Namespaces
	internal

	mvs

	retrieval

Classes
class	Camera

class	CameraDatabase

struct	BaseCameraModel

struct	SimplePinholeCameraModel

struct	PinholeCameraModel

struct	SimpleRadialCameraModel

struct	RadialCameraModel

struct	OpenCVCameraModel

struct	OpenCVFisheyeCameraModel

struct	FullOpenCVCameraModel

struct	FOVCameraModel

struct	SimpleRadialFisheyeCameraModel

struct	RadialFisheyeCameraModel

struct	ThinPrismFisheyeCameraModel

class	CameraRig

class	CorrespondenceGraph

class	BundleAdjustmentCostFunction

class	BundleAdjustmentConstantPoseCostFunction

class	RigBundleAdjustmentCostFunction

class	RelativePoseCostFunction

class	Database

class	DatabaseTransaction

class	DatabaseCache

class	GPSTransform

class	MinSTGraphCut

class	Image

struct	ImageReaderOptions

class	ImageReader

struct	LineSegment

class	Point2D

class	Point3D

class	Reconstruction

class	ReconstructionManager

class	SceneClustering

class	SimilarityTransform3

struct	TrackElement

class	Track

struct	UndistortCameraOptions

class	COLMAPUndistorter

class	PMVSUndistorter

class	CMPMVSUndistorter

class	PureImageUndistorter

class	StereoImageRectifier

class	VisibilityPyramid

class	AutomaticReconstructionController

class	BundleAdjustmentController

class	HierarchicalMapperController

struct	IncrementalMapperOptions

class	IncrementalMapperController

struct	TexturingOptions

class	TexturingReconstruction

class	P3PEstimator

class	EPNPEstimator

class	AffineTransformEstimator

struct	ManhattanWorldFrameEstimationOptions

class	EssentialMatrixFivePointEstimator

class	EssentialMatrixEightPointEstimator

class	FundamentalMatrixSevenPointEstimator

class	FundamentalMatrixEightPointEstimator

class	GP3PEstimator

class	GR6PEstimator

class	HomographyMatrixEstimator

struct	AbsolutePoseEstimationOptions

struct	AbsolutePoseRefinementOptions

class	SimilarityTransformEstimator

class	TranslationTransformEstimator

class	TriangulationEstimator

struct	EstimateTriangulationOptions

struct	TwoViewGeometry

class	SiftFeatureExtractor

class	FeatureImporter

struct	ExhaustiveMatchingOptions

struct	SequentialMatchingOptions

struct	VocabTreeMatchingOptions

struct	SpatialMatchingOptions

struct	TransitiveMatchingOptions

struct	ImagePairsMatchingOptions

struct	FeaturePairsMatchingOptions

class	FeatureMatcherCache

class	FeatureMatcherThread

class	SiftCPUFeatureMatcher

class	SiftGPUFeatureMatcher

class	GuidedSiftCPUFeatureMatcher

class	GuidedSiftGPUFeatureMatcher

class	TwoViewGeometryVerifier

class	SiftFeatureMatcher

class	ExhaustiveFeatureMatcher

class	SequentialFeatureMatcher

class	VocabTreeFeatureMatcher

class	SpatialFeatureMatcher

class	TransitiveFeatureMatcher

class	ImagePairsFeatureMatcher

class	FeaturePairsFeatureMatcher

struct	SiftExtractionOptions

struct	SiftMatchingOptions

struct	FeatureKeypoint

struct	FeatureMatch

class	BundleAdjustmentConfig

struct	BundleAdjustmentOptions

class	BundleAdjuster

class	RigBundleAdjuster

class	CombinationSampler

struct	LeastAbsoluteDeviationsOptions

class	LORANSAC

class	PositiveExponentialParameterization

class	ProgressiveSampler

class	RandomSampler

struct	RANSACOptions

class	RANSAC

class	Sampler

class	SPRT

struct	InlierSupportMeasurer

struct	MEstimatorSupportMeasurer

class	IncrementalMapper

class	IncrementalTriangulator

class	AutomaticReconstructionWidget

class	BundleAdjustmentWidget

class	PointColormapBase

class	PointColormapPhotometric

class	PointColormapError

class	PointColormapTrackLen

class	PointColormapGroundResolution

class	ImageColormapBase

class	ImageColormapUniform

class	ImageColormapNameFilter

class	TwoViewInfoTab

class	MatchesTab

class	TwoViewGeometriesTab

class	OverlappingImagesWidget

class	CameraTab

class	ImageTab

class	DatabaseManagementWidget

class	DenseReconstructionOptionsWidget

class	DenseReconstructionWidget

class	ExtractionWidget

class	SIFTExtractionWidget

class	ImportFeaturesWidget

class	FeatureExtractionWidget

class	FeatureMatchingTab

class	ExhaustiveMatchingTab

class	SequentialMatchingTab

class	VocabTreeMatchingTab

class	SpatialMatchingTab

class	TransitiveMatchingTab

class	CustomMatchingTab

class	FeatureMatchingWidget

class	ImageViewerGraphicsScene

class	ImageViewerWidget

class	FeatureImageViewerWidget

class	DatabaseImageViewerWidget

class	LicenseWidget

class	LinePainter

class	StandardOutputRedirector

class	LogWidget

class	MainWindow

class	MatchMatrixWidget

class	ModelViewerWidget

class	MovieGrabberWidget

class	OptionsWidget

class	PointPainter

class	PointViewerWidget

class	ProjectWidget

class	ReconstructionManagerWidget

class	MapperGeneralOptionsWidget

class	MapperTriangulationOptionsWidget

class	MapperRegistrationOptionsWidget

class	MapperInitializationOptionsWidget

class	MapperBundleAdjustmentOptionsWidget

class	MapperFilteringOptionsWidget

class	ReconstructionOptionsWidget

class	ReconstructionStatsWidget

struct	RenderOptions

class	RenderOptionsWidget

class	ThreadControlWidget

class	TrianglePainter

class	UndistortionWidget

struct	BitmapColor

class	Bitmap

class	JetColormap

class	LRUCache

class	ThreadSafeLRUCache

class	MemoryConstrainedLRUCache

class	CudaTimer

class	OpenGLContextManager

class	OptionManager

struct	PlyPoint

struct	PlyMeshVertex

struct	PlyMeshFace

struct	PlyMesh

class	Thread

class	ThreadPool

class	JobQueue

class	Timer

Typedefs
template<int kDim>
using	EuclideanTransformEstimator = SimilarityTransformEstimator< kDim, false >

typedef Eigen::Matrix< uint8_t, 1, Eigen::Dynamic, Eigen::RowMajor >	FeatureDescriptor

typedef std::vector< FeatureKeypoint >	FeatureKeypoints

typedef Eigen::Matrix< uint8_t, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	FeatureDescriptors

typedef std::vector< FeatureMatch >	FeatureMatches

typedef std::vector< std::pair< std::string, float > >	camera_make_specs_t

typedef std::unordered_map< std::string, camera_make_specs_t >	camera_specs_t

typedef uint32_t	camera_t

typedef uint32_t	image_t

typedef uint64_t	image_pair_t

typedef uint32_t	point2D_t

typedef uint64_t	point3D_t

Enumerations
enum class	LineSegmentOrientation { HORIZONTAL = 1 , VERTICAL = -1 , UNDEFINED = 0 }

enum class	CopyType { COPY , HARD_LINK , SOFT_LINK }

Functions
CAMERA_MODEL_CASES std::unordered_map< std::string, int >	InitialzeCameraModelNameToId ()

std::unordered_map< int, std::string >	InitialzeCameraModelIdToName ()

bool	ExistsCameraModelWithName (const std::string &model_name)

bool	ExistsCameraModelWithId (const int model_id)

int	CameraModelNameToId (const std::string &model_name)

std::string	CameraModelIdToName (const int model_id)

std::vector< double >	CameraModelInitializeParams (const int model_id, const double focal_length, const size_t width, const size_t height)

std::string	CameraModelParamsInfo (const int model_id)

const std::vector< size_t > &	CameraModelFocalLengthIdxs (const int model_id)

const std::vector< size_t > &	CameraModelPrincipalPointIdxs (const int model_id)

const std::vector< size_t > &	CameraModelExtraParamsIdxs (const int model_id)

size_t	CameraModelNumParams (const int model_id)

bool	CameraModelVerifyParams (const int model_id, const std::vector< double > &params)

bool	CameraModelHasBogusParams (const int model_id, const std::vector< double > &params, const size_t width, const size_t height, const double min_focal_length_ratio, const double max_focal_length_ratio, const double max_extra_param)

void	CameraModelWorldToImage (const int model_id, const std::vector< double > &params, const double u, const double v, double x, double y)

void	CameraModelImageToWorld (const int model_id, const std::vector< double > &params, const double x, const double y, double u, double v)

double	CameraModelImageToWorldThreshold (const int model_id, const std::vector< double > &params, const double threshold)

void	DecomposeEssentialMatrix (const Eigen::Matrix3d &E, Eigen::Matrix3d R1, Eigen::Matrix3d R2, Eigen::Vector3d *t)

void	PoseFromEssentialMatrix (const Eigen::Matrix3d &E, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, Eigen::Matrix3d R, Eigen::Vector3d t, std::vector< Eigen::Vector3d > *points3D)

Eigen::Matrix3d	EssentialMatrixFromPose (const Eigen::Matrix3d &R, const Eigen::Vector3d &t)

Eigen::Matrix3d	EssentialMatrixFromAbsolutePoses (const Eigen::Matrix3x4d &proj_matrix1, const Eigen::Matrix3x4d &proj_matrix2)

void	FindOptimalImageObservations (const Eigen::Matrix3d &E, const Eigen::Vector2d &point1, const Eigen::Vector2d &point2, Eigen::Vector2d optimal_point1, Eigen::Vector2d optimal_point2)

Eigen::Vector3d	EpipoleFromEssentialMatrix (const Eigen::Matrix3d &E, const bool left_image)

Eigen::Matrix3d	InvertEssentialMatrix (const Eigen::Matrix3d &E)

bool	RefineEssentialMatrix (const ceres::Solver::Options &options, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, const std::vector< char > &inlier_mask, Eigen::Matrix3d *E)

void	ComputeMinGraphCutStoerWagner (const std::vector< std::pair< int, int >> &edges, const std::vector< int > &weights, int cut_weight, std::vector< char > cut_labels)

std::unordered_map< int, int >	ComputeNormalizedMinGraphCut (const std::vector< std::pair< int, int >> &edges, const std::vector< int > &weights, const int num_parts)

void	DecomposeHomographyMatrix (const Eigen::Matrix3d &H, const Eigen::Matrix3d &K1, const Eigen::Matrix3d &K2, std::vector< Eigen::Matrix3d > R, std::vector< Eigen::Vector3d > t, std::vector< Eigen::Vector3d > *n)

void	PoseFromHomographyMatrix (const Eigen::Matrix3d &H, const Eigen::Matrix3d &K1, const Eigen::Matrix3d &K2, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, Eigen::Matrix3d R, Eigen::Vector3d t, Eigen::Vector3d n, std::vector< Eigen::Vector3d > points3D)

Eigen::Matrix3d	HomographyMatrixFromPose (const Eigen::Matrix3d &K1, const Eigen::Matrix3d &K2, const Eigen::Matrix3d &R, const Eigen::Vector3d &t, const Eigen::Vector3d &n, const double d)

std::vector< LineSegment >	DetectLineSegments (const Bitmap &bitmap, const double min_length)

std::vector< LineSegmentOrientation >	ClassifyLineSegmentOrientations (const std::vector< LineSegment > &segments, const double tolerance)

bool	FindLinearPolynomialRoots (const Eigen::VectorXd &coeffs, Eigen::VectorXd real, Eigen::VectorXd imag)

bool	FindQuadraticPolynomialRoots (const Eigen::VectorXd &coeffs, Eigen::VectorXd real, Eigen::VectorXd imag)

bool	FindPolynomialRootsDurandKerner (const Eigen::VectorXd &coeffs_all, Eigen::VectorXd real, Eigen::VectorXd imag)

bool	FindPolynomialRootsCompanionMatrix (const Eigen::VectorXd &coeffs_all, Eigen::VectorXd real, Eigen::VectorXd imag)

template<typename T >
T	EvaluatePolynomial (const Eigen::VectorXd &coeffs, const T &x)

Eigen::Matrix3d	CrossProductMatrix (const Eigen::Vector3d &vector)

void	RotationMatrixToEulerAngles (const Eigen::Matrix3d &R, double rx, double ry, double *rz)

Eigen::Matrix3d	EulerAnglesToRotationMatrix (const double rx, const double ry, const double rz)

Eigen::Vector4d	RotationMatrixToQuaternion (const Eigen::Matrix3d &rot_mat)

Eigen::Matrix3d	QuaternionToRotationMatrix (const Eigen::Vector4d &qvec)

Eigen::Vector4d	NormalizeQuaternion (const Eigen::Vector4d &qvec)

Eigen::Vector4d	InvertQuaternion (const Eigen::Vector4d &qvec)

Eigen::Vector4d	ConcatenateQuaternions (const Eigen::Vector4d &qvec1, const Eigen::Vector4d &qvec2)

Eigen::Vector3d	QuaternionRotatePoint (const Eigen::Vector4d &qvec, const Eigen::Vector3d &point)

Eigen::Vector4d	AverageQuaternions (const std::vector< Eigen::Vector4d > &qvecs, const std::vector< double > &weights)

Eigen::Matrix3d	RotationFromUnitVectors (const Eigen::Vector3d &vector1, const Eigen::Vector3d &vector2)

Eigen::Vector3d	ProjectionCenterFromMatrix (const Eigen::Matrix3x4d &proj_matrix)

Eigen::Vector3d	ProjectionCenterFromPose (const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec)

void	ComputeRelativePose (const Eigen::Vector4d &qvec1, const Eigen::Vector3d &tvec1, const Eigen::Vector4d &qvec2, const Eigen::Vector3d &tvec2, Eigen::Vector4d qvec12, Eigen::Vector3d tvec12)

void	ConcatenatePoses (const Eigen::Vector4d &qvec1, const Eigen::Vector3d &tvec1, const Eigen::Vector4d &qvec2, const Eigen::Vector3d &tvec2, Eigen::Vector4d qvec12, Eigen::Vector3d tvec12)

void	InvertPose (const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec, Eigen::Vector4d inv_qvec, Eigen::Vector3d inv_tvec)

void	InterpolatePose (const Eigen::Vector4d &qvec1, const Eigen::Vector3d &tvec1, const Eigen::Vector4d &qvec2, const Eigen::Vector3d &tvec2, const double t, Eigen::Vector4d qveci, Eigen::Vector3d tveci)

Eigen::Vector3d	CalculateBaseline (const Eigen::Vector4d &qvec1, const Eigen::Vector3d &tvec1, const Eigen::Vector4d &qvec2, const Eigen::Vector3d &tvec2)

bool	CheckCheirality (const Eigen::Matrix3d &R, const Eigen::Vector3d &t, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, std::vector< Eigen::Vector3d > *points3D)

Eigen::Vector4d	ComposeIdentityQuaternion ()

Eigen::Matrix3x4d	ComposeProjectionMatrix (const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec)

Eigen::Matrix3x4d	ComposeProjectionMatrix (const Eigen::Matrix3d &R, const Eigen::Vector3d &T)

Eigen::Matrix3x4d	InvertProjectionMatrix (const Eigen::Matrix3x4d &proj_matrix)

Eigen::Matrix3d	ComputeClosestRotationMatrix (const Eigen::Matrix3d &matrix)

bool	DecomposeProjectionMatrix (const Eigen::Matrix3x4d &P, Eigen::Matrix3d K, Eigen::Matrix3d R, Eigen::Vector3d *T)

Eigen::Vector2d	ProjectPointToImage (const Eigen::Vector3d &point3D, const Eigen::Matrix3x4d &proj_matrix, const Camera &camera)

double	CalculateSquaredReprojectionError (const Eigen::Vector2d &point2D, const Eigen::Vector3d &point3D, const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec, const Camera &camera)

double	CalculateSquaredReprojectionError (const Eigen::Vector2d &point2D, const Eigen::Vector3d &point3D, const Eigen::Matrix3x4d &proj_matrix, const Camera &camera)

double	CalculateAngularError (const Eigen::Vector2d &point2D, const Eigen::Vector3d &point3D, const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec, const Camera &camera)

double	CalculateAngularError (const Eigen::Vector2d &point2D, const Eigen::Vector3d &point3D, const Eigen::Matrix3x4d &proj_matrix, const Camera &camera)

double	CalculateNormalizedAngularError (const Eigen::Vector2d &point2D, const Eigen::Vector3d &point3D, const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec)

double	CalculateNormalizedAngularError (const Eigen::Vector2d &point2D, const Eigen::Vector3d &point3D, const Eigen::Matrix3x4d &proj_matrix)

double	CalculateDepth (const Eigen::Matrix3x4d &proj_matrix, const Eigen::Vector3d &point3D)

bool	HasPointPositiveDepth (const Eigen::Matrix3x4d &proj_matrix, const Eigen::Vector3d &point3D)

bool	ComputeAlignmentBetweenReconstructions (const Reconstruction &src_reconstruction, const Reconstruction &ref_reconstruction, const double min_inlier_observations, const double max_reproj_error, Eigen::Matrix3x4d *alignment)

Eigen::Vector3d	TriangulatePoint (const Eigen::Matrix3x4d &proj_matrix1, const Eigen::Matrix3x4d &proj_matrix2, const Eigen::Vector2d &point1, const Eigen::Vector2d &point2)

std::vector< Eigen::Vector3d >	TriangulatePoints (const Eigen::Matrix3x4d &proj_matrix1, const Eigen::Matrix3x4d &proj_matrix2, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2)

Eigen::Vector3d	TriangulateMultiViewPoint (const std::vector< Eigen::Matrix3x4d > &proj_matrices, const std::vector< Eigen::Vector2d > &points)

Eigen::Vector3d	TriangulateOptimalPoint (const Eigen::Matrix3x4d &proj_matrix1, const Eigen::Matrix3x4d &proj_matrix2, const Eigen::Vector2d &point1, const Eigen::Vector2d &point2)

std::vector< Eigen::Vector3d >	TriangulateOptimalPoints (const Eigen::Matrix3x4d &proj_matrix1, const Eigen::Matrix3x4d &proj_matrix2, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2)

double	CalculateTriangulationAngle (const Eigen::Vector3d &proj_center1, const Eigen::Vector3d &proj_center2, const Eigen::Vector3d &point3D)

std::vector< double >	CalculateTriangulationAngles (const Eigen::Vector3d &proj_center1, const Eigen::Vector3d &proj_center2, const std::vector< Eigen::Vector3d > &points3D)

