Bundler Component: Incremental structure-from-motion. More...

#include <bundler_incremental.h>

Classes
struct	Options

Public Member Functions
	Incremental (Options const &options)

void	bundle_adjustment_full (void)
	Runs bundle adjustment on both, structure and motion.

void	bundle_adjustment_points_only (void)
	Runs bundle adjustment on the structure (3D points) only.

void	bundle_adjustment_single_cam (int view_id)
	Runs bundle adjustment on a single camera without structure.

mve::Bundle::Ptr	create_bundle (void) const
	Computes a bundle from all viewports and reconstructed tracks.

void	find_next_views (std::vector< int > *next_views)
	Returns a list of suitable view ID or emtpy list on failure.

void	initialize (ViewportList viewports, TrackList tracks, SurveyPointList *survey_points=nullptr)
	Initializes the incremental bundler and sets required data.

void	invalidate_large_error_tracks (void)
	Deletes tracks with a large reprojection error.

bool	is_initialized (void) const
	Returns whether the incremental SfM has been initialized.

void	normalize_scene (void)
	Transforms the bundle for numerical stability.

void	print_registration_error (void) const
	Prints MSE of survey points.

bool	reconstruct_next_view (int view_id)
	Incrementally adds the given view to the bundle.

void	triangulate_new_tracks (int min_num_views)
	Triangulates tracks without 3D position and at least N views.

void	try_registration (void)
	Tries to register the scene to the survey points.

void	try_restore_tracks_for_views (void)
	Restore tracks for views after intrinsics are optimized.

Detailed Description

Bundler Component: Incremental structure-from-motion.

Definition at line 27 of file bundler_incremental.h.

Constructor & Destructor Documentation

◆ Incremental()

sfm::bundler::Incremental::Incremental ( Options const & options )

inlineexplicit

Definition at line 122 of file bundler_incremental.h.

Member Function Documentation

◆ bundle_adjustment_full()

void sfm::bundler::Incremental::bundle_adjustment_full ( void )

Runs bundle adjustment on both, structure and motion.

Definition at line 389 of file bundler_incremental.cc.

◆ bundle_adjustment_points_only()

void sfm::bundler::Incremental::bundle_adjustment_points_only ( void )

Runs bundle adjustment on the structure (3D points) only.

Definition at line 408 of file bundler_incremental.cc.

◆ bundle_adjustment_single_cam()

void sfm::bundler::Incremental::bundle_adjustment_single_cam ( int view_id )

Runs bundle adjustment on a single camera without structure.

Definition at line 397 of file bundler_incremental.cc.

◆ create_bundle()

mve::Bundle::Ptr sfm::bundler::Incremental::create_bundle ( void ) const

Computes a bundle from all viewports and reconstructed tracks.

Definition at line 752 of file bundler_incremental.cc.

◆ find_next_views()

void sfm::bundler::Incremental::find_next_views ( std::vector< int > * next_views )

Returns a list of suitable view ID or emtpy list on failure.

Definition at line 55 of file bundler_incremental.cc.

◆ initialize()

void sfm::bundler::Incremental::initialize	(	ViewportList *	viewports,
		TrackList *	tracks,
		SurveyPointList *	survey_points = `nullptr`
	)

Initializes the incremental bundler and sets required data.

viewports: per-viewport colors, positions, track IDs, and initial focal length is required. A good initial camera pair is required so that initial tracks can be triangulated. Radial distortion and the camera pose is regularly updated.
tracks: The tracks are triangulated and regularly updated.

Definition at line 26 of file bundler_incremental.cc.

◆ invalidate_large_error_tracks()

void sfm::bundler::Incremental::invalidate_large_error_tracks ( void )

Deletes tracks with a large reprojection error.

Definition at line 578 of file bundler_incremental.cc.

◆ is_initialized()

bool sfm::bundler::Incremental::is_initialized ( void ) const

inline

Returns whether the incremental SfM has been initialized.

Definition at line 130 of file bundler_incremental.h.

◆ normalize_scene()

void sfm::bundler::Incremental::normalize_scene ( void )

Transforms the bundle for numerical stability.

Definition at line 657 of file bundler_incremental.cc.

◆ print_registration_error()

void sfm::bundler::Incremental::print_registration_error ( void ) const

Prints MSE of survey points.

Definition at line 708 of file bundler_incremental.cc.

◆ reconstruct_next_view()

bool sfm::bundler::Incremental::reconstruct_next_view ( int view_id )

Incrementally adds the given view to the bundle.

Definition at line 92 of file bundler_incremental.cc.

◆ triangulate_new_tracks()

void sfm::bundler::Incremental::triangulate_new_tracks ( int min_num_views )

Triangulates tracks without 3D position and at least N views.

Definition at line 300 of file bundler_incremental.cc.

◆ try_registration()

void sfm::bundler::Incremental::try_registration ( void )

Tries to register the scene to the survey points.

Definition at line 234 of file bundler_incremental.cc.

◆ try_restore_tracks_for_views()

void sfm::bundler::Incremental::try_restore_tracks_for_views ( void )

Restore tracks for views after intrinsics are optimized.

Definition at line 194 of file bundler_incremental.cc.

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

/builddir/build/BUILD/mve-354a652461377939ca136f451ba3271a1c52ee65/libs/sfm/bundler_incremental.h
/builddir/build/BUILD/mve-354a652461377939ca136f451ba3271a1c52ee65/libs/sfm/bundler_incremental.cc

Classes

Public Member Functions