10#ifndef SFM_BUNDLER_INCREMENTAL_HEADER
11#define SFM_BUNDLER_INCREMENTAL_HEADER
67 bool is_initialized (
void)
const;
70 void find_next_views (std::vector<int>* next_views);
72 bool reconstruct_next_view (
int view_id);
74 void try_restore_tracks_for_views (
void);
76 void triangulate_new_tracks (
int min_num_views);
78 void invalidate_large_error_tracks (
void);
80 void bundle_adjustment_full (
void);
82 void bundle_adjustment_single_cam (
int view_id);
84 void bundle_adjustment_points_only (
void);
87 void try_registration (
void);
89 void print_registration_error (
void)
const;
92 void normalize_scene (
void);
97 void bundle_adjustment_intern (
int single_camera_ba);
104 bool registered =
false;
110Incremental::Options::Options (
void)
111 : track_error_threshold_factor(10.0)
112 , new_track_error_threshold(0.01)
114 , ba_fixed_intrinsics(false)
115 , ba_shared_intrinsics(false)
116 , verbose_output(false)
132 return this->viewports !=
nullptr
133 && this->tracks !=
nullptr;
std::shared_ptr< Bundle > Ptr
Bundler Component: Incremental structure-from-motion.
bool is_initialized(void) const
Returns whether the incremental SfM has been initialized.
Incremental(Options const &options)
std::vector< Viewport > ViewportList
The list of all viewports considered for bundling.
std::vector< Track > TrackList
The list of all tracks.
std::vector< SurveyPoint > SurveyPointList
The list of all survey poins.
#define SFM_BUNDLER_NAMESPACE_END
#define SFM_BUNDLER_NAMESPACE_BEGIN
#define SFM_NAMESPACE_END
#define SFM_NAMESPACE_BEGIN
bool ba_shared_intrinsics
Bundle Adjustment with shared intrinsics.
bool verbose_ba
Produce detailed BA messages on the console.
double new_track_error_threshold
Reprojection error threshold for newly triangulated tracks.
double track_error_threshold_factor
Threshold (factor of the median error) for large error tracks.
bool verbose_output
Produce status messages on the console.
RansacPoseP3P::Options pose_p3p_opts
Options for computing pose from 2D-3D correspondences.
double min_triangulation_angle
Minimum angle for track triangulation in RAD.
bool ba_fixed_intrinsics
Bundle Adjustment fixed intrinsics.