Camera	UndistortCamera (const UndistortCameraOptions &options, const Camera &camera)

void	UndistortImage (const UndistortCameraOptions &options, const Bitmap &distorted_bitmap, const Camera &distorted_camera, Bitmap undistorted_bitmap, Camera undistorted_camera)

void	UndistortReconstruction (const UndistortCameraOptions &options, Reconstruction *reconstruction)

void	RectifyStereoCameras (const Camera &camera1, const Camera &camera2, const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec, Eigen::Matrix3d H1, Eigen::Matrix3d H2, Eigen::Matrix4d *Q)

void	RectifyAndUndistortStereoImages (const UndistortCameraOptions &options, const Bitmap &distorted_image1, const Bitmap &distorted_image2, const Camera &distorted_camera1, const Camera &distorted_camera2, const Eigen::Vector4d &qvec, const Eigen::Vector3d &tvec, Bitmap undistorted_image1, Bitmap undistorted_image2, Camera undistorted_camera, Eigen::Matrix4d Q)

void	WarpImageBetweenCameras (const Camera &source_camera, const Camera &target_camera, const Bitmap &source_image, Bitmap *target_image)

void	WarpImageWithHomography (const Eigen::Matrix3d &H, const Bitmap &source_image, Bitmap *target_image)

void	WarpImageWithHomographyBetweenCameras (const Eigen::Matrix3d &H, const Camera &source_camera, const Camera &target_camera, const Bitmap &source_image, Bitmap *target_image)

void	ResampleImageBilinear (const float data, const int rows, const int cols, const int new_rows, const int new_cols, float resampled)

void	SmoothImage (const float data, const int rows, const int cols, const float sigma_r, const float sigma_c, float smoothed)

void	DownsampleImage (const float data, const int rows, const int cols, const int new_rows, const int new_cols, float downsampled)

size_t	FilterPoints (const IncrementalMapperOptions &options, IncrementalMapper *mapper)

size_t	FilterImages (const IncrementalMapperOptions &options, IncrementalMapper *mapper)

size_t	CompleteAndMergeTracks (const IncrementalMapperOptions &options, IncrementalMapper *mapper)

Eigen::Vector3d	EstimateGravityVectorFromImageOrientation (const Reconstruction &reconstruction, const double max_axis_distance)

Eigen::Matrix3d	EstimateManhattanWorldFrame (const ManhattanWorldFrameEstimationOptions &options, const Reconstruction &reconstruction, const std::string &image_path)

void	AlignToPrincipalPlane (Reconstruction recon, SimilarityTransform3 tform)

void	AlignToENUPlane (Reconstruction recon, SimilarityTransform3 tform, bool unscaled)

Eigen::Matrix< double, 9, 1 >	ComputeDepthsSylvesterCoeffs (const Eigen::Matrix< double, 3, 6 > &K)

bool	EstimateAbsolutePose (const AbsolutePoseEstimationOptions &options, const std::vector< Eigen::Vector2d > &points2D, const std::vector< Eigen::Vector3d > &points3D, Eigen::Vector4d qvec, Eigen::Vector3d tvec, Camera camera, size_t num_inliers, std::vector< char > *inlier_mask)

size_t	EstimateRelativePose (const RANSACOptions &ransac_options, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, Eigen::Vector4d qvec, Eigen::Vector3d tvec)

bool	RefineAbsolutePose (const AbsolutePoseRefinementOptions &options, const std::vector< char > &inlier_mask, const std::vector< Eigen::Vector2d > &points2D, const std::vector< Eigen::Vector3d > &points3D, Eigen::Vector4d qvec, Eigen::Vector3d tvec, Camera *camera)

bool	RefineRelativePose (const ceres::Solver::Options &options, const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, Eigen::Vector4d qvec, Eigen::Vector3d tvec)

bool	EstimateTriangulation (const EstimateTriangulationOptions &options, const std::vector< TriangulationEstimator::PointData > &point_data, const std::vector< TriangulationEstimator::PoseData > &pose_data, std::vector< char > inlier_mask, Eigen::Vector3d xyz)

void	CenterAndNormalizeImagePoints (const std::vector< Eigen::Vector2d > &points, std::vector< Eigen::Vector2d > normed_points, Eigen::Matrix3d matrix)

void	ComputeSquaredSampsonError (const std::vector< Eigen::Vector2d > &points1, const std::vector< Eigen::Vector2d > &points2, const Eigen::Matrix3d &E, std::vector< double > *residuals)

void	ComputeSquaredReprojectionError (const std::vector< Eigen::Vector2d > &points2D, const std::vector< Eigen::Vector3d > &points3D, const Eigen::Matrix3x4d &proj_matrix, std::vector< double > *residuals)

int	RunDatabaseCleaner (int argc, char **argv)

int	RunDatabaseCreator (int argc, char **argv)

int	RunDatabaseMerger (int argc, char **argv)

int	RunFeatureExtractor (int argc, char **argv)

int	RunFeatureImporter (int argc, char **argv)

int	RunMatchesImporter (int argc, char **argv)

int	RunExhaustiveMatcher (int argc, char **argv)

int	RunSequentialMatcher (int argc, char **argv)

int	RunSpatialMatcher (int argc, char **argv)

int	RunTransitiveMatcher (int argc, char **argv)

int	RunVocabTreeMatcher (int argc, char **argv)

int	RunGraphicalUserInterface (int argc, char **argv)

int	RunProjectGenerator (int argc, char **argv)

int	RunImageDeleter (int argc, char **argv)

int	RunImageFilterer (int argc, char **argv)

int	RunImageRectifier (int argc, char **argv)

int	RunImageRegistrator (int argc, char **argv)

int	RunImageUndistorter (int argc, char **argv)

int	RunImageUndistorterStandalone (int argc, char **argv)

int	RunImageTexturer (int argc, char **argv)

int	RunModelAligner (int argc, char **argv)

int	RunModelAnalyzer (int argc, char **argv)

int	RunModelComparer (int argc, char **argv)

int	RunModelConverter (int argc, char **argv)

int	RunModelCropper (int argc, char **argv)

int	RunModelMerger (int argc, char **argv)

int	RunModelOrientationAligner (int argc, char **argv)

int	RunModelSplitter (int argc, char **argv)

int	RunModelTransformer (int argc, char **argv)

int	RunDelaunayMesher (int argc, char **argv)

int	RunPatchMatchStereo (int argc, char **argv)

int	RunPoissonMesher (int argc, char **argv)

int	RunStereoFuser (int argc, char **argv)

int	RunAutomaticReconstructor (int argc, char **argv)

int	RunBundleAdjuster (int argc, char **argv)

int	RunColorExtractor (int argc, char **argv)

int	RunMapper (int argc, char **argv)

int	RunHierarchicalMapper (int argc, char **argv)

int	RunPointFiltering (int argc, char **argv)

int	RunPointTriangulator (int argc, char **argv)

int	RunRigBundleAdjuster (int argc, char **argv)

int	RunVocabTreeBuilder (int argc, char **argv)

int	RunVocabTreeRetriever (int argc, char **argv)

bool	ExtractSiftFeaturesCPU (const SiftExtractionOptions &options, const Bitmap &bitmap, FeatureKeypoints keypoints, FeatureDescriptors descriptors)

bool	ExtractCovariantSiftFeaturesCPU (const SiftExtractionOptions &options, const Bitmap &bitmap, FeatureKeypoints keypoints, FeatureDescriptors descriptors)

bool	CreateSiftGPUExtractor (const SiftExtractionOptions &options, SiftGPU *sift_gpu)

bool	ExtractSiftFeaturesGPU (const SiftExtractionOptions &options, const Bitmap &bitmap, SiftGPU sift_gpu, FeatureKeypoints keypoints, FeatureDescriptors *descriptors)

void	LoadSiftFeaturesFromTextFile (const std::string &path, FeatureKeypoints keypoints, FeatureDescriptors descriptors)

void	MatchSiftFeaturesCPUBruteForce (const SiftMatchingOptions &match_options, const FeatureDescriptors &descriptors1, const FeatureDescriptors &descriptors2, FeatureMatches *matches)

void	MatchSiftFeaturesCPUFLANN (const SiftMatchingOptions &match_options, const FeatureDescriptors &descriptors1, const FeatureDescriptors &descriptors2, FeatureMatches *matches)

void	MatchSiftFeaturesCPU (const SiftMatchingOptions &match_options, const FeatureDescriptors &descriptors1, const FeatureDescriptors &descriptors2, FeatureMatches *matches)

void	MatchGuidedSiftFeaturesCPU (const SiftMatchingOptions &match_options, const FeatureKeypoints &keypoints1, const FeatureKeypoints &keypoints2, const FeatureDescriptors &descriptors1, const FeatureDescriptors &descriptors2, TwoViewGeometry *two_view_geometry)

bool	CreateSiftGPUMatcher (const SiftMatchingOptions &match_options, SiftMatchGPU *sift_match_gpu)

void	MatchSiftFeaturesGPU (const SiftMatchingOptions &match_options, const FeatureDescriptors descriptors1, const FeatureDescriptors descriptors2, SiftMatchGPU sift_match_gpu, FeatureMatches matches)

void	MatchGuidedSiftFeaturesGPU (const SiftMatchingOptions &match_options, const FeatureKeypoints keypoints1, const FeatureKeypoints keypoints2, const FeatureDescriptors descriptors1, const FeatureDescriptors descriptors2, SiftMatchGPU sift_match_gpu, TwoViewGeometry two_view_geometry)

std::vector< Eigen::Vector2d >	FeatureKeypointsToPointsVector (const FeatureKeypoints &keypoints)

Eigen::MatrixXf	L2NormalizeFeatureDescriptors (const Eigen::MatrixXf &descriptors)

Eigen::MatrixXf	L1RootNormalizeFeatureDescriptors (const Eigen::MatrixXf &descriptors)

FeatureDescriptors	FeatureDescriptorsToUnsignedByte (const Eigen::MatrixXf &descriptors)

void	ExtractTopScaleFeatures (FeatureKeypoints keypoints, FeatureDescriptors descriptors, const size_t num_features)

void	PrintSolverSummary (const ceres::Solver::Summary &summary)

bool	SolveLeastAbsoluteDeviations (const LeastAbsoluteDeviationsOptions &options, const Eigen::SparseMatrix< double > &A, const Eigen::VectorXd &b, Eigen::VectorXd *x)

void	SetQuaternionManifold (ceres::Problem problem, double quat_xyzw)

void	SetSubsetManifold (int size, const std::vector< int > &constant_params, ceres::Problem problem, double params)

template<int size>
void	SetSphereManifold (ceres::Problem problem, double params)

template<int size>
void	SetPositiveExponentialManifold (ceres::Problem problem, double params)

int	ParameterBlockTangentSize (ceres::Problem problem, const double param)

Eigen::Matrix4f	QMatrixToEigen (const QMatrix4x4 &matrix)

QMatrix4x4	EigenToQMatrix (const Eigen::Matrix4f &matrix)

QImage	BitmapToQImageRGB (const Bitmap &bitmap)

QPixmap	ShowImagesSideBySide (const QPixmap &image1, const QPixmap &image2)

void	DrawKeypoints (QPixmap *pixmap, const FeatureKeypoints &points, const QColor &color)

QPixmap	DrawMatches (const QPixmap &image1, const QPixmap &image2, const FeatureKeypoints &points1, const FeatureKeypoints &points2, const FeatureMatches &matches, const QColor &keypoints_color)

template<typename T >
std::ostream &	operator<< (std::ostream &output, const BitmapColor< T > &color)

camera_specs_t	InitializeCameraSpecs ()

int	GetNumCudaDevices ()

void	SetBestCudaDevice (const int gpu_index)

void	CudaSafeCall (const cudaError_t error, const std::string &file, const int line)

void	CudaCheck (const char *file, const int line)

void	CudaSyncAndCheck (const char *file, const int line)

bool	IsURI (const std::string &uri)

std::filesystem::path	GetCachedFilePath (const std::string &uri)

std::filesystem::path	MaybeDownloadAndCacheFile (const std::string &uri)

template<typename T >
T	ReverseBytes (const T &data)

bool	IsLittleEndian ()

bool	IsBigEndian ()

template<typename T >
T	LittleEndianToNative (const T x)

template<typename T >
T	BigEndianToNative (const T x)

template<typename T >
T	NativeToLittleEndian (const T x)

template<typename T >
T	NativeToBigEndian (const T x)

template<typename T >
T	ReadBinaryLittleEndian (std::istream *stream)

template<typename T >
void	ReadBinaryLittleEndian (std::istream stream, std::vector< T > data)

template<typename T >
void	WriteBinaryLittleEndian (std::ostream *stream, const T &data)

template<typename T >
void	WriteBinaryLittleEndian (std::ostream *stream, const std::vector< T > &data)

void	InitializeGlog (char **argv)

const char *	__GetConstFileBaseName (const char *file)

bool	__CheckOptionImpl (const char file, const int line, const bool result, const char expr_str)

template<typename T1 , typename T2 >
bool	__CheckOptionOpImpl (const char file, const int line, const bool result, const T1 &val1, const T2 &val2, const char val1_str, const char val2_str, const char op_str)

size_t	NChooseK (const size_t n, const size_t k)

template<typename T >
int	SignOfNumber (const T val)

bool	IsNaN (const float x)

bool	IsNaN (const double x)

bool	IsInf (const float x)

bool	IsInf (const double x)

template<typename T >
T	Clip (const T &value, const T &low, const T &high)

float	DegToRad (const float deg)

double	DegToRad (const double deg)

float	RadToDeg (const float rad)

double	RadToDeg (const double rad)

template<typename T >
double	Median (const std::vector< T > &elems)

template<typename T >
double	Mean (const std::vector< T > &elems)

template<typename T >
double	Variance (const std::vector< T > &elems)

template<typename T >
double	StdDev (const std::vector< T > &elems)

template<typename T >
bool	AnyLessThan (std::vector< T > elems, T threshold)

template<typename T >
bool	AnyGreaterThan (std::vector< T > elems, T threshold)

template<class Iterator >
bool	NextCombination (Iterator first, Iterator middle, Iterator last)

template<typename T >
T	Sigmoid (const T x, const T alpha=1)

template<typename T >
T	ScaleSigmoid (T x, const T alpha=1, const T x0=10)

template<typename T1 , typename T2 >
T2	TruncateCast (const T1 value)

template<typename T >
T	Percentile (const std::vector< T > &elems, const double p)

template<typename Derived >
bool	IsNaN (const Eigen::MatrixBase< Derived > &x)

template<typename Derived >
bool	IsInf (const Eigen::MatrixBase< Derived > &x)

template<typename MatrixType >
void	DecomposeMatrixRQ (const MatrixType &A, MatrixType R, MatrixType Q)

std::string	EnsureTrailingSlash (const std::string &str)

bool	HasFileExtension (const std::string &file_name, const std::string &ext)

void	SplitFileExtension (const std::string &path, std::string root, std::string ext)

void	FileCopy (const std::string &src_path, const std::string &dst_path, CopyType type)

bool	ExistsFile (const std::string &path)

bool	ExistsDir (const std::string &path)

bool	ExistsPath (const std::string &path)

void	CreateDirIfNotExists (const std::string &path)

std::string	GetPathBaseName (const std::string &path)

std::string	GetParentDir (const std::string &path)

std::string	GetRelativePath (const std::string &from, const std::string &to)

std::vector< std::string >	GetFileList (const std::string &path)

std::vector< std::string >	GetRecursiveFileList (const std::string &path)

std::vector< std::string >	GetDirList (const std::string &path)

std::vector< std::string >	GetRecursiveDirList (const std::string &path)

size_t	GetFileSize (const std::string &path)

void	PrintHeading1 (const std::string &heading)

void	PrintHeading2 (const std::string &heading)

template<>
std::vector< std::string >	CSVToVector (const std::string &csv)

std::vector< std::string >	ReadTextFileLines (const std::string &path)

void	RemoveCommandLineArgument (const std::string &arg, int argc, char *argv)

template<typename... T>
std::string	JoinPaths (T const &... paths)

template<typename T >
bool	VectorContainsValue (const std::vector< T > &vector, const T value)

template<typename T >
bool	VectorContainsDuplicateValues (const std::vector< T > &vector)

template<typename T >
std::string	VectorToCSV (const std::vector< T > &values)

template<typename T >
void	ReadBinaryBlob (const std::string &path, std::vector< T > *data)

template<typename T >
void	WriteBinaryBlob (const std::string &path, const std::vector< T > &data)

void	RunThreadWithOpenGLContext (Thread *thread)

void	GLError (const char *file, const int line)

std::vector< PlyPoint >	ReadPly (const std::string &path)

void	WriteTextPlyPoints (const std::string &path, const std::vector< PlyPoint > &points, const bool write_normal, const bool write_rgb)

void	WriteBinaryPlyPoints (const std::string &path, const std::vector< PlyPoint > &points, const bool write_normal, const bool write_rgb)

void	WriteTextPlyMesh (const std::string &path, const PlyMesh &mesh)

void	WriteBinaryPlyMesh (const std::string &path, const PlyMesh &mesh)

void	SetPRNGSeed (unsigned seed)

template<typename T >
T	RandomInteger (const T min, const T max)

template<typename T >
T	RandomReal (const T min, const T max)

template<typename T >
T	RandomGaussian (const T mean, const T stddev)

template<typename T >
void	Shuffle (const uint32_t num_to_shuffle, std::vector< T > *elems)

int	SQLite3CallHelper (const int result_code, const std::string &filename, const int line_number)

std::string	StringPrintf (const char *format,...)

std::string	StringReplace (const std::string &str, const std::string &old_str, const std::string &new_str)

std::string	StringGetAfter (const std::string &str, const std::string &key)

std::vector< std::string >	StringSplit (const std::string &str, const std::string &delim)

bool	StringStartsWith (const std::string &str, const std::string &prefix)

void	StringLeftTrim (std::string *str)

void	StringRightTrim (std::string *str)

void	StringTrim (std::string *str)

void	StringToLower (std::string *str)

void	StringToUpper (std::string *str)

bool	StringContains (const std::string &str, const std::string &sub_str)

int	GetEffectiveNumThreads (const int num_threads)

std::string	GetVersionInfo ()

std::string	GetBuildInfo ()

Variables
static const std::unordered_map< std::string, int >	CAMERA_MODEL_NAME_TO_ID

static const std::unordered_map< int, std::string >	CAMERA_MODEL_ID_TO_NAME

static const std::vector< size_t >	EMPTY_IDXS

static const int	kInvalidCameraModelId = -1

const bool	kUseOpenGL = false

thread_local std::unique_ptr< std::mt19937 >	PRNG

static int	kDefaultPRNGSeed = 0

const camera_t	kInvalidCameraId = std::numeric_limits<camera_t>::max()

const image_t	kInvalidImageId = std::numeric_limits<image_t>::max()

const image_pair_t	kInvalidImagePairId

const point2D_t	kInvalidPoint2DIdx = std::numeric_limits<point2D_t>::max()

const point3D_t	kInvalidPoint3DId = std::numeric_limits<point3D_t>::max()

Typedef Documentation

◆ camera_make_specs_t

typedef std::vector<std::pair<std::string, float> > colmap::camera_make_specs_t

Definition at line 17 of file camera_specs.h.

◆ camera_specs_t

typedef std::unordered_map<std::string, camera_make_specs_t> colmap::camera_specs_t

Definition at line 18 of file camera_specs.h.

◆ camera_t

typedef uint32_t colmap::camera_t

Definition at line 58 of file types.h.

◆ EuclideanTransformEstimator

template<int kDim>

using colmap::EuclideanTransformEstimator = typedef SimilarityTransformEstimator<kDim, false>

Definition at line 27 of file euclidean_transform.h.

◆ FeatureDescriptor

typedef Eigen::Matrix<uint8_t, 1, Eigen::Dynamic, Eigen::RowMajor> colmap::FeatureDescriptor

Definition at line 62 of file types.h.

