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sfm::bundler::Incremental Class Reference

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: