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colmap::BundleAdjustmentOptions Struct Reference

#include <bundle_adjustment.h>

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Public Types

enum class  LossFunctionType { TRIVIAL , SOFT_L1 , CAUCHY }
 

Public Member Functions

 BundleAdjustmentOptions ()
 
ceres::LossFunction * CreateLossFunction () const
 
ceres::Solver::Options CreateSolverOptions (const BundleAdjustmentConfig &config, const ceres::Problem &problem) const
 
bool Check () const
 

Public Attributes

LossFunctionType loss_function_type = LossFunctionType::TRIVIAL
 
double loss_function_scale = 1.0
 
bool refine_focal_length = true
 
bool refine_principal_point = false
 
bool refine_extra_params = true
 
bool refine_extrinsics = true
 
bool print_summary = true
 
bool use_gpu = false
 
std::string gpu_index = "-1"
 
int min_num_images_gpu_solver = 50
 
int min_num_residuals_for_cpu_multi_threading = 50000
 
int max_num_images_direct_dense_cpu_solver = 50
 
int max_num_images_direct_sparse_cpu_solver = 1000
 
int max_num_images_direct_dense_gpu_solver = 200
 
int max_num_images_direct_sparse_gpu_solver = 4000
 
ceres::Solver::Options solver_options
 

Detailed Description

Definition at line 93 of file bundle_adjustment.h.

Member Enumeration Documentation

◆ LossFunctionType

enum colmap::BundleAdjustmentOptions::LossFunctionType
strong
Enumerator
TRIVIAL 
SOFT_L1 
CAUCHY 

Definition at line 95 of file bundle_adjustment.h.

Constructor & Destructor Documentation

◆ BundleAdjustmentOptions()

colmap::BundleAdjustmentOptions::BundleAdjustmentOptions ( )
inline

Definition at line 142 of file bundle_adjustment.h.

References e, and solver_options.

Member Function Documentation

◆ Check()

bool colmap::BundleAdjustmentOptions::Check ( ) const

Definition at line 247 of file bundle_adjustment.cc.

References CHECK_OPTION_GE, CHECK_OPTION_LT, loss_function_scale, max_num_images_direct_dense_cpu_solver, max_num_images_direct_dense_gpu_solver, max_num_images_direct_sparse_cpu_solver, and max_num_images_direct_sparse_gpu_solver.

◆ CreateLossFunction()

ceres::LossFunction * colmap::BundleAdjustmentOptions::CreateLossFunction ( ) const

Definition at line 230 of file bundle_adjustment.cc.

References CAUCHY, loss_function_scale, loss_function_type, SOFT_L1, and TRIVIAL.

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

◆ CreateSolverOptions()

ceres::Solver::Options colmap::BundleAdjustmentOptions::CreateSolverOptions ( const BundleAdjustmentConfig &  config,
const ceres::Problem &  problem 
) const

Definition at line 256 of file bundle_adjustment.cc.

References colmap::GetEffectiveNumThreads(), gpu_index, max_num_images_direct_dense_cpu_solver, max_num_images_direct_dense_gpu_solver, max_num_images_direct_sparse_cpu_solver, max_num_images_direct_sparse_gpu_solver, min_num_images_gpu_solver, min_num_residuals_for_cpu_multi_threading, colmap::BundleAdjustmentConfig::NumImages(), colmap::SetBestCudaDevice(), solver_options, and use_gpu.

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

Member Data Documentation

◆ gpu_index

std::string colmap::BundleAdjustmentOptions::gpu_index = "-1"

Definition at line 118 of file bundle_adjustment.h.

Referenced by CreateSolverOptions(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), and colmap::IncrementalMapperOptions::LocalBundleAdjustment().

◆ loss_function_scale

double colmap::BundleAdjustmentOptions::loss_function_scale = 1.0

Definition at line 99 of file bundle_adjustment.h.

Referenced by Check(), CreateLossFunction(), and colmap::IncrementalMapperOptions::LocalBundleAdjustment().

◆ loss_function_type

LossFunctionType colmap::BundleAdjustmentOptions::loss_function_type = LossFunctionType::TRIVIAL

Definition at line 96 of file bundle_adjustment.h.

Referenced by CreateLossFunction(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), and colmap::IncrementalMapperOptions::LocalBundleAdjustment().

◆ max_num_images_direct_dense_cpu_solver

int colmap::BundleAdjustmentOptions::max_num_images_direct_dense_cpu_solver = 50

Definition at line 134 of file bundle_adjustment.h.

Referenced by Check(), and CreateSolverOptions().

◆ max_num_images_direct_dense_gpu_solver

int colmap::BundleAdjustmentOptions::max_num_images_direct_dense_gpu_solver = 200

Definition at line 136 of file bundle_adjustment.h.

Referenced by Check(), and CreateSolverOptions().

◆ max_num_images_direct_sparse_cpu_solver

int colmap::BundleAdjustmentOptions::max_num_images_direct_sparse_cpu_solver = 1000

Definition at line 135 of file bundle_adjustment.h.

Referenced by Check(), and CreateSolverOptions().

◆ max_num_images_direct_sparse_gpu_solver

int colmap::BundleAdjustmentOptions::max_num_images_direct_sparse_gpu_solver = 4000

Definition at line 137 of file bundle_adjustment.h.

Referenced by Check(), and CreateSolverOptions().

◆ min_num_images_gpu_solver

int colmap::BundleAdjustmentOptions::min_num_images_gpu_solver = 50

Definition at line 125 of file bundle_adjustment.h.

Referenced by CreateSolverOptions().

◆ min_num_residuals_for_cpu_multi_threading

int colmap::BundleAdjustmentOptions::min_num_residuals_for_cpu_multi_threading = 50000

Definition at line 130 of file bundle_adjustment.h.

Referenced by CreateSolverOptions(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), and colmap::IncrementalMapperOptions::LocalBundleAdjustment().

◆ print_summary

bool colmap::BundleAdjustmentOptions::print_summary = true

Definition at line 114 of file bundle_adjustment.h.

Referenced by colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), colmap::IncrementalMapperOptions::LocalBundleAdjustment(), colmap::BundleAdjuster::Solve(), and colmap::RigBundleAdjuster::Solve().

◆ refine_extra_params

bool colmap::BundleAdjustmentOptions::refine_extra_params = true

Definition at line 108 of file bundle_adjustment.h.

Referenced by cloudViewer::OptionsParser::addBundleAdjustmentOptions(), BOOST_AUTO_TEST_CASE(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), colmap::IncrementalMapperOptions::LocalBundleAdjustment(), and colmap::BundleAdjuster::ParameterizeCameras().

◆ refine_extrinsics

bool colmap::BundleAdjustmentOptions::refine_extrinsics = true

Definition at line 111 of file bundle_adjustment.h.

Referenced by cloudViewer::OptionsParser::addBundleAdjustmentOptions().

◆ refine_focal_length

bool colmap::BundleAdjustmentOptions::refine_focal_length = true

Definition at line 102 of file bundle_adjustment.h.

Referenced by cloudViewer::OptionsParser::addBundleAdjustmentOptions(), BOOST_AUTO_TEST_CASE(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), colmap::IncrementalMapperOptions::LocalBundleAdjustment(), and colmap::BundleAdjuster::ParameterizeCameras().

◆ refine_principal_point

bool colmap::BundleAdjustmentOptions::refine_principal_point = false

Definition at line 105 of file bundle_adjustment.h.

Referenced by cloudViewer::OptionsParser::addBundleAdjustmentOptions(), BOOST_AUTO_TEST_CASE(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), colmap::IncrementalMapperOptions::LocalBundleAdjustment(), and colmap::BundleAdjuster::ParameterizeCameras().

◆ solver_options

ceres::Solver::Options colmap::BundleAdjustmentOptions::solver_options

Definition at line 140 of file bundle_adjustment.h.

Referenced by cloudViewer::OptionsParser::addBundleAdjustmentOptions(), BundleAdjustmentOptions(), CreateSolverOptions(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), colmap::IncrementalMapperOptions::LocalBundleAdjustment(), and colmap::RunRigBundleAdjuster().

◆ use_gpu

bool colmap::BundleAdjustmentOptions::use_gpu = false

Definition at line 117 of file bundle_adjustment.h.

Referenced by CreateSolverOptions(), colmap::IncrementalMapperOptions::GlobalBundleAdjustment(), and colmap::IncrementalMapperOptions::LocalBundleAdjustment().

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