◆ FeatureDescriptors

typedef Eigen::Matrix<uint8_t, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> colmap::FeatureDescriptors

Definition at line 79 of file types.h.

◆ FeatureKeypoints

typedef std::vector<FeatureKeypoint> colmap::FeatureKeypoints

Definition at line 77 of file types.h.

◆ FeatureMatches

typedef std::vector<FeatureMatch> colmap::FeatureMatches

Definition at line 80 of file types.h.

◆ image_pair_t

typedef uint64_t colmap::image_pair_t

Definition at line 64 of file types.h.

◆ image_t

typedef uint32_t colmap::image_t

Definition at line 61 of file types.h.

◆ point2D_t

typedef uint32_t colmap::point2D_t

Definition at line 67 of file types.h.

◆ point3D_t

typedef uint64_t colmap::point3D_t

Definition at line 72 of file types.h.

Enumeration Type Documentation

◆ CopyType

enum colmap::CopyType

strong

Enumerator
COPY
HARD_LINK
SOFT_LINK

Definition at line 27 of file misc.h.

◆ LineSegmentOrientation

enum colmap::LineSegmentOrientation

strong

Enumerator
HORIZONTAL
VERTICAL
UNDEFINED

Definition at line 22 of file line.h.

Function Documentation

◆ __CheckOptionImpl()

bool colmap::__CheckOptionImpl	(	const char *	file,
		const int	line,
		const bool	result,
		const char *	expr_str
	)

Definition at line 51 of file logging.cc.

References __GetConstFileBaseName(), result, and StringPrintf().

◆ __CheckOptionOpImpl()

template<typename T1 , typename T2 >

bool colmap::__CheckOptionOpImpl	(	const char *	file,
		const int	line,
		const bool	result,
		const T1 &	val1,
		const T2 &	val2,
		const char *	val1_str,
		const char *	val2_str,
		const char *	op_str
	)

Definition at line 53 of file logging.h.

References __GetConstFileBaseName(), result, StringPrintf(), and patch::to_string().

◆ __GetConstFileBaseName()

const char * colmap::__GetConstFileBaseName ( const char * file )

Definition at line 43 of file logging.cc.

Referenced by __CheckOptionImpl(), and __CheckOptionOpImpl().

◆ AlignToENUPlane()

void colmap::AlignToENUPlane	(	Reconstruction *	recon,
		SimilarityTransform3 *	tform,
		bool	unscaled
	)

Definition at line 333 of file coordinate_frame.cc.

References ecvColor::LookUpTable::at(), colmap::Reconstruction::ComputeCentroid(), DegToRad(), RotationMatrixToQuaternion(), colmap::SimilarityTransform3::Scale(), colmap::Reconstruction::Transform(), and colmap::GPSTransform::XYZToEll().

Referenced by BOOST_AUTO_TEST_CASE(), and RunModelAligner().

◆ AlignToPrincipalPlane()

void colmap::AlignToPrincipalPlane	(	Reconstruction *	recon,
		SimilarityTransform3 *	tform
	)

Definition at line 302 of file coordinate_frame.cc.

References colmap::Reconstruction::ComputeCentroid(), colmap::Reconstruction::Images(), colmap::Reconstruction::NumPoints3D(), points, colmap::Reconstruction::Points3D(), colmap::Image::ProjectionCenter(), colmap::Image::Qvec(), RotationMatrixToQuaternion(), colmap::Reconstruction::Transform(), colmap::SimilarityTransform3::TransformPose(), and colmap::Image::Tvec().

Referenced by BOOST_AUTO_TEST_CASE(), and RunModelAligner().

◆ AnyGreaterThan()

template<typename T >

bool colmap::AnyGreaterThan	(	std::vector< T >	elems,
		T	threshold
	)

Definition at line 263 of file math.h.

◆ AnyLessThan()

template<typename T >

bool colmap::AnyLessThan	(	std::vector< T >	elems,
		T	threshold
	)

Definition at line 253 of file math.h.

◆ AverageQuaternions()

Eigen::Vector4d colmap::AverageQuaternions	(	const std::vector< Eigen::Vector4d > &	qvecs,
		const std::vector< double > &	weights
	)

Definition at line 118 of file pose.cc.

References NormalizeQuaternion().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::CameraRig::ComputeAbsolutePose(), and colmap::CameraRig::ComputeRelativePoses().

◆ BigEndianToNative()

template<typename T >

T colmap::BigEndianToNative ( const T x )

Definition at line 84 of file endian.h.

References IsBigEndian(), ReverseBytes(), and x.

Referenced by ReadPly().

◆ BitmapToQImageRGB()

QImage colmap::BitmapToQImageRGB ( const Bitmap & bitmap )

Definition at line 59 of file qt_utils.cc.

References color, colmap::Bitmap::GetPixel(), colmap::Bitmap::Height(), image, colmap::Bitmap::Width(), x, and y.

Referenced by cloudViewer::FeatureImageViewerWidget::ReadAndShowWithKeypoints(), colmap::FeatureImageViewerWidget::ReadAndShowWithKeypoints(), cloudViewer::FeatureImageViewerWidget::ReadAndShowWithMatches(), colmap::FeatureImageViewerWidget::ReadAndShowWithMatches(), cloudViewer::PointViewerWidget::Show(), colmap::PointViewerWidget::Show(), colmap::ImageViewerWidget::ShowBitmap(), and cloudViewer::ImageViewerWidget::ShowBitmap().

◆ CalculateAngularError() [1/2]

double colmap::CalculateAngularError	(	const Eigen::Vector2d &	point2D,
		const Eigen::Vector3d &	point3D,
		const Eigen::Matrix3x4d &	proj_matrix,
		const Camera &	camera
	)

Definition at line 160 of file projection.cc.

References CalculateNormalizedAngularError(), and colmap::Camera::ImageToWorld().

◆ CalculateAngularError() [2/2]

double colmap::CalculateAngularError	(	const Eigen::Vector2d &	point2D,
		const Eigen::Vector3d &	point3D,
		const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec,
		const Camera &	camera
	)

Definition at line 151 of file projection.cc.

References CalculateNormalizedAngularError(), and colmap::Camera::ImageToWorld().

Referenced by BOOST_AUTO_TEST_CASE().

◆ CalculateBaseline()

Eigen::Vector3d colmap::CalculateBaseline	(	const Eigen::Vector4d &	qvec1,
		const Eigen::Vector3d &	tvec1,
		const Eigen::Vector4d &	qvec2,
		const Eigen::Vector3d &	tvec2
	)

Definition at line 216 of file pose.cc.

References ProjectionCenterFromPose().

Referenced by BOOST_AUTO_TEST_CASE().

◆ CalculateDepth()

double colmap::CalculateDepth	(	const Eigen::Matrix3x4d &	proj_matrix,
		const Eigen::Vector3d &	point3D
	)

Definition at line 185 of file projection.cc.

Referenced by BOOST_AUTO_TEST_CASE(), and CheckCheirality().

◆ CalculateNormalizedAngularError() [1/2]

double colmap::CalculateNormalizedAngularError	(	const Eigen::Vector2d &	point2D,
		const Eigen::Vector3d &	point3D,
		const Eigen::Matrix3x4d &	proj_matrix
	)

Definition at line 177 of file projection.cc.

◆ CalculateNormalizedAngularError() [2/2]

double colmap::CalculateNormalizedAngularError	(	const Eigen::Vector2d &	point2D,
		const Eigen::Vector3d &	point3D,
		const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec
	)

Definition at line 168 of file projection.cc.

References QuaternionRotatePoint().

Referenced by CalculateAngularError(), and colmap::TriangulationEstimator::Residuals().

◆ CalculateSquaredReprojectionError() [1/2]

double colmap::CalculateSquaredReprojectionError	(	const Eigen::Vector2d &	point2D,
		const Eigen::Vector3d &	point3D,
		const Eigen::Matrix3x4d &	proj_matrix,
		const Camera &	camera
	)

Definition at line 130 of file projection.cc.

References colmap::Camera::WorldToImage().

◆ CalculateSquaredReprojectionError() [2/2]

double colmap::CalculateSquaredReprojectionError	(	const Eigen::Vector2d &	point2D,
		const Eigen::Vector3d &	point3D,
		const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec,
		const Camera &	camera
	)

Definition at line 111 of file projection.cc.

References QuaternionRotatePoint(), and colmap::Camera::WorldToImage().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::TriangulationEstimator::Residuals().

◆ CalculateTriangulationAngle()

double colmap::CalculateTriangulationAngle	(	const Eigen::Vector3d &	proj_center1,
		const Eigen::Vector3d &	proj_center2,
		const Eigen::Vector3d &	point3D
	)

Definition at line 122 of file triangulation.cc.

References M_PI.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::mvs::Model::ComputeTriangulationAngles(), colmap::TriangulationEstimator::Estimate(), and colmap::IncrementalMapper::RegisterInitialImagePair().

◆ CalculateTriangulationAngles()

std::vector< double > colmap::CalculateTriangulationAngles	(	const Eigen::Vector3d &	proj_center1,
		const Eigen::Vector3d &	proj_center2,
		const std::vector< Eigen::Vector3d > &	points3D
	)

Definition at line 147 of file triangulation.cc.

References M_PI.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::TwoViewGeometry::EstimateRelativePose().

◆ CameraModelExtraParamsIdxs()

const std::vector< size_t > & colmap::CameraModelExtraParamsIdxs ( const int model_id )

Definition at line 186 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES, and EMPTY_IDXS.

Referenced by colmap::Camera::ExtraParamsIdxs(), and TestModel().

◆ CameraModelFocalLengthIdxs()

const std::vector< size_t > & colmap::CameraModelFocalLengthIdxs ( const int model_id )

Definition at line 156 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES, and EMPTY_IDXS.

Referenced by colmap::Camera::FocalLengthIdxs(), and TestModel().

◆ CameraModelHasBogusParams()

bool colmap::CameraModelHasBogusParams	(	const int	model_id,
		const std::vector< double > &	params,
		const size_t	width,
		const size_t	height,
		const double	min_focal_length_ratio,
		const double	max_focal_length_ratio,
		const double	max_extra_param
	)

Definition at line 233 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES.

Referenced by colmap::Camera::HasBogusParams(), and TestModel().

◆ CameraModelIdToName()

std::string colmap::CameraModelIdToName ( const int model_id )

Definition at line 111 of file camera_models.cc.

References CAMERA_MODEL_ID_TO_NAME.

Referenced by colmap::Camera::ModelName(), and TestModel().

◆ CameraModelImageToWorld()

void colmap::CameraModelImageToWorld	(	const int	model_id,
		const std::vector< double > &	params,
		const double	x,
		const double	y,
		double *	u,
		double *	v
	)

inline

Definition at line 1497 of file camera_models.h.

References CAMERA_MODEL_SWITCH_CASES, and colmap::FOVCameraModel::model_id.

Referenced by colmap::Camera::ImageToWorld(), and TestImageToWorldToImage().

◆ CameraModelImageToWorldThreshold()

double colmap::CameraModelImageToWorldThreshold	(	const int	model_id,
		const std::vector< double > &	params,
		const double	threshold
	)

inline

Definition at line 1515 of file camera_models.h.

References CAMERA_MODEL_SWITCH_CASES, and colmap::FOVCameraModel::model_id.

Referenced by colmap::Camera::ImageToWorldThreshold(), and TestModel().

◆ CameraModelInitializeParams()

std::vector< double > colmap::CameraModelInitializeParams	(	const int	model_id,
		const double	focal_length,
		const size_t	width,
		const size_t	height
	)

Definition at line 120 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Camera::InitializeWithId(), and TestModel().

◆ CameraModelNameToId()

int colmap::CameraModelNameToId ( const std::string & model_name )

Definition at line 102 of file camera_models.cc.

References CAMERA_MODEL_NAME_TO_ID, and kInvalidCameraModelId.

Referenced by colmap::ImageReaderOptions::Check(), colmap::Camera::InitializeWithName(), colmap::Camera::SetModelIdFromName(), and TestModel().

◆ CameraModelNumParams()

size_t colmap::CameraModelNumParams ( const int model_id )

Definition at line 201 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES.

Referenced by colmap::Camera::SetModelId(), colmap::Camera::SetModelIdFromName(), and TestModel().

◆ CameraModelParamsInfo()

std::string colmap::CameraModelParamsInfo ( const int model_id )

Definition at line 139 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES.

Referenced by colmap::Camera::ParamsInfo(), and TestModel().

◆ CameraModelPrincipalPointIdxs()

const std::vector< size_t > & colmap::CameraModelPrincipalPointIdxs ( const int model_id )

Definition at line 171 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES, and EMPTY_IDXS.

Referenced by colmap::Camera::PrincipalPointIdxs(), and TestModel().

◆ CameraModelVerifyParams()

bool colmap::CameraModelVerifyParams	(	const int	model_id,
		const std::vector< double > &	params
	)

Definition at line 215 of file camera_models.cc.

References CAMERA_MODEL_SWITCH_CASES.

Referenced by colmap::ImageReaderOptions::Check(), colmap::Camera::SetParamsFromString(), TestModel(), and colmap::Camera::VerifyParams().

◆ CameraModelWorldToImage()

void colmap::CameraModelWorldToImage	(	const int	model_id,
		const std::vector< double > &	params,
		const double	u,
		const double	v,
		double *	x,
		double *	y
	)

inline

Definition at line 1479 of file camera_models.h.

References CAMERA_MODEL_SWITCH_CASES, and colmap::FOVCameraModel::model_id.

Referenced by TestWorldToImageToWorld(), and colmap::Camera::WorldToImage().

◆ CenterAndNormalizeImagePoints()

void colmap::CenterAndNormalizeImagePoints	(	const std::vector< Eigen::Vector2d > &	points,
		std::vector< Eigen::Vector2d > *	normed_points,
		Eigen::Matrix3d *	matrix
	)

Definition at line 38 of file utils.cc.

References points.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::EssentialMatrixEightPointEstimator::Estimate(), colmap::FundamentalMatrixEightPointEstimator::Estimate(), and colmap::HomographyMatrixEstimator::Estimate().

◆ CheckCheirality()

bool colmap::CheckCheirality	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	t,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2,
		std::vector< Eigen::Vector3d > *	points3D
	)

Definition at line 225 of file pose.cc.

References CalculateDepth(), ComposeProjectionMatrix(), and TriangulatePoint().

Referenced by BOOST_AUTO_TEST_CASE(), PoseFromEssentialMatrix(), and PoseFromHomographyMatrix().

◆ ClassifyLineSegmentOrientations()

std::vector< LineSegmentOrientation > colmap::ClassifyLineSegmentOrientations	(	const std::vector< LineSegment > &	segments,
		const double	tolerance
	)

Definition at line 79 of file line.cc.

References HORIZONTAL, UNDEFINED, and VERTICAL.

Referenced by BOOST_AUTO_TEST_CASE(), and EstimateManhattanWorldFrame().

◆ Clip()

template<typename T >

T colmap::Clip	(	const T &	value,
		const T &	low,
		const T &	high
	)

inline

Definition at line 167 of file math.h.

Referenced by BOOST_AUTO_TEST_CASE(), and UndistortCamera().

◆ CompleteAndMergeTracks()

size_t colmap::CompleteAndMergeTracks	(	const IncrementalMapperOptions &	options,
		IncrementalMapper *	mapper
	)

Definition at line 163 of file incremental_mapper.cc.

References colmap::IncrementalMapper::CompleteTracks(), QtCompat::endl(), colmap::IncrementalMapper::MergeTracks(), and colmap::IncrementalMapperOptions::Triangulation().

Referenced by RunPointTriangulator().

◆ ComposeIdentityQuaternion()

Eigen::Vector4d colmap::ComposeIdentityQuaternion ( )

inline

Definition at line 209 of file pose.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::CameraRig::ComputeRelativePoses(), GenerateReconstruction(), colmap::Reconstruction::Normalize(), and colmap::IncrementalMapper::RegisterInitialImagePair().

◆ ComposeProjectionMatrix() [1/2]

Eigen::Matrix3x4d colmap::ComposeProjectionMatrix	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	T
	)

Definition at line 47 of file projection.cc.

◆ ComposeProjectionMatrix() [2/2]

Eigen::Matrix3x4d colmap::ComposeProjectionMatrix	(	const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec
	)

Definition at line 39 of file projection.cc.

References QuaternionToRotationMatrix().

Referenced by BOOST_AUTO_TEST_CASE(), CheckCheirality(), colmap::Image::InverseProjectionMatrix(), colmap::Image::ProjectionMatrix(), colmap::SimilarityTransform3::SimilarityTransform3(), and colmap::SimilarityTransform3::TransformPose().

◆ ComputeAlignmentBetweenReconstructions()

bool colmap::ComputeAlignmentBetweenReconstructions	(	const Reconstruction &	src_reconstruction,
		const Reconstruction &	ref_reconstruction,
		const double	min_inlier_observations,
		const double	max_reproj_error,
		Eigen::Matrix3x4d *	alignment
	)

Definition at line 272 of file similarity_transform.cc.

References colmap::LORANSAC< Estimator, LocalEstimator, SupportMeasurer, Sampler >::Estimate(), colmap::RANSAC< Estimator, SupportMeasurer, Sampler >::estimator, colmap::Reconstruction::FindCommonRegImageIds(), colmap::Reconstruction::Image(), colmap::LORANSAC< Estimator, LocalEstimator, SupportMeasurer, Sampler >::local_estimator, colmap::RANSACOptions::max_error, and colmap::RANSACOptions::min_inlier_ratio.

Referenced by colmap::Reconstruction::Merge(), and RunModelComparer().

◆ ComputeClosestRotationMatrix()

Eigen::Matrix3d colmap::ComputeClosestRotationMatrix ( const Eigen::Matrix3d & matrix )

Definition at line 62 of file projection.cc.

Referenced by BOOST_AUTO_TEST_CASE(), and DecomposeProjectionMatrix().

◆ ComputeDepthsSylvesterCoeffs()

Eigen::Matrix< double, 9, 1 > colmap::ComputeDepthsSylvesterCoeffs ( const Eigen::Matrix< double, 3, 6 > & K )

Definition at line 36 of file generalized_absolute_pose_coeffs.cc.

References coeffs(), and t12.

◆ ComputeMinGraphCutStoerWagner()

void colmap::ComputeMinGraphCutStoerWagner	(	const std::vector< std::pair< int, int >> &	edges,
		const std::vector< int > &	weights,
		int *	cut_weight,
		std::vector< char > *	cut_labels
	)

Definition at line 150 of file graph_cut.cc.

References vertex_index.

Referenced by BOOST_AUTO_TEST_CASE().

◆ ComputeNormalizedMinGraphCut()

std::unordered_map< int, int > colmap::ComputeNormalizedMinGraphCut	(	const std::vector< std::pair< int, int >> &	edges,
		const std::vector< int > &	weights,
		const int	num_parts
	)

Definition at line 186 of file graph_cut.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ ComputeRelativePose()

void colmap::ComputeRelativePose	(	const Eigen::Vector4d &	qvec1,
		const Eigen::Vector3d &	tvec1,
		const Eigen::Vector4d &	qvec2,
		const Eigen::Vector3d &	tvec2,
		Eigen::Vector4d *	qvec12,
		Eigen::Vector3d *	tvec12
	)

Definition at line 173 of file pose.cc.

