser(), and Write().

◆ WriteText()

void colmap::Reconstruction::WriteText ( const std::string &  path) const

Definition at line 801 of file reconstruction.cc.

References colmap::JoinPaths(), and cloudViewer::t::geometry::path.

Referenced by colmap::RunModelConverter(), and colmap::RunStereoFuser().

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