References ConcatenateQuaternions(), InvertQuaternion(), and QuaternionRotatePoint().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::CameraRig::ComputeRelativePoses().

◆ ComputeSquaredReprojectionError()

void colmap::ComputeSquaredReprojectionError	(	const std::vector< Eigen::Vector2d > &	points2D,
		const std::vector< Eigen::Vector3d > &	points3D,
		const Eigen::Matrix3x4d &	proj_matrix,
		std::vector< double > *	residuals
	)

Definition at line 133 of file utils.cc.

Referenced by colmap::P3PEstimator::Residuals(), and colmap::EPNPEstimator::Residuals().

◆ ComputeSquaredSampsonError()

void colmap::ComputeSquaredSampsonError	(	const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2,
		const Eigen::Matrix3d &	E,
		std::vector< double > *	residuals
	)

Definition at line 87 of file utils.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::EssentialMatrixFivePointEstimator::Residuals(), colmap::EssentialMatrixEightPointEstimator::Residuals(), colmap::FundamentalMatrixSevenPointEstimator::Residuals(), and colmap::FundamentalMatrixEightPointEstimator::Residuals().

◆ ConcatenatePoses()

void colmap::ConcatenatePoses	(	const Eigen::Vector4d &	qvec1,
		const Eigen::Vector3d &	tvec1,
		const Eigen::Vector4d &	qvec2,
		const Eigen::Vector3d &	tvec2,
		Eigen::Vector4d *	qvec12,
		Eigen::Vector3d *	tvec12
	)

Definition at line 183 of file pose.cc.

References ConcatenateQuaternions(), and QuaternionRotatePoint().

Referenced by BOOST_AUTO_TEST_CASE().

◆ ConcatenateQuaternions()

Eigen::Vector4d colmap::ConcatenateQuaternions	(	const Eigen::Vector4d &	qvec1,
		const Eigen::Vector4d &	qvec2
	)

Definition at line 97 of file pose.cc.

References NormalizeQuaternion().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::CameraRig::ComputeAbsolutePose(), ComputeRelativePose(), and ConcatenatePoses().

◆ CreateDirIfNotExists()

void colmap::CreateDirIfNotExists ( const std::string & path )

Definition at line 112 of file misc.cc.

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

Referenced by colmap::Reconstruction::CreateImageDirs(), colmap::Reconstruction::ExportRecon3D(), colmap::mvs::ImportPMVSWorkspace(), colmap::AutomaticReconstructionController::RunDenseMapper(), RunImageTexturer(), RunImageUndistorter(), RunImageUndistorterStandalone(), RunModelSplitter(), and colmap::ReconstructionManager::Write().

◆ CreateSiftGPUExtractor()

bool colmap::CreateSiftGPUExtractor	(	const SiftExtractionOptions &	options,
		SiftGPU *	sift_gpu
	)

Definition at line 776 of file sift.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ CreateSiftGPUMatcher()

bool colmap::CreateSiftGPUMatcher	(	const SiftMatchingOptions &	match_options,
		SiftMatchGPU *	sift_match_gpu
	)

Definition at line 1124 of file sift.cc.

References colmap::SiftMatchingOptions::Check(), colmap::SiftMatchingOptions::cross_check, QtCompat::endl(), colmap::SiftMatchingOptions::gpu_index, colmap::SiftMatchingOptions::max_num_matches, and StringPrintf().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::SiftGPUFeatureMatcher::Run().

◆ CrossProductMatrix()

Eigen::Matrix3d colmap::CrossProductMatrix ( const Eigen::Vector3d & vector )

Definition at line 41 of file pose.cc.

Referenced by BOOST_AUTO_TEST_CASE(), EssentialMatrixFromPose(), and RotationFromUnitVectors().

◆ CSVToVector()

template<>

std::vector< double > colmap::CSVToVector ( const std::string & csv )

Definition at line 237 of file misc.cc.

References StringSplit(), and StringTrim().

◆ CudaCheck()

void colmap::CudaCheck	(	const char *	file,
		const int	line
	)

Definition at line 68 of file cudacc.cc.

References QtCompat::endl(), and StringPrintf().

◆ CudaSafeCall()

void colmap::CudaSafeCall	(	const cudaError_t	error,
		const std::string &	file,
		const int	line
	)

Definition at line 58 of file cudacc.cc.

References QtCompat::endl(), and StringPrintf().

◆ CudaSyncAndCheck()

void colmap::CudaSyncAndCheck	(	const char *	file,
		const int	line
	)

Definition at line 78 of file cudacc.cc.

References QtCompat::endl(), and StringPrintf().

◆ DecomposeEssentialMatrix()

void colmap::DecomposeEssentialMatrix	(	const Eigen::Matrix3d &	E,
		Eigen::Matrix3d *	R1,
		Eigen::Matrix3d *	R2,
		Eigen::Vector3d *	t
	)

Definition at line 41 of file essential_matrix.cc.

Referenced by BOOST_AUTO_TEST_CASE(), and PoseFromEssentialMatrix().

◆ DecomposeHomographyMatrix()

void colmap::DecomposeHomographyMatrix	(	const Eigen::Matrix3d &	H,
		const Eigen::Matrix3d &	K1,
		const Eigen::Matrix3d &	K2,
		std::vector< Eigen::Matrix3d > *	R,
		std::vector< Eigen::Vector3d > *	t,
		std::vector< Eigen::Vector3d > *	n
	)

Definition at line 65 of file homography_matrix.cc.

References Utils::distance(), e, and SignOfNumber().

Referenced by BOOST_AUTO_TEST_CASE(), and PoseFromHomographyMatrix().

◆ DecomposeMatrixRQ()

template<typename MatrixType >

void colmap::DecomposeMatrixRQ	(	const MatrixType &	A,
		MatrixType *	R,
		MatrixType *	Q
	)

Definition at line 45 of file matrix.h.

Referenced by BOOST_AUTO_TEST_CASE(), and DecomposeProjectionMatrix().

◆ DecomposeProjectionMatrix()

bool colmap::DecomposeProjectionMatrix	(	const Eigen::Matrix3x4d &	P,
		Eigen::Matrix3d *	K,
		Eigen::Matrix3d *	R,
		Eigen::Vector3d *	T
	)

Definition at line 72 of file projection.cc.

References ComputeClosestRotationMatrix(), and DecomposeMatrixRQ().

Referenced by BOOST_AUTO_TEST_CASE().

◆ DegToRad() [1/2]

double colmap::DegToRad ( const double deg )

inline

Definition at line 175 of file math.h.

◆ DegToRad() [2/2]

float colmap::DegToRad ( const float deg )

inline

Definition at line 171 of file math.h.

Referenced by AlignToENUPlane(), BOOST_AUTO_TEST_CASE(), colmap::IncrementalTriangulator::CompleteImage(), colmap::GPSTransform::EllToXYZ(), colmap::mvs::Model::GetMaxOverlappingImages(), colmap::IncrementalMapper::RegisterInitialImagePair(), and cloudViewer::ModelViewerWidget::ZoomScale().

◆ DetectLineSegments()

std::vector< LineSegment > colmap::DetectLineSegments	(	const Bitmap &	bitmap,
		const double	min_length
	)

Definition at line 42 of file line.cc.

References colmap::Bitmap::CloneAsGrey(), colmap::Bitmap::ConvertToRowMajorArray(), colmap::Bitmap::Height(), colmap::Bitmap::IsGrey(), and colmap::Bitmap::Width().

Referenced by BOOST_AUTO_TEST_CASE(), and EstimateManhattanWorldFrame().

◆ DownsampleImage()

void colmap::DownsampleImage	(	const float *	data,
		const int	rows,
		const int	cols,
		const int	new_rows,
		const int	new_cols,
		float *	downsampled
	)

Definition at line 226 of file warp.cc.

References data, ResampleImageBilinear(), and SmoothImage().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::mvs::DepthMap::Rescale(), and colmap::mvs::NormalMap::Rescale().

◆ DrawKeypoints()

void colmap::DrawKeypoints	(	QPixmap *	pixmap,
		const FeatureKeypoints &	points,
		const QColor &	color
	)

Definition at line 86 of file qt_utils.cc.

References color, and points.

Referenced by cloudViewer::FeatureImageViewerWidget::ReadAndShowWithKeypoints(), and colmap::FeatureImageViewerWidget::ReadAndShowWithKeypoints().

◆ DrawMatches()

QPixmap colmap::DrawMatches	(	const QPixmap &	image1,
		const QPixmap &	image2,
		const FeatureKeypoints &	points1,
		const FeatureKeypoints &	points2,
		const FeatureMatches &	matches,
		const QColor &	keypoints_color
	)

Definition at line 109 of file qt_utils.cc.

References image, ShowImagesSideBySide(), x, and y.

Referenced by cloudViewer::FeatureImageViewerWidget::ReadAndShowWithMatches(), and colmap::FeatureImageViewerWidget::ReadAndShowWithMatches().

◆ EigenToQMatrix()

QMatrix4x4 colmap::EigenToQMatrix ( const Eigen::Matrix4f & matrix )

Definition at line 49 of file qt_utils.cc.

◆ EnsureTrailingSlash()

std::string colmap::EnsureTrailingSlash ( const std::string & str )

Definition at line 40 of file misc.cc.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::ExportRecon3D().

◆ EpipoleFromEssentialMatrix()

Eigen::Vector3d colmap::EpipoleFromEssentialMatrix	(	const Eigen::Matrix3d &	E,
		const bool	left_image
	)

Definition at line 142 of file essential_matrix.cc.

References e.

Referenced by BOOST_AUTO_TEST_CASE().

◆ EssentialMatrixFromAbsolutePoses()

Eigen::Matrix3d colmap::EssentialMatrixFromAbsolutePoses	(	const Eigen::Matrix3x4d &	proj_matrix1,
		const Eigen::Matrix3x4d &	proj_matrix2
	)

Definition at line 95 of file essential_matrix.cc.

References EssentialMatrixFromPose().

Referenced by BOOST_AUTO_TEST_CASE(), and TriangulateOptimalPoint().

◆ EssentialMatrixFromPose()

Eigen::Matrix3d colmap::EssentialMatrixFromPose	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	t
	)

Definition at line 90 of file essential_matrix.cc.

References CrossProductMatrix().

Referenced by BOOST_AUTO_TEST_CASE(), EssentialMatrixFromAbsolutePoses(), RefineEssentialMatrix(), and colmap::GR6PEstimator::Residuals().

◆ EstimateAbsolutePose()

bool colmap::EstimateAbsolutePose	(	const AbsolutePoseEstimationOptions &	options,
		const std::vector< Eigen::Vector2d > &	points2D,
		const std::vector< Eigen::Vector3d > &	points3D,
		Eigen::Vector4d *	qvec,
		Eigen::Vector3d *	tvec,
		Camera *	camera,
		size_t *	num_inliers,
		std::vector< char > *	inlier_mask
	)

Definition at line 79 of file pose.cc.

References colmap::ThreadPool::AddTask(), colmap::AbsolutePoseEstimationOptions::Check(), colmap::AbsolutePoseEstimationOptions::estimate_focal_length, colmap::Camera::FocalLengthIdxs(), IsNaN(), colmap::AbsolutePoseEstimationOptions::max_focal_length_ratio, colmap::AbsolutePoseEstimationOptions::min_focal_length_ratio, colmap::AbsolutePoseEstimationOptions::num_focal_length_samples, colmap::AbsolutePoseEstimationOptions::num_threads, colmap::Camera::Params(), colmap::AbsolutePoseEstimationOptions::ransac_options, and RotationMatrixToQuaternion().

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

◆ EstimateGravityVectorFromImageOrientation()

Eigen::Vector3d colmap::EstimateGravityVectorFromImageOrientation	(	const Reconstruction &	reconstruction,
		const double	max_axis_distance
	)

Definition at line 145 of file coordinate_frame.cc.

References image, colmap::Reconstruction::Image(), colmap::Reconstruction::NumRegImages(), and colmap::Reconstruction::RegImageIds().

Referenced by BOOST_AUTO_TEST_CASE(), and RunModelOrientationAligner().

◆ EstimateManhattanWorldFrame()

Eigen::Matrix3d colmap::EstimateManhattanWorldFrame	(	const ManhattanWorldFrameEstimationOptions &	options,
		const Reconstruction &	reconstruction,
		const std::string &	image_path
	)

Definition at line 156 of file coordinate_frame.cc.

References colmap::Camera::CalibrationMatrix(), colmap::Reconstruction::Camera(), ClassifyLineSegmentOrientations(), DetectLineSegments(), QtCompat::endl(), colmap::RANSAC< Estimator, SupportMeasurer, Sampler >::Estimate(), frame, HORIZONTAL, image, colmap::Reconstruction::Image(), InvertQuaternion(), JoinPaths(), colmap::ManhattanWorldFrameEstimationOptions::line_orientation_tolerance, colmap::ManhattanWorldFrameEstimationOptions::max_axis_distance, colmap::RANSACOptions::max_error, colmap::UndistortCameraOptions::max_image_size, colmap::ManhattanWorldFrameEstimationOptions::max_image_size, colmap::ManhattanWorldFrameEstimationOptions::max_line_vp_distance, colmap::ManhattanWorldFrameEstimationOptions::min_line_length, colmap::Reconstruction::NumRegImages(), PrintHeading1(), QuaternionRotatePoint(), colmap::Bitmap::Read(), colmap::Reconstruction::RegImageIds(), StringPrintf(), UndistortImage(), and VERTICAL.

Referenced by BOOST_AUTO_TEST_CASE(), and RunModelOrientationAligner().

◆ EstimateRelativePose()

size_t colmap::EstimateRelativePose	(	const RANSACOptions &	ransac_options,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2,
		Eigen::Vector4d *	qvec,
		Eigen::Vector3d *	tvec
	)

Definition at line 164 of file pose.cc.

References colmap::RANSAC< Estimator, SupportMeasurer, Sampler >::Estimate(), IsNaN(), PoseFromEssentialMatrix(), and RotationMatrixToQuaternion().

◆ EstimateTriangulation()

bool colmap::EstimateTriangulation	(	const EstimateTriangulationOptions &	options,
		const std::vector< TriangulationEstimator::PointData > &	point_data,
		const std::vector< TriangulationEstimator::PoseData > &	pose_data,
		std::vector< char > *	inlier_mask,
		Eigen::Vector3d *	xyz
	)

Definition at line 132 of file triangulation.cc.

References colmap::EstimateTriangulationOptions::Check(), colmap::EstimateTriangulationOptions::min_tri_angle, colmap::EstimateTriangulationOptions::ransac_options, and colmap::EstimateTriangulationOptions::residual_type.

Referenced by colmap::IncrementalTriangulator::CompleteImage().

◆ EulerAnglesToRotationMatrix()

Eigen::Matrix3d colmap::EulerAnglesToRotationMatrix	(	const double	rx,
		const double	ry,
		const double	rz
	)

Definition at line 59 of file pose.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ EvaluatePolynomial()

template<typename T >

T colmap::EvaluatePolynomial	(	const Eigen::VectorXd &	coeffs,
		const T &	x
	)

Definition at line 68 of file polynomial.h.

References coeffs(), and x.

Referenced by BOOST_AUTO_TEST_CASE().

◆ ExistsCameraModelWithId()

bool colmap::ExistsCameraModelWithId ( const int model_id )

Definition at line 98 of file camera_models.cc.

References CAMERA_MODEL_ID_TO_NAME.

Referenced by colmap::Camera::InitializeWithId(), colmap::Camera::SetModelId(), and TestModel().

◆ ExistsCameraModelWithName()

bool colmap::ExistsCameraModelWithName ( const std::string & model_name )

Definition at line 94 of file camera_models.cc.

References CAMERA_MODEL_NAME_TO_ID.

Referenced by colmap::ImageReaderOptions::Check(), RunFeatureExtractor(), RunImageUndistorterStandalone(), colmap::Camera::SetModelIdFromName(), and TestModel().

◆ ExistsDir()

bool colmap::ExistsDir ( const std::string & path )

◆ ExistsFile()

bool colmap::ExistsFile ( const std::string & path )

◆ ExistsPath()

bool colmap::ExistsPath ( const std::string & path )

Definition at line 108 of file misc.cc.

References cloudViewer::t::geometry::path.

◆ ExtractCovariantSiftFeaturesCPU()

bool colmap::ExtractCovariantSiftFeaturesCPU	(	const SiftExtractionOptions &	options,
		const Bitmap &	bitmap,
		FeatureKeypoints *	keypoints,
		FeatureDescriptors *	descriptors
	)

Definition at line 599 of file sift.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ ExtractSiftFeaturesCPU()

bool colmap::ExtractSiftFeaturesCPU	(	const SiftExtractionOptions &	options,
		const Bitmap &	bitmap,
		FeatureKeypoints *	keypoints,
		FeatureDescriptors *	descriptors
	)

Definition at line 419 of file sift.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ ExtractSiftFeaturesGPU()

bool colmap::ExtractSiftFeaturesGPU	(	const SiftExtractionOptions &	options,
		const Bitmap &	bitmap,
		SiftGPU *	sift_gpu,
		FeatureKeypoints *	keypoints,
		FeatureDescriptors *	descriptors
	)

◆ ExtractTopScaleFeatures()

void colmap::ExtractTopScaleFeatures	(	FeatureKeypoints *	keypoints,
		FeatureDescriptors *	descriptors,
		const size_t	num_features
	)

Definition at line 79 of file utils.cc.

References descriptors.

Referenced by BOOST_AUTO_TEST_CASE(), and RunVocabTreeRetriever().

◆ FeatureDescriptorsToUnsignedByte()

FeatureDescriptors colmap::FeatureDescriptorsToUnsignedByte ( const Eigen::MatrixXf & descriptors )

Definition at line 65 of file utils.cc.

References descriptors.

Referenced by BOOST_AUTO_TEST_CASE(), CreateRandomFeatureDescriptors(), ExtractCovariantSiftFeaturesCPU(), ExtractSiftFeaturesCPU(), and ExtractSiftFeaturesGPU().

◆ FeatureKeypointsToPointsVector()

std::vector< Eigen::Vector2d > colmap::FeatureKeypointsToPointsVector ( const FeatureKeypoints & keypoints )

Definition at line 38 of file utils.cc.

References points, x, and y.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::DatabaseCache::Load(), and colmap::TwoViewGeometryVerifier::Run().

◆ FileCopy()

void colmap::FileCopy	(	const std::string &	src_path,
		const std::string &	dst_path,
		CopyType	type
	)

Definition at line 85 of file misc.cc.

References COPY, HARD_LINK, SOFT_LINK, and type.

◆ FilterImages()

size_t colmap::FilterImages	(	const IncrementalMapperOptions &	options,
		IncrementalMapper *	mapper
	)

Definition at line 156 of file incremental_mapper.cc.

References QtCompat::endl(), colmap::IncrementalMapper::FilterImages(), and colmap::IncrementalMapperOptions::Mapper().

◆ FilterPoints()

size_t colmap::FilterPoints	(	const IncrementalMapperOptions &	options,
		IncrementalMapper *	mapper
	)

Definition at line 147 of file incremental_mapper.cc.

References QtCompat::endl(), colmap::IncrementalMapper::FilterPoints(), and colmap::IncrementalMapperOptions::Mapper().

Referenced by RunPointTriangulator().

◆ FindLinearPolynomialRoots()

bool colmap::FindLinearPolynomialRoots	(	const Eigen::VectorXd &	coeffs,
		Eigen::VectorXd *	real,
		Eigen::VectorXd *	imag
	)

Definition at line 65 of file polynomial.cc.

References coeffs().

Referenced by BOOST_AUTO_TEST_CASE(), FindPolynomialRootsCompanionMatrix(), FindPolynomialRootsDurandKerner(), and FindQuadraticPolynomialRoots().

◆ FindOptimalImageObservations()

void colmap::FindOptimalImageObservations	(	const Eigen::Matrix3d &	E,
		const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2,
		Eigen::Vector2d *	optimal_point1,
		Eigen::Vector2d *	optimal_point2
	)

Definition at line 110 of file essential_matrix.cc.

References a.

Referenced by BOOST_AUTO_TEST_CASE(), and TriangulateOptimalPoint().

◆ FindPolynomialRootsCompanionMatrix()

bool colmap::FindPolynomialRootsCompanionMatrix	(	const Eigen::VectorXd &	coeffs_all,
		Eigen::VectorXd *	real,
		Eigen::VectorXd *	imag
	)

Definition at line 208 of file polynomial.cc.

References coeffs(), FindLinearPolynomialRoots(), and FindQuadraticPolynomialRoots().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::EssentialMatrixFivePointEstimator::Estimate(), colmap::FundamentalMatrixSevenPointEstimator::Estimate(), and colmap::P3PEstimator::Estimate().

◆ FindPolynomialRootsDurandKerner()

bool colmap::FindPolynomialRootsDurandKerner	(	const Eigen::VectorXd &	coeffs_all,
		Eigen::VectorXd *	real,
		Eigen::VectorXd *	imag
	)

Definition at line 143 of file polynomial.cc.

References coeffs(), e, FindLinearPolynomialRoots(), and FindQuadraticPolynomialRoots().

Referenced by BOOST_AUTO_TEST_CASE().

◆ FindQuadraticPolynomialRoots()

bool colmap::FindQuadraticPolynomialRoots	(	const Eigen::VectorXd &	coeffs,
		Eigen::VectorXd *	real,
		Eigen::VectorXd *	imag
	)

Definition at line 86 of file polynomial.cc.

References a, coeffs(), and FindLinearPolynomialRoots().

Referenced by BOOST_AUTO_TEST_CASE(), FindPolynomialRootsCompanionMatrix(), and FindPolynomialRootsDurandKerner().

◆ GetBuildInfo()

std::string colmap::GetBuildInfo ( )

Definition at line 40 of file version.cc.

References StringPrintf().

Referenced by colmap::OptionManager::Parse().

◆ GetCachedFilePath()

std::filesystem::path colmap::GetCachedFilePath ( const std::string & uri )

Referenced by cloudViewer::AutomaticReconstructionWidget::Run().

◆ GetDirList()

std::vector< std::string > colmap::GetDirList ( const std::string & path )

Definition at line 195 of file misc.cc.

References cloudViewer::t::geometry::path.

◆ GetEffectiveNumThreads()

int colmap::GetEffectiveNumThreads ( const int num_threads )

Definition at line 269 of file threading.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::BundleAdjustmentOptions::CreateSolverOptions(), colmap::mvs::Workspace::Load(), RunModelSplitter(), colmap::SiftFeatureExtractor::SiftFeatureExtractor(), and colmap::ThreadPool::ThreadPool().

◆ GetFileList()

std::vector< std::string > colmap::GetFileList ( const std::string & path )

Definition at line 171 of file misc.cc.

References cloudViewer::t::geometry::path.

◆ GetFileSize()

size_t colmap::GetFileSize ( const std::string & path )

Definition at line 219 of file misc.cc.

References cloudViewer::t::geometry::path.

Referenced by CVTools::FileMappingReader().

◆ GetNumCudaDevices()

int colmap::GetNumCudaDevices ( )

Definition at line 57 of file cuda.cc.

Referenced by SetBestCudaDevice(), and colmap::SiftFeatureExtractor::SiftFeatureExtractor().

◆ GetParentDir()

std::string colmap::GetParentDir ( const std::string & path )

Definition at line 128 of file misc.cc.

References cloudViewer::t::geometry::path.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::OptionManager::Check(), cloudViewer::ProjectWidget::IsValid(), colmap::ProjectWidget::IsValid(), colmap::ImageReader::Next(), and cloudViewer::SIFTExtractionWidget::Run().

◆ GetPathBaseName()

std::string colmap::GetPathBaseName ( const std::string & path )

Definition at line 118 of file misc.cc.

References cloudViewer::t::geometry::path, StringReplace(), and StringSplit().

Referenced by BOOST_AUTO_TEST_CASE().

◆ GetRecursiveDirList()

std::vector< std::string > colmap::GetRecursiveDirList ( const std::string & path )

Definition at line 207 of file misc.cc.

References cloudViewer::t::geometry::path.

◆ GetRecursiveFileList()

std::vector< std::string > colmap::GetRecursiveFileList ( const std::string & path )

Definition at line 183 of file misc.cc.

References cloudViewer::t::geometry::path.

◆ GetRelativePath()

std::string colmap::GetRelativePath	(	const std::string &	from,
		const std::string &	to
	)

Definition at line 132 of file misc.cc.

References cloudViewer::t::geometry::path.

Referenced by colmap::ImageReader::Next().

◆ GetVersionInfo()

std::string colmap::GetVersionInfo ( )

Definition at line 36 of file version.cc.

References StringPrintf().

Referenced by colmap::OptionManager::Parse().

◆ GLError()

void colmap::GLError	(	const char *	file,
		const int	line
	)

inline

Definition at line 83 of file opengl_utils.h.

◆ HasFileExtension()

bool colmap::HasFileExtension	(	const std::string &	file_name,
		const std::string &	ext
	)

Definition at line 51 of file misc.cc.

References StringToLower().

Referenced by BOOST_AUTO_TEST_CASE(), and RunModelTransformer().

◆ HasPointPositiveDepth()

bool colmap::HasPointPositiveDepth	(	const Eigen::Matrix3x4d &	proj_matrix,
		const Eigen::Vector3d &	point3D
	)

Definition at line 191 of file projection.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::TriangulationEstimator::Estimate(), colmap::Reconstruction::FilterObservationsWithNegativeDepth(), GenerateReconstruction(), and colmap::IncrementalMapper::RegisterInitialImagePair().

◆ HomographyMatrixFromPose()

Eigen::Matrix3d colmap::HomographyMatrixFromPose	(	const Eigen::Matrix3d &	K1,
		const Eigen::Matrix3d &	K2,
		const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	t,
		const Eigen::Vector3d &	n,
		const double	d
	)

Definition at line 214 of file homography_matrix.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ InitializeCameraSpecs()

camera_specs_t colmap::InitializeCameraSpecs ( )

Definition at line 36 of file camera_specs.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ InitializeGlog()

void colmap::InitializeGlog ( char ** argv )

Definition at line 36 of file logging.cc.

Referenced by main().

◆ InitialzeCameraModelIdToName()

std::unordered_map<int, std::string> colmap::InitialzeCameraModelIdToName ( )

Definition at line 74 of file camera_models.cc.

References CAMERA_MODEL_CASES.

◆ InitialzeCameraModelNameToId()

CAMERA_MODEL_CASES std::unordered_map<std::string, int> colmap::InitialzeCameraModelNameToId ( )

Definition at line 60 of file camera_models.cc.

References CAMERA_MODEL_CASES.

◆ InterpolatePose()

void colmap::InterpolatePose	(	const Eigen::Vector4d &	qvec1,
		const Eigen::Vector3d &	tvec1,
		const Eigen::Vector4d &	qvec2,
		const Eigen::Vector3d &	tvec2,
		const double	t,
		Eigen::Vector4d *	qveci,
		Eigen::Vector3d *	tveci
	)

Definition at line 198 of file pose.cc.

References NormalizeQuaternion().

Referenced by BOOST_AUTO_TEST_CASE().

◆ InvertEssentialMatrix()

Eigen::Matrix3d colmap::InvertEssentialMatrix ( const Eigen::Matrix3d & E )

Definition at line 155 of file essential_matrix.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ InvertPose()

void colmap::InvertPose	(	const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec,
		Eigen::Vector4d *	inv_qvec,
		Eigen::Vector3d *	inv_tvec
	)

Definition at line 192 of file pose.cc.

References InvertQuaternion(), and QuaternionRotatePoint().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::CameraRig::ComputeAbsolutePose(), and colmap::TwoViewGeometry::Invert().

◆ InvertProjectionMatrix()

Eigen::Matrix3x4d colmap::InvertProjectionMatrix ( const Eigen::Matrix3x4d & proj_matrix )

Definition at line 55 of file projection.cc.

References ProjectionCenterFromMatrix().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Image::InverseProjectionMatrix().

◆ InvertQuaternion()

Eigen::Vector4d colmap::InvertQuaternion ( const Eigen::Vector4d & qvec )

Definition at line 93 of file pose.cc.

Referenced by BOOST_AUTO_TEST_CASE(), ComputeRelativePose(), EstimateManhattanWorldFrame(), and InvertPose().

◆ IsBigEndian()

bool colmap::IsBigEndian ( )

inline

Definition at line 66 of file endian.h.

Referenced by BigEndianToNative(), BOOST_AUTO_TEST_CASE(), and NativeToBigEndian().

◆ IsInf() [1/3]

bool colmap::IsInf ( const double x )

inline

Definition at line 164 of file math.h.

References IsNaN(), and x.

◆ IsInf() [2/3]

template<typename Derived >

bool colmap::IsInf ( const Eigen::MatrixBase< Derived > & x )

inline

Definition at line 40 of file matrix.h.

References x.

◆ IsInf() [3/3]

bool colmap::IsInf ( const float x )

inline

Definition at line 163 of file math.h.

References IsNaN(), and x.

Referenced by BOOST_AUTO_TEST_CASE().

◆ IsLittleEndian()

bool colmap::IsLittleEndian ( )

inline

Definition at line 58 of file endian.h.

Referenced by BOOST_AUTO_TEST_CASE(), cloudViewer::io::rpc::messages::EndiannessStr(), LittleEndianToNative(), and NativeToLittleEndian().

◆ IsNaN() [1/3]

bool colmap::IsNaN ( const double x )

inline

Definition at line 161 of file math.h.

References x.

◆ IsNaN() [2/3]

template<typename Derived >

bool colmap::IsNaN ( const Eigen::MatrixBase< Derived > & x )

inline

Definition at line 35 of file matrix.h.

References x.

◆ IsNaN() [3/3]

bool colmap::IsNaN ( const float x )

inline

Definition at line 160 of file math.h.

References x.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateAbsolutePose(), EstimateRelativePose(), colmap::Image::HasQvecPrior(), colmap::Image::HasTvecPrior(), IsInf(), and RotationMatrixToEulerAngles().

◆ IsURI()

bool colmap::IsURI ( const std::string & uri )

Referenced by cloudViewer::AutomaticReconstructionWidget::Run().

◆ JoinPaths()

template<typename... T>

std::string colmap::JoinPaths ( T const &... paths )

Definition at line 128 of file misc.h.

References cloudViewer::t::geometry::path, and result.

◆ L1RootNormalizeFeatureDescriptors()

Eigen::MatrixXf colmap::L1RootNormalizeFeatureDescriptors ( const Eigen::MatrixXf & descriptors )

Definition at line 52 of file utils.cc.

References descriptors.

Referenced by BOOST_AUTO_TEST_CASE(), ExtractCovariantSiftFeaturesCPU(), ExtractSiftFeaturesCPU(), and ExtractSiftFeaturesGPU().

◆ L2NormalizeFeatureDescriptors()

Eigen::MatrixXf colmap::L2NormalizeFeatureDescriptors ( const Eigen::MatrixXf & descriptors )

Definition at line 47 of file utils.cc.

References descriptors.

Referenced by BOOST_AUTO_TEST_CASE(), CreateRandomFeatureDescriptors(), ExtractCovariantSiftFeaturesCPU(), ExtractSiftFeaturesCPU(), and ExtractSiftFeaturesGPU().

◆ LittleEndianToNative()

template<typename T >

T colmap::LittleEndianToNative ( const T x )

Definition at line 75 of file endian.h.

References IsLittleEndian(), ReverseBytes(), and x.

Referenced by ReadBinaryLittleEndian(), and ReadPly().

◆ LoadSiftFeaturesFromTextFile()

void colmap::LoadSiftFeaturesFromTextFile	(	const std::string &	path,
		FeatureKeypoints *	keypoints,
		FeatureDescriptors *	descriptors
	)

Definition at line 943 of file sift.cc.

References descriptors, cloudViewer::t::geometry::path, x, and y.

◆ MatchGuidedSiftFeaturesCPU()

void colmap::MatchGuidedSiftFeaturesCPU	(	const SiftMatchingOptions &	match_options,
		const FeatureKeypoints &	keypoints1,
		const FeatureKeypoints &	keypoints2,
		const FeatureDescriptors &	descriptors1,
		const FeatureDescriptors &	descriptors2,
		TwoViewGeometry *	two_view_geometry
	)

Definition at line 1050 of file sift.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ MatchGuidedSiftFeaturesGPU()

void colmap::MatchGuidedSiftFeaturesGPU	(	const SiftMatchingOptions &	match_options,
		const FeatureKeypoints *	keypoints1,
		const FeatureKeypoints *	keypoints2,
		const FeatureDescriptors *	descriptors1,
		const FeatureDescriptors *	descriptors2,
		SiftMatchGPU *	sift_match_gpu,
		TwoViewGeometry *	two_view_geometry
	)

◆ MatchSiftFeaturesCPU()

void colmap::MatchSiftFeaturesCPU	(	const SiftMatchingOptions &	match_options,
		const FeatureDescriptors &	descriptors1,
		const FeatureDescriptors &	descriptors2,
		FeatureMatches *	matches
	)

Definition at line 1042 of file sift.cc.

References MatchSiftFeaturesCPUFLANN().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::SiftCPUFeatureMatcher::Run().

◆ MatchSiftFeaturesCPUBruteForce()

void colmap::MatchSiftFeaturesCPUBruteForce	(	const SiftMatchingOptions &	match_options,
		const FeatureDescriptors &	descriptors1,
		const FeatureDescriptors &	descriptors2,
		FeatureMatches *	matches
	)

Definition at line 998 of file sift.cc.

References colmap::SiftMatchingOptions::Check(), colmap::SiftMatchingOptions::cross_check, colmap::SiftMatchingOptions::max_distance, and colmap::SiftMatchingOptions::max_ratio.

Referenced by BOOST_AUTO_TEST_CASE().

◆ MatchSiftFeaturesCPUFLANN()

void colmap::MatchSiftFeaturesCPUFLANN	(	const SiftMatchingOptions &	match_options,
		const FeatureDescriptors &	descriptors1,
		const FeatureDescriptors &	descriptors2,
		FeatureMatches *	matches
	)

Definition at line 1013 of file sift.cc.

References colmap::SiftMatchingOptions::Check(), colmap::SiftMatchingOptions::cross_check, colmap::SiftMatchingOptions::max_distance, and colmap::SiftMatchingOptions::max_ratio.

Referenced by BOOST_AUTO_TEST_CASE(), and MatchSiftFeaturesCPU().

◆ MatchSiftFeaturesGPU()

void colmap::MatchSiftFeaturesGPU	(	const SiftMatchingOptions &	match_options,
		const FeatureDescriptors *	descriptors1,
		const FeatureDescriptors *	descriptors2,
		SiftMatchGPU *	sift_match_gpu,
		FeatureMatches *	matches
	)

Definition at line 1195 of file sift.cc.

References colmap::SiftMatchingOptions::Check(), colmap::SiftMatchingOptions::cross_check, QtCompat::endl(), colmap::SiftMatchingOptions::max_distance, colmap::SiftMatchingOptions::max_num_matches, and colmap::SiftMatchingOptions::max_ratio.

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::SiftGPUFeatureMatcher::Run().

◆ MaybeDownloadAndCacheFile()

std::filesystem::path colmap::MaybeDownloadAndCacheFile ( const std::string & uri )

Referenced by RunVocabTreeRetriever().

◆ Mean()

template<typename T >

double colmap::Mean ( const std::vector< T > & elems )

Definition at line 227 of file math.h.

Referenced by BOOST_AUTO_TEST_CASE(), cloudViewer::t::geometry::ComputeMetricsCommon(), cloudViewer::t::geometry::TriangleMesh::PCAPartition(), RunModelAligner(), and Variance().

◆ Median()

template<typename T >

double colmap::Median ( const std::vector< T > & elems )

Definition at line 189 of file math.h.

Referenced by colmap::retrieval::InvertedFile< kEmbeddingDim >::ComputeHammingEmbedding(), colmap::TwoViewGeometry::EstimateRelativePose(), and RunModelAligner().

◆ NativeToBigEndian()

template<typename T >

T colmap::NativeToBigEndian ( const T x )

Definition at line 102 of file endian.h.

References IsBigEndian(), ReverseBytes(), and x.

◆ NativeToLittleEndian()

template<typename T >

T colmap::NativeToLittleEndian ( const T x )

Definition at line 93 of file endian.h.

References IsLittleEndian(), ReverseBytes(), and x.

Referenced by WriteBinaryLittleEndian().

◆ NChooseK()

size_t colmap::NChooseK	(	const size_t	n,
		const size_t	k
	)

Definition at line 36 of file math.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::IncrementalTriangulator::CompleteImage(), and colmap::CombinationSampler::MaxNumSamples().

◆ NextCombination()

template<class Iterator >

bool colmap::NextCombination	(	Iterator	first,
		Iterator	middle,
		Iterator	last
	)

Definition at line 273 of file math.h.

References ecvColor::middle(), and colmap::internal::NextCombination().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::CombinationSampler::Sample().

◆ NormalizeQuaternion()

Eigen::Vector4d colmap::NormalizeQuaternion ( const Eigen::Vector4d & qvec )

Definition at line 82 of file pose.cc.

Referenced by AverageQuaternions(), BOOST_AUTO_TEST_CASE(), ConcatenateQuaternions(), colmap::Reconstruction::ExportRecon3D(), InterpolatePose(), colmap::Image::NormalizeQvec(), ProjectionCenterFromPose(), QuaternionRotatePoint(), QuaternionToRotationMatrix(), RefineAbsolutePose(), RefineRelativePose(), and RunModelComparer().

◆ operator<<()

template<typename T >

std::ostream& colmap::operator<<	(	std::ostream &	output,
		const BitmapColor< T > &	color
	)

Definition at line 239 of file bitmap.h.

References color, and StringPrintf().

◆ ParameterBlockTangentSize()

int colmap::ParameterBlockTangentSize	(	ceres::Problem *	problem,
		const double *	param
	)

inline

Definition at line 166 of file manifold.h.

◆ Percentile()

template<typename T >

T colmap::Percentile	(	const std::vector< T > &	elems,
		const double	p
	)

Definition at line 209 of file math.h.

Referenced by colmap::mvs::Model::ComputeTriangulationAngles(), and colmap::mvs::DepthMap::ToBitmap().

◆ PoseFromEssentialMatrix()

void colmap::PoseFromEssentialMatrix	(	const Eigen::Matrix3d &	E,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2,
		Eigen::Matrix3d *	R,
		Eigen::Vector3d *	t,
		std::vector< Eigen::Vector3d > *	points3D
	)

Definition at line 63 of file essential_matrix.cc.

References CheckCheirality(), and DecomposeEssentialMatrix().

Referenced by BOOST_AUTO_TEST_CASE(), colmap::TwoViewGeometry::EstimateRelativePose(), EstimateRelativePose(), and RefineEssentialMatrix().

◆ PoseFromHomographyMatrix()

void colmap::PoseFromHomographyMatrix	(	const Eigen::Matrix3d &	H,
		const Eigen::Matrix3d &	K1,
		const Eigen::Matrix3d &	K2,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2,
		Eigen::Matrix3d *	R,
		Eigen::Vector3d *	t,
		Eigen::Vector3d *	n,
		std::vector< Eigen::Vector3d > *	points3D
	)

Definition at line 186 of file homography_matrix.cc.

References CheckCheirality(), and DecomposeHomographyMatrix().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::TwoViewGeometry::EstimateRelativePose().

◆ PrintHeading1()

void colmap::PrintHeading1 ( const std::string & heading )

Definition at line 225 of file misc.cc.

References QtCompat::endl().

Referenced by EstimateManhattanWorldFrame(), RunDatabaseCleaner(), RunImageRegistrator(), RunImageTexturer(), RunImageUndistorter(), RunModelComparer(), RunModelOrientationAligner(), RunModelSplitter(), RunPointTriangulator(), and RunRigBundleAdjuster().

◆ PrintHeading2()

void colmap::PrintHeading2 ( const std::string & heading )

Definition at line 231 of file misc.cc.

References QtCompat::endl().

Referenced by colmap::TexturingOptions::Print(), colmap::mvs::StereoFusionOptions::Print(), colmap::mvs::PatchMatchOptions::Print(), colmap::mvs::PatchMatch::Problem::Print(), RefineAbsolutePose(), colmap::mvs::PatchMatch::Run(), RunDatabaseCleaner(), RunModelAligner(), RunModelCropper(), RunModelMerger(), RunModelSplitter(), RunRigBundleAdjuster(), colmap::BundleAdjuster::Solve(), and colmap::RigBundleAdjuster::Solve().

◆ PrintSolverSummary()

void colmap::PrintSolverSummary ( const ceres::Solver::Summary & summary )

Definition at line 1243 of file bundle_adjustment.cc.

References QtCompat::endl().

Referenced by RefineAbsolutePose(), colmap::BundleAdjuster::Solve(), and colmap::RigBundleAdjuster::Solve().

◆ ProjectionCenterFromMatrix()

Eigen::Vector3d colmap::ProjectionCenterFromMatrix ( const Eigen::Matrix3x4d & proj_matrix )

Definition at line 159 of file pose.cc.

Referenced by BOOST_AUTO_TEST_CASE(), and InvertProjectionMatrix().

◆ ProjectionCenterFromPose()

Eigen::Vector3d colmap::ProjectionCenterFromPose	(	const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec
	)

Definition at line 164 of file pose.cc.

References NormalizeQuaternion().

Referenced by BOOST_AUTO_TEST_CASE(), CalculateBaseline(), colmap::CameraRig::ComputeScale(), and colmap::Image::ProjectionCenter().

◆ ProjectPointToImage()

Eigen::Vector2d colmap::ProjectPointToImage	(	const Eigen::Vector3d &	point3D,
		const Eigen::Matrix3x4d &	proj_matrix,
		const Camera &	camera
	)

Definition at line 104 of file projection.cc.

References colmap::Camera::WorldToImage().

Referenced by GenerateReconstruction(), cloudViewer::PointViewerWidget::Show(), and colmap::PointViewerWidget::Show().

◆ QMatrixToEigen()

Eigen::Matrix4f colmap::QMatrixToEigen ( const QMatrix4x4 & matrix )

Definition at line 39 of file qt_utils.cc.

Referenced by colmap::ModelViewerWidget::ChangeFocusDistance(), colmap::ModelViewerWidget::paintGL(), colmap::ModelViewerWidget::RotateView(), and colmap::ModelViewerWidget::TranslateView().

◆ QuaternionRotatePoint()

Eigen::Vector3d colmap::QuaternionRotatePoint	(	const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	point
	)

Definition at line 110 of file pose.cc.

References NormalizeQuaternion().

Referenced by BOOST_AUTO_TEST_CASE(), CalculateNormalizedAngularError(), CalculateSquaredReprojectionError(), colmap::CameraRig::ComputeAbsolutePose(), ComputeRelativePose(), ConcatenatePoses(), EstimateManhattanWorldFrame(), and InvertPose().

◆ QuaternionToRotationMatrix()

Eigen::Matrix3d colmap::QuaternionToRotationMatrix ( const Eigen::Vector4d & qvec )

Definition at line 75 of file pose.cc.

References NormalizeQuaternion().

Referenced by BOOST_AUTO_TEST_CASE(), ComposeProjectionMatrix(), colmap::Reconstruction::ExportRecon3D(), colmap::mvs::Model::ReadFromCOLMAP(), RefineEssentialMatrix(), and colmap::Image::RotationMatrix().

◆ RadToDeg() [1/2]

double colmap::RadToDeg ( const double rad )

inline

Definition at line 184 of file math.h.

◆ RadToDeg() [2/2]

float colmap::RadToDeg ( const float rad )

inline

Definition at line 180 of file math.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::ModelViewerWidget::RotateView(), RunModelComparer(), and colmap::GPSTransform::XYZToEll().

◆ RandomGaussian()

template<typename T >

T colmap::RandomGaussian	(	const T	mean,
		const T	stddev
	)

Definition at line 86 of file random.h.

References PRNG, SetPRNGSeed(), and stddev().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::retrieval::InvertedIndex< kDescType, kDescDim, kEmbeddingDim >::GenerateHammingEmbeddingProjection().

◆ RandomInteger()

template<typename T >

T colmap::RandomInteger	(	const T	min,
		const T	max
	)

Definition at line 64 of file random.h.

References PRNG, and SetPRNGSeed().

Referenced by BOOST_AUTO_TEST_CASE().

◆ RandomReal()

template<typename T >

T colmap::RandomReal	(	const T	min,
		const T	max
	)

Definition at line 75 of file random.h.

References PRNG, and SetPRNGSeed().

Referenced by BOOST_AUTO_TEST_CASE(), CreateRandomFeatureDescriptors(), GeneratePointCloud(), and GenerateReconstruction().

◆ ReadBinaryBlob()

template<typename T >

void colmap::ReadBinaryBlob	(	const std::string &	path,
		std::vector< T > *	data
	)

Definition at line 159 of file misc.h.

References data, and cloudViewer::t::geometry::path.

◆ ReadBinaryLittleEndian() [1/2]

template<typename T >

T colmap::ReadBinaryLittleEndian ( std::istream * stream )

Definition at line 111 of file endian.h.

References LittleEndianToNative().

◆ ReadBinaryLittleEndian() [2/2]

template<typename T >

void colmap::ReadBinaryLittleEndian	(	std::istream *	stream,
		std::vector< T > *	data
	)

Definition at line 118 of file endian.h.

References data.

◆ ReadPly()

std::vector< PlyPoint > colmap::ReadPly ( const std::string & path )

Definition at line 43 of file ply.cc.

References colmap::PlyPoint::b, BigEndianToNative(), QtCompat::endl(), colmap::PlyPoint::g, LittleEndianToNative(), colmap::PlyPoint::nx, colmap::PlyPoint::ny, colmap::PlyPoint::nz, cloudViewer::t::geometry::path, points, colmap::PlyPoint::r, StringSplit(), StringTrim(), colmap::PlyPoint::x, colmap::PlyPoint::y, and colmap::PlyPoint::z.

Referenced by colmap::Reconstruction::ImportPLY().

◆ ReadTextFileLines()

std::vector< std::string > colmap::ReadTextFileLines ( const std::string & path )

Definition at line 308 of file misc.cc.

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

Referenced by colmap::mvs::ImportPMVSWorkspace(), RunFeatureExtractor(), RunFeatureImporter(), RunImageDeleter(), RunImageUndistorter(), and RunMapper().

◆ RectifyAndUndistortStereoImages()

void colmap::RectifyAndUndistortStereoImages	(	const UndistortCameraOptions &	options,
		const Bitmap &	distorted_image1,
		const Bitmap &	distorted_image2,
		const Camera &	distorted_camera1,
		const Camera &	distorted_camera2,
		const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec,
		Bitmap *	undistorted_image1,
		Bitmap *	undistorted_image2,
		Camera *	undistorted_camera,
		Eigen::Matrix4d *	Q
	)

Definition at line 1039 of file undistortion.cc.

References colmap::Bitmap::Allocate(), colmap::Bitmap::CloneMetadata(), colmap::Camera::Height(), colmap::Bitmap::Height(), colmap::Bitmap::IsRGB(), RectifyStereoCameras(), UndistortCamera(), WarpImageWithHomographyBetweenCameras(), colmap::Camera::Width(), and colmap::Bitmap::Width().

◆ RectifyStereoCameras()

void colmap::RectifyStereoCameras	(	const Camera &	camera1,
		const Camera &	camera2,
		const Eigen::Vector4d &	qvec,
		const Eigen::Vector3d &	tvec,
		Eigen::Matrix3d *	H1,
		Eigen::Matrix3d *	H2,
		Eigen::Matrix4d *	Q
	)

Definition at line 977 of file undistortion.cc.

References colmap::Camera::CalibrationMatrix(), colmap::Camera::MeanFocalLength(), colmap::SimplePinholeCameraModel::model_id, colmap::PinholeCameraModel::model_id, colmap::Camera::ModelId(), colmap::Camera::PrincipalPointX(), and colmap::Camera::PrincipalPointY().

Referenced by BOOST_AUTO_TEST_CASE(), and RectifyAndUndistortStereoImages().

◆ RefineAbsolutePose()

bool colmap::RefineAbsolutePose	(	const AbsolutePoseRefinementOptions &	options,
		const std::vector< char > &	inlier_mask,
		const std::vector< Eigen::Vector2d > &	points2D,
		const std::vector< Eigen::Vector3d > &	points3D,
		Eigen::Vector4d *	qvec,
		Eigen::Vector3d *	tvec,
		Camera *	camera
	)

Definition at line 203 of file pose.cc.

References CAMERA_MODEL_SWITCH_CASES, colmap::AbsolutePoseRefinementOptions::Check(), data, QtCompat::endl(), colmap::Camera::ExtraParamsIdxs(), colmap::Camera::FocalLengthIdxs(), colmap::AbsolutePoseRefinementOptions::gradient_tolerance, colmap::AbsolutePoseRefinementOptions::loss_function_scale, colmap::AbsolutePoseRefinementOptions::max_num_iterations, colmap::Camera::ModelId(), NormalizeQuaternion(), colmap::Camera::NumParams(), colmap::Camera::ParamsData(), colmap::Camera::PrincipalPointIdxs(), colmap::AbsolutePoseRefinementOptions::print_summary, PrintHeading2(), PrintSolverSummary(), colmap::AbsolutePoseRefinementOptions::refine_extra_params, colmap::AbsolutePoseRefinementOptions::refine_focal_length, SetQuaternionManifold(), SetSubsetManifold(), and cloudViewer::core::Solve().

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

◆ RefineEssentialMatrix()

bool colmap::RefineEssentialMatrix	(	const ceres::Solver::Options &	options,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2,
		const std::vector< char > &	inlier_mask,
		Eigen::Matrix3d *	E
	)

Definition at line 159 of file essential_matrix.cc.

References EssentialMatrixFromPose(), PoseFromEssentialMatrix(), QuaternionToRotationMatrix(), RefineRelativePose(), and RotationMatrixToQuaternion().

Referenced by BOOST_AUTO_TEST_CASE().

◆ RefineRelativePose()

bool colmap::RefineRelativePose	(	const ceres::Solver::Options &	options,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2,
		Eigen::Vector4d *	qvec,
		Eigen::Vector3d *	tvec
	)

Definition at line 330 of file pose.cc.

References colmap::RelativePoseCostFunction::Create(), NormalizeQuaternion(), SetQuaternionManifold(), and cloudViewer::core::Solve().

Referenced by RefineEssentialMatrix().

◆ RemoveCommandLineArgument()

void colmap::RemoveCommandLineArgument	(	const std::string &	arg,
		int *	argc,
		char **	argv
	)

Definition at line 327 of file misc.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ ResampleImageBilinear()

void colmap::ResampleImageBilinear	(	const float *	data,
		const int	rows,
		const int	cols,
		const int	new_rows,
		const int	new_cols,
		float *	resampled
	)

Definition at line 174 of file warp.cc.

References data, and cloudViewer::utility::floor().

Referenced by BOOST_AUTO_TEST_CASE(), and DownsampleImage().

◆ ReverseBytes()

template<typename T >

T colmap::ReverseBytes ( const T & data )

Definition at line 51 of file endian.h.

References data.

Referenced by BigEndianToNative(), LittleEndianToNative(), NativeToBigEndian(), and NativeToLittleEndian().

◆ RotationFromUnitVectors()

Eigen::Matrix3d colmap::RotationFromUnitVectors	(	const Eigen::Vector3d &	vector1,
		const Eigen::Vector3d &	vector2
	)

Definition at line 145 of file pose.cc.

References CrossProductMatrix().

Referenced by BOOST_AUTO_TEST_CASE(), and RunModelOrientationAligner().

◆ RotationMatrixToEulerAngles()

void colmap::RotationMatrixToEulerAngles	(	const Eigen::Matrix3d &	R,
		double *	rx,
		double *	ry,
		double *	rz
	)

Definition at line 48 of file pose.cc.

References IsNaN().

Referenced by BOOST_AUTO_TEST_CASE().

◆ RotationMatrixToQuaternion()

Eigen::Vector4d colmap::RotationMatrixToQuaternion ( const Eigen::Matrix3d & rot_mat )

Definition at line 70 of file pose.cc.

Referenced by AlignToENUPlane(), AlignToPrincipalPlane(), BOOST_AUTO_TEST_CASE(), EstimateAbsolutePose(), colmap::TwoViewGeometry::EstimateRelativePose(), EstimateRelativePose(), RefineEssentialMatrix(), colmap::SimilarityTransform3::Rotation(), RunModelOrientationAligner(), and colmap::SimilarityTransform3::TransformPose().

◆ RunAutomaticReconstructor()

int colmap::RunAutomaticReconstructor	(	int	argc,
		char **	argv
	)

Definition at line 48 of file sfm.cc.

Referenced by cloudViewer::AutomaticReconstruct(), and main().

◆ RunBundleAdjuster()

int colmap::RunBundleAdjuster	(	int	argc,
		char **	argv
	)

Definition at line 135 of file sfm.cc.

References colmap::OptionManager::AddBundleAdjustmentOptions(), colmap::OptionManager::AddRequiredOption(), QtCompat::endl(), ExistsDir(), colmap::OptionManager::Parse(), colmap::Reconstruction::Read(), colmap::Thread::Start(), colmap::Thread::Wait(), and colmap::Reconstruction::Write().

Referenced by cloudViewer::BundleAdjustment(), and main().

◆ RunColorExtractor()

int colmap::RunColorExtractor	(	int	argc,
		char **	argv
	)

Definition at line 167 of file sfm.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddImageOptions(), colmap::OptionManager::AddRequiredOption(), colmap::Reconstruction::ExtractColorsForAllImages(), colmap::OptionManager::image_path, colmap::OptionManager::Parse(), colmap::Reconstruction::Read(), and colmap::Reconstruction::Write().

Referenced by cloudViewer::ExtractColor(), and main().

◆ RunDatabaseCleaner()

int colmap::RunDatabaseCleaner	(	int	argc,
		char **	argv
	)

Definition at line 40 of file database.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddRequiredOption(), colmap::Database::ClearAllTables(), colmap::Database::ClearDescriptors(), colmap::Database::ClearImages(), colmap::Database::ClearKeypoints(), colmap::Database::ClearMatches(), colmap::Database::ClearTwoViewGeometries(), colmap::OptionManager::database_path, QtCompat::endl(), colmap::OptionManager::Parse(), PrintHeading1(), PrintHeading2(), StringToLower(), and type.

Referenced by cloudViewer::CleanDatabase(), and main().

◆ RunDatabaseCreator()

int colmap::RunDatabaseCreator	(	int	argc,
		char **	argv
	)

Definition at line 81 of file database.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::database_path, and colmap::OptionManager::Parse().

Referenced by cloudViewer::CreateDatabase(), and main().

◆ RunDatabaseMerger()

int colmap::RunDatabaseMerger	(	int	argc,
		char **	argv
	)

Definition at line 91 of file database.cc.

References colmap::OptionManager::AddRequiredOption(), QtCompat::endl(), ExistsFile(), colmap::Database::Merge(), and colmap::OptionManager::Parse().

Referenced by main(), and cloudViewer::MergeDatabase().

◆ RunDelaunayMesher()

int colmap::RunDelaunayMesher	(	int	argc,
		char **	argv
	)

Definition at line 43 of file mvs.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddDelaunayMeshingOptions(), colmap::OptionManager::AddRequiredOption(), colmap::OptionManager::delaunay_meshing, QtCompat::endl(), colmap::OptionManager::Parse(), and StringToLower().

Referenced by main(), and cloudViewer::MeshDelaunay().

◆ RunExhaustiveMatcher()

int colmap::RunExhaustiveMatcher	(	int	argc,
		char **	argv
	)

Definition at line 286 of file feature.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddExhaustiveMatchingOptions(), colmap::OptionManager::database_path, colmap::OptionManager::exhaustive_matching, kUseOpenGL, colmap::OptionManager::Parse(), RunThreadWithOpenGLContext(), colmap::OptionManager::sift_matching, colmap::Thread::Start(), and colmap::Thread::Wait().

Referenced by cloudViewer::ExhaustiveMatch(), and main().

◆ RunFeatureExtractor()

int colmap::RunFeatureExtractor	(	int	argc,
		char **	argv
	)

Definition at line 137 of file feature.cc.

Referenced by cloudViewer::ExtractFeature(), and main().

◆ RunFeatureImporter()

int colmap::RunFeatureImporter	(	int	argc,
		char **	argv
	)

◆ RunGraphicalUserInterface()

int colmap::RunGraphicalUserInterface	(	int	argc,
		char **	argv
	)

Definition at line 39 of file gui.cc.

References colmap::OptionManager::AddAllOptions(), colmap::OptionManager::AddDefaultOption(), QtCompat::endl(), colmap::MainWindow::ImportReconstruction(), and colmap::OptionManager::Parse().

Referenced by cloudViewer::GraphicalUserInterface(), and main().

◆ RunHierarchicalMapper()

int colmap::RunHierarchicalMapper	(	int	argc,
		char **	argv
	)

◆ RunImageDeleter()

int colmap::RunImageDeleter	(	int	argc,
		char **	argv
	)

Definition at line 78 of file image.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), colmap::Reconstruction::DeRegisterImage(), QtCompat::endl(), colmap::Reconstruction::ExistsImage(), colmap::Reconstruction::FindImageWithName(), image, colmap::Reconstruction::Image(), colmap::OptionManager::Parse(), colmap::Reconstruction::Read(), ReadTextFileLines(), StringPrintf(), and colmap::Reconstruction::Write().

Referenced by cloudViewer::DeleteImage(), and main().

◆ RunImageFilterer()

int colmap::RunImageFilterer	(	int	argc,
		char **	argv
	)

Definition at line 156 of file image.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), colmap::Reconstruction::DeRegisterImage(), QtCompat::endl(), colmap::Reconstruction::FilterImages(), image, colmap::Reconstruction::Images(), colmap::Reconstruction::NumRegImages(), colmap::OptionManager::Parse(), colmap::Reconstruction::Read(), StringPrintf(), and colmap::Reconstruction::Write().

Referenced by cloudViewer::FilterImage(), and main().

◆ RunImageRectifier()

int colmap::RunImageRectifier	(	int	argc,
		char **	argv
	)

Definition at line 205 of file image.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddImageOptions(), colmap::OptionManager::AddRequiredOption(), colmap::UndistortCameraOptions::blank_pixels, colmap::OptionManager::image_path, colmap::UndistortCameraOptions::max_image_size, colmap::UndistortCameraOptions::max_scale, colmap::UndistortCameraOptions::min_scale, colmap::OptionManager::Parse(), colmap::Reconstruction::Read(), colmap::Thread::Start(), and colmap::Thread::Wait().

Referenced by main(), and cloudViewer::RectifyImage().

◆ RunImageRegistrator()

int colmap::RunImageRegistrator	(	int	argc,
		char **	argv
	)

◆ RunImageTexturer()

int colmap::RunImageTexturer	(	int	argc,
		char **	argv
	)

◆ RunImageUndistorter()

int colmap::RunImageUndistorter	(	int	argc,
		char **	argv
	)

Definition at line 311 of file image.cc.

Referenced by main(), and cloudViewer::UndistortImage().

◆ RunImageUndistorterStandalone()

int colmap::RunImageUndistorterStandalone	(	int	argc,
		char **	argv
	)

Definition at line 408 of file image.cc.

Referenced by main(), and cloudViewer::UndistortImageStandalone().

◆ RunMapper()

int colmap::RunMapper	(	int	argc,
		char **	argv
	)

◆ RunMatchesImporter()

int colmap::RunMatchesImporter	(	int	argc,
		char **	argv
	)

Definition at line 238 of file feature.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddMatchingOptions(), colmap::OptionManager::AddRequiredOption(), colmap::OptionManager::database_path, kUseOpenGL, colmap::ImagePairsMatchingOptions::match_list_path, colmap::FeaturePairsMatchingOptions::match_list_path, colmap::OptionManager::Parse(), RunThreadWithOpenGLContext(), colmap::OptionManager::sift_matching, and colmap::FeaturePairsMatchingOptions::verify_matches.

Referenced by cloudViewer::ImportMatches(), and main().

◆ RunModelAligner()

int colmap::RunModelAligner	(	int	argc,
		char **	argv
	)

◆ RunModelAnalyzer()

int colmap::RunModelAnalyzer	(	int	argc,
		char **	argv
	)

Definition at line 332 of file model.cc.

Referenced by cloudViewer::AnalyzeModel(), and main().

◆ RunModelComparer()

int colmap::RunModelComparer	(	int	argc,
		char **	argv
	)

◆ RunModelConverter()

int colmap::RunModelConverter	(	int	argc,
		char **	argv
	)

Definition at line 463 of file model.cc.

Referenced by cloudViewer::ConvertModel(), and main().

◆ RunModelCropper()

int colmap::RunModelCropper	(	int	argc,
		char **	argv
	)

Definition at line 509 of file model.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), colmap::Reconstruction::ComputeBoundingBox(), colmap::Reconstruction::Crop(), QtCompat::endl(), ExistsDir(), colmap::SimilarityTransform3::FromFile(), colmap::SimilarityTransform3::Inverse(), colmap::OptionManager::Parse(), PrintHeading2(), colmap::Timer::PrintMinutes(), colmap::Reconstruction::Read(), colmap::Timer::Start(), and colmap::Reconstruction::Write().

Referenced by cloudViewer::CropModel(), and main().

◆ RunModelMerger()

int colmap::RunModelMerger	(	int	argc,
		char **	argv
	)

Definition at line 582 of file model.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), QtCompat::endl(), colmap::Reconstruction::Merge(), colmap::Reconstruction::NumPoints3D(), colmap::Reconstruction::NumRegImages(), colmap::OptionManager::Parse(), PrintHeading2(), colmap::Reconstruction::Read(), StringPrintf(), and colmap::Reconstruction::Write().

Referenced by main(), and cloudViewer::MergeModel().

◆ RunModelOrientationAligner()

int colmap::RunModelOrientationAligner	(	int	argc,
		char **	argv
	)

◆ RunModelSplitter()

int colmap::RunModelSplitter	(	int	argc,
		char **	argv
	)

Definition at line 694 of file model.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), colmap::ThreadPool::AddTask(), colmap::Reconstruction::ComputeBoundingBox(), CreateDirIfNotExists(), colmap::Reconstruction::Crop(), QtCompat::endl(), ExistsDir(), colmap::SimilarityTransform3::FromFile(), GetEffectiveNumThreads(), colmap::SimilarityTransform3::Inverse(), JoinPaths(), name, colmap::Reconstruction::NumPoints3D(), colmap::Reconstruction::NumRegImages(), colmap::OptionManager::Parse(), PrintHeading1(), PrintHeading2(), colmap::Timer::PrintMinutes(), colmap::Reconstruction::Read(), colmap::SimilarityTransform3::Scale(), colmap::Timer::Start(), StringPrintf(), StringToLower(), patch::to_string(), colmap::ThreadPool::Wait(), and colmap::Reconstruction::Write().

Referenced by main(), and cloudViewer::SplitModel().

◆ RunModelTransformer()

int colmap::RunModelTransformer	(	int	argc,
		char **	argv
	)

Definition at line 879 of file model.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), QtCompat::endl(), ExistsDir(), colmap::Reconstruction::ExportPLY(), colmap::SimilarityTransform3::FromFile(), HasFileExtension(), colmap::Reconstruction::ImportPLY(), colmap::SimilarityTransform3::Inverse(), colmap::Reconstruction::NumPoints3D(), colmap::OptionManager::Parse(), colmap::Reconstruction::Read(), colmap::Reconstruction::Transform(), and colmap::Reconstruction::Write().

Referenced by main(), and cloudViewer::TransformModel().

◆ RunPatchMatchStereo()

int colmap::RunPatchMatchStereo	(	int	argc,
		char **	argv
	)

Definition at line 81 of file mvs.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddPatchMatchStereoOptions(), colmap::OptionManager::AddRequiredOption(), QtCompat::endl(), colmap::OptionManager::Parse(), colmap::OptionManager::patch_match_stereo, colmap::Thread::Start(), StringToLower(), and colmap::Thread::Wait().

Referenced by main(), and cloudViewer::StereoPatchMatch().

◆ RunPointFiltering()

int colmap::RunPointFiltering	(	int	argc,
		char **	argv
	)

Definition at line 302 of file sfm.cc.

References colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), colmap::Reconstruction::DeletePoint3D(), QtCompat::endl(), colmap::Reconstruction::FilterAllPoints3D(), colmap::Track::Length(), colmap::OptionManager::Parse(), colmap::Reconstruction::Point3D(), colmap::Reconstruction::Point3DIds(), colmap::Reconstruction::Read(), colmap::Point3D::Track(), and colmap::Reconstruction::Write().

Referenced by cloudViewer::FilterPoints(), and main().

◆ RunPointTriangulator()

int colmap::RunPointTriangulator	(	int	argc,
		char **	argv
	)

Definition at line 339 of file sfm.cc.

Referenced by main(), and cloudViewer::TriangulatePoints().

◆ RunPoissonMesher()

int colmap::RunPoissonMesher	(	int	argc,
		char **	argv
	)

Definition at line 123 of file mvs.cc.

References colmap::OptionManager::AddPoissonMeshingOptions(), colmap::OptionManager::AddRequiredOption(), colmap::OptionManager::Parse(), colmap::OptionManager::poisson_meshing, and colmap::mvs::PoissonMeshing().

Referenced by main(), and cloudViewer::MeshPoisson().

◆ RunProjectGenerator()

int colmap::RunProjectGenerator	(	int	argc,
		char **	argv
	)

Definition at line 76 of file gui.cc.

References colmap::OptionManager::AddAllOptions(), colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), colmap::OptionManager::ModifyForExtremeQuality(), colmap::OptionManager::ModifyForHighQuality(), colmap::OptionManager::ModifyForLowQuality(), colmap::OptionManager::ModifyForMediumQuality(), colmap::OptionManager::Parse(), StringToLower(), and colmap::OptionManager::Write().

Referenced by cloudViewer::GenerateProject(), and main().

◆ RunRigBundleAdjuster()

int colmap::RunRigBundleAdjuster	(	int	argc,
		char **	argv
	)

◆ RunSequentialMatcher()

int colmap::RunSequentialMatcher	(	int	argc,
		char **	argv
	)

Definition at line 315 of file feature.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddSequentialMatchingOptions(), colmap::OptionManager::database_path, kUseOpenGL, colmap::OptionManager::Parse(), RunThreadWithOpenGLContext(), colmap::OptionManager::sequential_matching, colmap::OptionManager::sift_matching, colmap::Thread::Start(), and colmap::Thread::Wait().

Referenced by main(), and cloudViewer::SequentialMatch().

◆ RunSpatialMatcher()

int colmap::RunSpatialMatcher	(	int	argc,
		char **	argv
	)

Definition at line 344 of file feature.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddSpatialMatchingOptions(), colmap::OptionManager::database_path, kUseOpenGL, colmap::OptionManager::Parse(), RunThreadWithOpenGLContext(), colmap::OptionManager::sift_matching, colmap::OptionManager::spatial_matching, colmap::Thread::Start(), and colmap::Thread::Wait().

Referenced by main(), and cloudViewer::SpatialMatch().

◆ RunStereoFuser()

int colmap::RunStereoFuser	(	int	argc,
		char **	argv
	)

◆ RunThreadWithOpenGLContext()

void colmap::RunThreadWithOpenGLContext ( Thread * thread )

inline

Definition at line 81 of file opengl_utils.h.

Referenced by BOOST_AUTO_TEST_CASE(), RunAutomaticReconstructor(), RunExhaustiveMatcher(), RunFeatureExtractor(), RunMatchesImporter(), RunSequentialMatcher(), RunSpatialMatcher(), RunTransitiveMatcher(), and RunVocabTreeMatcher().

◆ RunTransitiveMatcher()

int colmap::RunTransitiveMatcher	(	int	argc,
		char **	argv
	)

Definition at line 373 of file feature.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddTransitiveMatchingOptions(), colmap::OptionManager::database_path, kUseOpenGL, colmap::OptionManager::Parse(), RunThreadWithOpenGLContext(), colmap::OptionManager::sift_matching, colmap::Thread::Start(), colmap::OptionManager::transitive_matching, and colmap::Thread::Wait().

Referenced by main(), and cloudViewer::TransitiveMatch().

◆ RunVocabTreeBuilder()

int colmap::RunVocabTreeBuilder	(	int	argc,
		char **	argv
	)

Definition at line 123 of file vocab_tree.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddDefaultOption(), colmap::OptionManager::AddRequiredOption(), colmap::retrieval::VisualIndex< kDescType, kDescDim, kEmbeddingDim >::BuildOptions::branching, colmap::retrieval::VisualIndex< kDescType, kDescDim, kEmbeddingDim >::Build(), colmap::OptionManager::database_path, descriptors, QtCompat::endl(), colmap::retrieval::kDefaultVocabTreeUri, colmap::retrieval::VisualIndex< kDescType, kDescDim, kEmbeddingDim >::BuildOptions::num_checks, colmap::retrieval::VisualIndex< kDescType, kDescDim, kEmbeddingDim >::BuildOptions::num_iterations, colmap::retrieval::VisualIndex< kDescType, kDescDim, kEmbeddingDim >::BuildOptions::num_visual_words, colmap::retrieval::VisualIndex< kDescType, kDescDim, kEmbeddingDim >::NumVisualWords(), colmap::OptionManager::Parse(), and colmap::retrieval::VisualIndex< kDescType, kDescDim, kEmbeddingDim >::Write().

Referenced by cloudViewer::BuildVocabTree(), and main().

◆ RunVocabTreeMatcher()

int colmap::RunVocabTreeMatcher	(	int	argc,
		char **	argv
	)

Definition at line 402 of file feature.cc.

References colmap::OptionManager::AddDatabaseOptions(), colmap::OptionManager::AddVocabTreeMatchingOptions(), colmap::OptionManager::database_path, kUseOpenGL, colmap::OptionManager::Parse(), RunThreadWithOpenGLContext(), colmap::OptionManager::sift_matching, colmap::Thread::Start(), colmap::OptionManager::vocab_tree_matching, and colmap::Thread::Wait().

Referenced by main(), and cloudViewer::VocabTreeMatch().

◆ RunVocabTreeRetriever()

int colmap::RunVocabTreeRetriever	(	int	argc,
		char **	argv
	)

Definition at line 157 of file vocab_tree.cc.

Referenced by main(), and cloudViewer::RetrieveVocabTree().

◆ ScaleSigmoid()

template<typename T >

T colmap::ScaleSigmoid	(	T	x,
		const T	alpha = `1`,
		const T	x0 = `10`
	)

Definition at line 283 of file math.h.

References Sigmoid(), and x.

Referenced by BOOST_AUTO_TEST_CASE().

◆ SetBestCudaDevice()

void colmap::SetBestCudaDevice ( const int gpu_index )

Definition at line 67 of file cuda.cc.

References CUDA_SAFE_CALL, and GetNumCudaDevices().

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

◆ SetPositiveExponentialManifold()

template<int size>

void colmap::SetPositiveExponentialManifold	(	ceres::Problem *	problem,
		double *	params
	)

inline

Definition at line 155 of file manifold.h.

References size.

◆ SetPRNGSeed()

void colmap::SetPRNGSeed ( unsigned seed )

Definition at line 40 of file random.cc.

References PRNG.

Referenced by BOOST_AUTO_TEST_CASE(), CreateRandomFeatureDescriptors(), GenerateReconstruction(), RandomGaussian(), RandomInteger(), RandomReal(), and TestVocabTreeType().

◆ SetQuaternionManifold()

void colmap::SetQuaternionManifold	(	ceres::Problem *	problem,
		double *	quat_xyzw
	)

inline

Definition at line 19 of file manifold.h.

Referenced by RefineAbsolutePose(), and RefineRelativePose().

◆ SetSphereManifold()

template<int size>

void colmap::SetSphereManifold	(	ceres::Problem *	problem,
		double *	params
	)

inline

Definition at line 44 of file manifold.h.

References size.

◆ SetSubsetManifold()

void colmap::SetSubsetManifold	(	int	size,
		const std::vector< int > &	constant_params,
		ceres::Problem *	problem,
		double *	params
	)

inline

Definition at line 29 of file manifold.h.

References size.

Referenced by colmap::BundleAdjuster::ParameterizeCameras(), and RefineAbsolutePose().

◆ ShowImagesSideBySide()

QPixmap colmap::ShowImagesSideBySide	(	const QPixmap &	image1,
		const QPixmap &	image2
	)

Definition at line 73 of file qt_utils.cc.

References ecvColor::black(), and image.

Referenced by DrawMatches(), cloudViewer::FeatureImageViewerWidget::ReadAndShowWithMatches(), and colmap::FeatureImageViewerWidget::ReadAndShowWithMatches().

◆ Shuffle()

template<typename T >

void colmap::Shuffle	(	const uint32_t	num_to_shuffle,
		std::vector< T > *	elems
	)

Definition at line 96 of file random.h.

References std::swap().

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::RandomSampler::Sample().

◆ Sigmoid()

template<typename T >

T colmap::Sigmoid	(	const T	x,
		const T	alpha = `1`
	)

Definition at line 278 of file math.h.

References x.

Referenced by BOOST_AUTO_TEST_CASE(), and ScaleSigmoid().

◆ SignOfNumber()

template<typename T >

int colmap::SignOfNumber ( const T val )

Definition at line 156 of file math.h.

Referenced by BOOST_AUTO_TEST_CASE(), and DecomposeHomographyMatrix().

◆ SmoothImage()

void colmap::SmoothImage	(	const float *	data,
		const int	rows,
		const int	cols,
		const float	sigma_r,
		const float	sigma_c,
		float *	smoothed
	)

Definition at line 215 of file warp.cc.

References data.

Referenced by BOOST_AUTO_TEST_CASE(), and DownsampleImage().

◆ SolveLeastAbsoluteDeviations()

bool colmap::SolveLeastAbsoluteDeviations	(	const LeastAbsoluteDeviationsOptions &	options,
		const Eigen::SparseMatrix< double > &	A,
		const Eigen::VectorXd &	b,
		Eigen::VectorXd *	x
	)

Definition at line 47 of file least_absolute_deviations.cc.

References colmap::LeastAbsoluteDeviationsOptions::absolute_tolerance, colmap::LeastAbsoluteDeviationsOptions::alpha, colmap::LeastAbsoluteDeviationsOptions::max_num_iterations, colmap::LeastAbsoluteDeviationsOptions::relative_tolerance, colmap::LeastAbsoluteDeviationsOptions::rho, x, and z.

Referenced by BOOST_AUTO_TEST_CASE().

◆ SplitFileExtension()

void colmap::SplitFileExtension	(	const std::string &	path,
		std::string *	root,
		std::string *	ext
	)

Definition at line 64 of file misc.cc.

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

Referenced by BOOST_AUTO_TEST_CASE(), and colmap::Reconstruction::ExportCam().

◆ SQLite3CallHelper()

int colmap::SQLite3CallHelper	(	const int	result_code,
		const std::string &	filename,
		const int	line_number
	)

inline

Definition at line 18 of file sqlite3_utils.h.

References filename.

◆ StdDev()

template<typename T >

double colmap::StdDev ( const std::vector< T > & elems )

Definition at line 248 of file math.h.

References Variance().

Referenced by BOOST_AUTO_TEST_CASE().

◆ StringContains()

bool colmap::StringContains	(	const std::string &	str,
		const std::string &	sub_str
	)

Definition at line 201 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::ImageColormapNameFilter::ComputeColor(), colmap::CameraDatabase::QuerySensorWidth(), and colmap::OptionManager::Write().

◆ StringGetAfter()

std::string colmap::StringGetAfter	(	const std::string &	str,
		const std::string &	key
	)

Definition at line 154 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ StringLeftTrim()

void colmap::StringLeftTrim ( std::string * str )

Definition at line 178 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE(), and StringTrim().

◆ StringPrintf()

std::string colmap::StringPrintf	(	const char *	format,
			...
	)

Definition at line 131 of file string.cc.

References format, and result.

Referenced by __CheckOptionImpl(), __CheckOptionOpImpl(), colmap::CorrespondenceGraph::AddCorrespondences(), BOOST_AUTO_TEST_CASE(), CreateSiftGPUMatcher(), CudaCheck(), CudaSafeCall(), CudaSyncAndCheck(), EstimateManhattanWorldFrame(), colmap::Reconstruction::ExtractColorsForAllImages(), colmap::mvs::GenerateCandidate(), GetBuildInfo(), colmap::mvs::Workspace::GetFileName(), GetVersionInfo(), colmap::DatabaseCache::Load(), colmap::mvs::Workspace::Load(), main(), operator<<(), colmap::OptionManager::Parse(), colmap::CudaTimer::Print(), colmap::Timer::PrintHours(), colmap::Timer::PrintMinutes(), colmap::Timer::PrintSeconds(), RunImageDeleter(), RunImageFilterer(), RunImageTexturer(), RunImageUndistorter(), RunModelAligner(), RunModelAnalyzer(), RunModelComparer(), RunModelMerger(), RunModelSplitter(), RunPointTriangulator(), RunRigBundleAdjuster(), RunVocabTreeRetriever(), and colmap::mvs::MvsTexturing::TextureMesh().

◆ StringReplace()

std::string colmap::StringReplace	(	const std::string &	str,
		const std::string &	old_str,
		const std::string &	new_str
	)

Definition at line 140 of file string.cc.

References position.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Reconstruction::ExportRecon3D(), GetPathBaseName(), colmap::ImageReader::Next(), and colmap::CameraDatabase::QuerySensorWidth().

◆ StringRightTrim()

void colmap::StringRightTrim ( std::string * str )

Definition at line 183 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE(), and StringTrim().

◆ StringSplit()

std::vector< std::string > colmap::StringSplit	(	const std::string &	str,
		const std::string &	delim
	)

Definition at line 166 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Reconstruction::CreateImageDirs(), CSVToVector(), GetPathBaseName(), colmap::mvs::ImportPMVSWorkspace(), ReadPly(), and SplitFileExtension().

◆ StringStartsWith()

bool colmap::StringStartsWith	(	const std::string &	str,
		const std::string &	prefix
	)

Definition at line 173 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::mvs::ImportPMVSWorkspace(), and RunModelAligner().

◆ StringToLower()

void colmap::StringToLower ( std::string * str )

Definition at line 193 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Bitmap::ExifLatitude(), colmap::Bitmap::ExifLongitude(), HasFileExtension(), colmap::CameraDatabase::QuerySensorWidth(), colmap::mvs::Model::Read(), RunAutomaticReconstructor(), RunDatabaseCleaner(), RunDelaunayMesher(), RunImageUndistorter(), RunModelAligner(), RunModelConverter(), RunModelOrientationAligner(), RunModelSplitter(), RunPatchMatchStereo(), RunProjectGenerator(), and RunStereoFuser().

◆ StringToUpper()

void colmap::StringToUpper ( std::string * str )

Definition at line 197 of file string.cc.

Referenced by BOOST_AUTO_TEST_CASE().

◆ StringTrim()

void colmap::StringTrim ( std::string * str )

Definition at line 188 of file string.cc.

References StringLeftTrim(), and StringRightTrim().

Referenced by BOOST_AUTO_TEST_CASE(), CSVToVector(), colmap::Bitmap::ExifLatitude(), colmap::Bitmap::ExifLongitude(), ReadPly(), ReadTextFileLines(), and RunImageUndistorterStandalone().

◆ TriangulateMultiViewPoint()

Eigen::Vector3d colmap::TriangulateMultiViewPoint	(	const std::vector< Eigen::Matrix3x4d > &	proj_matrices,
		const std::vector< Eigen::Vector2d > &	points
	)

Definition at line 72 of file triangulation.cc.

References points.

Referenced by colmap::TriangulationEstimator::Estimate().

◆ TriangulateOptimalPoint()

Eigen::Vector3d colmap::TriangulateOptimalPoint	(	const Eigen::Matrix3x4d &	proj_matrix1,
		const Eigen::Matrix3x4d &	proj_matrix2,
		const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2
	)

Definition at line 91 of file triangulation.cc.

References EssentialMatrixFromAbsolutePoses(), FindOptimalImageObservations(), and TriangulatePoint().

◆ TriangulateOptimalPoints()

std::vector< Eigen::Vector3d > colmap::TriangulateOptimalPoints	(	const Eigen::Matrix3x4d &	proj_matrix1,
		const Eigen::Matrix3x4d &	proj_matrix2,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2
	)

Definition at line 107 of file triangulation.cc.

References TriangulatePoint().

◆ TriangulatePoint()

Eigen::Vector3d colmap::TriangulatePoint	(	const Eigen::Matrix3x4d &	proj_matrix1,
		const Eigen::Matrix3x4d &	proj_matrix2,
		const Eigen::Vector2d &	point1,
		const Eigen::Vector2d &	point2
	)

Definition at line 39 of file triangulation.cc.

Referenced by BOOST_AUTO_TEST_CASE(), CheckCheirality(), colmap::TriangulationEstimator::Estimate(), colmap::IncrementalMapper::RegisterInitialImagePair(), TriangulateOptimalPoint(), TriangulateOptimalPoints(), and TriangulatePoints().

◆ TriangulatePoints()

std::vector< Eigen::Vector3d > colmap::TriangulatePoints	(	const Eigen::Matrix3x4d &	proj_matrix1,
		const Eigen::Matrix3x4d &	proj_matrix2,
		const std::vector< Eigen::Vector2d > &	points1,
		const std::vector< Eigen::Vector2d > &	points2
	)

Definition at line 55 of file triangulation.cc.

References TriangulatePoint().

◆ TruncateCast()

template<typename T1 , typename T2 >

T2 colmap::TruncateCast ( const T1 value )

Definition at line 291 of file math.h.

◆ UndistortCamera()

Camera colmap::UndistortCamera	(	const UndistortCameraOptions &	options,
		const Camera &	camera
	)

Definition at line 754 of file undistortion.cc.

Referenced by BOOST_AUTO_TEST_CASE(), RectifyAndUndistortStereoImages(), UndistortImage(), and UndistortReconstruction().

◆ UndistortImage()

void colmap::UndistortImage	(	const UndistortCameraOptions &	options,
		const Bitmap &	distorted_bitmap,
		const Camera &	distorted_camera,
		Bitmap *	undistorted_bitmap,
		Camera *	undistorted_camera
	)

Definition at line 939 of file undistortion.cc.

References colmap::Bitmap::Allocate(), colmap::Bitmap::CloneMetadata(), colmap::Camera::Height(), colmap::Bitmap::Height(), colmap::Bitmap::IsRGB(), UndistortCamera(), WarpImageBetweenCameras(), colmap::Camera::Width(), and colmap::Bitmap::Width().

Referenced by BOOST_AUTO_TEST_CASE(), and EstimateManhattanWorldFrame().

◆ UndistortReconstruction()

void colmap::UndistortReconstruction	(	const UndistortCameraOptions &	options,
		Reconstruction *	reconstruction
	)

Definition at line 956 of file undistortion.cc.

References colmap::Reconstruction::Camera(), colmap::Reconstruction::Cameras(), image, colmap::Reconstruction::Image(), colmap::Reconstruction::Images(), and UndistortCamera().

Referenced by BOOST_AUTO_TEST_CASE().

◆ Variance()

template<typename T >

double colmap::Variance ( const std::vector< T > & elems )

Definition at line 237 of file math.h.

References Mean().

Referenced by StdDev().

◆ VectorContainsDuplicateValues()

template<typename T >

bool colmap::VectorContainsDuplicateValues ( const std::vector< T > & vector )

Definition at line 143 of file misc.h.

Referenced by colmap::CameraRig::AddSnapshot(), and colmap::BundleAdjustmentConfig::SetConstantTvec().

◆ VectorContainsValue()

template<typename T >

bool colmap::VectorContainsValue	(	const std::vector< T > &	vector,
		const T	value
	)

Definition at line 136 of file misc.h.

Referenced by colmap::ProgressiveSampler::Sample().

◆ VectorToCSV()

template<typename T >

std::string colmap::VectorToCSV ( const std::vector< T > & values )

Definition at line 150 of file misc.h.

References patch::to_string().

Referenced by colmap::Camera::ParamsToString(), cloudViewer::CameraTab::Reload(), and colmap::CameraTab::Reload().

◆ WarpImageBetweenCameras()

void colmap::WarpImageBetweenCameras	(	const Camera &	source_camera,
		const Camera &	target_camera,
		const Bitmap &	source_image,
		Bitmap *	target_image
	)

Definition at line 51 of file warp.cc.

References colmap::Bitmap::Allocate(), color, colmap::Camera::Height(), colmap::Bitmap::Height(), colmap::Camera::ImageToWorld(), colmap::Bitmap::InterpolateBilinear(), colmap::Bitmap::IsRGB(), colmap::Camera::Rescale(), colmap::Bitmap::Rescale(), colmap::Bitmap::SetPixel(), colmap::Camera::Width(), colmap::Bitmap::Width(), colmap::Camera::WorldToImage(), x, and y.

Referenced by BOOST_AUTO_TEST_CASE(), and UndistortImage().

◆ WarpImageWithHomography()

void colmap::WarpImageWithHomography	(	const Eigen::Matrix3d &	H,
		const Bitmap &	source_image,
		Bitmap *	target_image
	)

Definition at line 98 of file warp.cc.

References color, colmap::Bitmap::Height(), colmap::Bitmap::InterpolateBilinear(), colmap::Bitmap::IsRGB(), colmap::Bitmap::SetPixel(), colmap::Bitmap::Width(), x, and y.

Referenced by BOOST_AUTO_TEST_CASE().

◆ WarpImageWithHomographyBetweenCameras()

void colmap::WarpImageWithHomographyBetweenCameras	(	const Eigen::Matrix3d &	H,
		const Camera &	source_camera,
		const Camera &	target_camera,
		const Bitmap &	source_image,
		Bitmap *	target_image
	)

Definition at line 124 of file warp.cc.

References colmap::Bitmap::Allocate(), color, colmap::Camera::Height(), colmap::Bitmap::Height(), colmap::Camera::ImageToWorld(), colmap::Bitmap::InterpolateBilinear(), colmap::Bitmap::IsRGB(), colmap::Camera::Rescale(), colmap::Bitmap::Rescale(), colmap::Bitmap::SetPixel(), colmap::Camera::Width(), colmap::Bitmap::Width(), colmap::Camera::WorldToImage(), x, and y.

Referenced by BOOST_AUTO_TEST_CASE(), and RectifyAndUndistortStereoImages().

◆ WriteBinaryBlob()

template<typename T >

void colmap::WriteBinaryBlob	(	const std::string &	path,
		const std::vector< T > &	data
	)

Definition at line 171 of file misc.h.

References data, and cloudViewer::t::geometry::path.

◆ WriteBinaryLittleEndian() [1/2]

template<typename T >

void colmap::WriteBinaryLittleEndian	(	std::ostream *	stream,
		const std::vector< T > &	data
	)

Definition at line 132 of file endian.h.

References data.

◆ WriteBinaryLittleEndian() [2/2]

template<typename T >

void colmap::WriteBinaryLittleEndian	(	std::ostream *	stream,
		const T &	data
	)

Definition at line 125 of file endian.h.

References data, and NativeToLittleEndian().

◆ WriteBinaryPlyMesh()

void colmap::WriteBinaryPlyMesh	(	const std::string &	path,
		const PlyMesh &	mesh
	)

Definition at line 448 of file ply.cc.

References cloudViewer::t::geometry::path.

◆ WriteBinaryPlyPoints()

void colmap::WriteBinaryPlyPoints	(	const std::string &	path,
		const std::vector< PlyPoint > &	points,
		const bool	write_normal,
		const bool	write_rgb
	)

Definition at line 369 of file ply.cc.

References cloudViewer::t::geometry::path.

Referenced by colmap::Reconstruction::ExportPLY(), colmap::AutomaticReconstructionController::RunDenseMapper(), and RunStereoFuser().

◆ WriteTextPlyMesh()

void colmap::WriteTextPlyMesh	(	const std::string &	path,
		const PlyMesh &	mesh
	)

Definition at line 423 of file ply.cc.

References cloudViewer::t::geometry::path.

◆ WriteTextPlyPoints()

void colmap::WriteTextPlyPoints	(	const std::string &	path,
		const std::vector< PlyPoint > &	points,
		const bool	write_normal,
		const bool	write_rgb
	)

Definition at line 323 of file ply.cc.

References QtCompat::endl(), cloudViewer::t::geometry::path, and points.

Variable Documentation

◆ CAMERA_MODEL_ID_TO_NAME

const std::unordered_map<int, std::string> colmap::CAMERA_MODEL_ID_TO_NAME

static

Initial value:

=

InitialzeCameraModelIdToName()

colmap::InitialzeCameraModelIdToName

std::unordered_map< int, std::string > InitialzeCameraModelIdToName()

Definition: camera_models.cc:74

Definition at line 91 of file camera_models.cc.

Referenced by CameraModelIdToName(), and ExistsCameraModelWithId().

◆ CAMERA_MODEL_NAME_TO_ID

const std::unordered_map<std::string, int> colmap::CAMERA_MODEL_NAME_TO_ID

static

Initial value:

=

InitialzeCameraModelNameToId()

colmap::InitialzeCameraModelNameToId

CAMERA_MODEL_CASES std::unordered_map< std::string, int > InitialzeCameraModelNameToId()

Definition: camera_models.cc:60

Definition at line 88 of file camera_models.cc.

Referenced by CameraModelNameToId(), and ExistsCameraModelWithName().

◆ EMPTY_IDXS

const std::vector<size_t> colmap::EMPTY_IDXS

static

Definition at line 154 of file camera_models.cc.

Referenced by CameraModelExtraParamsIdxs(), CameraModelFocalLengthIdxs(), and CameraModelPrincipalPointIdxs().

◆ kDefaultPRNGSeed

int colmap::kDefaultPRNGSeed = 0

static

Definition at line 21 of file random.h.

Referenced by colmap::OptionManager::AddRandomOptions().

◆ kInvalidCameraId

const camera_t colmap::kInvalidCameraId = std::numeric_limits<camera_t>::max()

Definition at line 75 of file types.h.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::CameraRig::ComputeRelativePoses(), colmap::Image::HasCamera(), colmap::ImageReader::Next(), and colmap::Image::SetCameraId().

◆ kInvalidCameraModelId

const int colmap::kInvalidCameraModelId = -1

static

Definition at line 55 of file camera_models.h.

Referenced by BOOST_AUTO_TEST_CASE(), and CameraModelNameToId().

◆ kInvalidImageId

const image_t colmap::kInvalidImageId = std::numeric_limits<image_t>::max()

Definition at line 76 of file types.h.

Referenced by BOOST_AUTO_TEST_CASE(), cloudViewer::ModelViewerWidget::ClearReconstruction(), colmap::IncrementalMapper::FindInitialImagePair(), colmap::GuidedSiftGPUFeatureMatcher::GuidedSiftGPUFeatureMatcher(), cloudViewer::ModelViewerWidget::SelectObject(), colmap::ModelViewerWidget::SelectObject(), and colmap::SiftGPUFeatureMatcher::SiftGPUFeatureMatcher().

◆ kInvalidImagePairId

const image_pair_t colmap::kInvalidImagePairId

Initial value:

=

std::numeric_limits<image_pair_t>::max()

Definition at line 77 of file types.h.

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

◆ kInvalidPoint2DIdx

const point2D_t colmap::kInvalidPoint2DIdx = std::numeric_limits<point2D_t>::max()

Definition at line 79 of file types.h.

Referenced by BOOST_AUTO_TEST_CASE().

◆ kInvalidPoint3DId

const point3D_t colmap::kInvalidPoint3DId = std::numeric_limits<point3D_t>::max()

Definition at line 80 of file types.h.

Referenced by BOOST_AUTO_TEST_CASE(), cloudViewer::ModelViewerWidget::ClearReconstruction(), colmap::Point2D::HasPoint3D(), colmap::Image::ResetPoint3DForPoint2D(), cloudViewer::ModelViewerWidget::SelectObject(), colmap::ModelViewerWidget::SelectObject(), colmap::Image::SetPoint3DForPoint2D(), cloudViewer::PointViewerWidget::Show(), and colmap::PointViewerWidget::Show().

◆ kUseOpenGL

const bool colmap::kUseOpenGL = false

Definition at line 25 of file gui.h.

Referenced by RunAutomaticReconstructor(), RunExhaustiveMatcher(), RunFeatureExtractor(), RunMatchesImporter(), RunSequentialMatcher(), RunSpatialMatcher(), RunTransitiveMatcher(), and RunVocabTreeMatcher().

◆ PRNG

thread_local std::unique_ptr< std::mt19937 > colmap::PRNG

Definition at line 38 of file random.cc.

Referenced by BOOST_AUTO_TEST_CASE(), RandomGaussian(), RandomInteger(), RandomReal(), and SetPRNGSeed().

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ camera_make_specs_t

◆ camera_specs_t

◆ camera_t

◆ EuclideanTransformEstimator

◆ FeatureDescriptor

◆ FeatureDescriptors

◆ FeatureKeypoints

◆ FeatureMatches

◆ image_pair_t

◆ image_t

◆ point2D_t

◆ point3D_t

Enumeration Type Documentation

◆ CopyType

◆ LineSegmentOrientation

Function Documentation

◆ __CheckOptionImpl()

◆ __CheckOptionOpImpl()

◆ __GetConstFileBaseName()

◆ AlignToENUPlane()

◆ AlignToPrincipalPlane()

◆ AnyGreaterThan()

◆ AnyLessThan()

◆ AverageQuaternions()

◆ BigEndianToNative()

◆ BitmapToQImageRGB()

◆ CalculateAngularError() [1/2]

◆ CalculateAngularError() [2/2]

◆ CalculateBaseline()

◆ CalculateDepth()

◆ CalculateNormalizedAngularError() [1/2]

◆ CalculateNormalizedAngularError() [2/2]

◆ CalculateSquaredReprojectionError() [1/2]

◆ CalculateSquaredReprojectionError() [2/2]

◆ CalculateTriangulationAngle()

◆ CalculateTriangulationAngles()

◆ CameraModelExtraParamsIdxs()

◆ CameraModelFocalLengthIdxs()

◆ CameraModelHasBogusParams()

◆ CameraModelIdToName()

◆ CameraModelImageToWorld()

◆ CameraModelImageToWorldThreshold()

◆ CameraModelInitializeParams()

◆ CameraModelNameToId()

◆ CameraModelNumParams()

◆ CameraModelParamsInfo()

◆ CameraModelPrincipalPointIdxs()

◆ CameraModelVerifyParams()

◆ CameraModelWorldToImage()

◆ CenterAndNormalizeImagePoints()

◆ CheckCheirality()

◆ ClassifyLineSegmentOrientations()

◆ Clip()

◆ CompleteAndMergeTracks()

◆ ComposeIdentityQuaternion()

◆ ComposeProjectionMatrix() [1/2]

◆ ComposeProjectionMatrix() [2/2]

◆ ComputeAlignmentBetweenReconstructions()

◆ ComputeClosestRotationMatrix()

◆ ComputeDepthsSylvesterCoeffs()

◆ ComputeMinGraphCutStoerWagner()

◆ ComputeNormalizedMinGraphCut()

◆ ComputeRelativePose()

◆ ComputeSquaredReprojectionError()

◆ ComputeSquaredSampsonError()

◆ ConcatenatePoses()

◆ ConcatenateQuaternions()

◆ CreateDirIfNotExists()

◆ CreateSiftGPUExtractor()

◆ CreateSiftGPUMatcher()

◆ CrossProductMatrix()

◆ CSVToVector()

◆ CudaCheck()