8000 Modularize executable main functions into separate sources by ahojnnes · Pull Request #1160 · colmap/colmap · GitHub
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Modularize executable main functions into separate sources #1160

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Merged
merged 1 commit into from
Mar 7, 2021
Merged

Modularize executable main functions into separate sources #1160

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37 changes: 20 additions & 17 deletions src/base/reconstruction.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -867,8 +867,7 @@ void Reconstruction::ImportPLY(const std::string& path) {
}
}

void Reconstruction::ImportPLY(const std::vector<PlyPoint> &ply_points)
{
void Reconstruction::ImportPLY(const std::vector<PlyPoint>& ply_points) {
points3D_.clear();
points3D_.reserve(ply_points.size());
for (const auto& ply_point : ply_points) {
Expand Down Expand Up @@ -995,18 +994,17 @@ bool Reconstruction::ExportCam(const std::string& path,
<< std::endl;
return false;
}
Eigen::Vector3d proj_center = image.ProjectionCenter();
Eigen::Matrix3d rot_mtx = image.RotationMatrix();
double max_size = std::max(camera.Width(), camera.Height());

const Eigen::Matrix3d rot_mat = image.RotationMatrix();
const double max_image_size = std::max(camera.Width(), camera.Height());
file << image.Tvec(0) << " " << image.Tvec(1) << " " << image.Tvec(2) << " "
<< rot_mtx(0, 0) << " " << rot_mtx(0, 1) << " " << rot_mtx(0, 2) << " "
<< rot_mtx(1, 0) << " " << rot_mtx(1, 1) << " " << rot_mtx(1, 2) << " "
<< rot_mtx(2, 0) << " " << rot_mtx(2, 1) << " " << rot_mtx(2, 2)
<< rot_mat(0, 0) << " " << rot_mat(0, 1) << " " << rot_mat(0, 2) << " "
<< rot_mat(1, 0) << " " << rot_mat(1, 1) << " " << rot_mat(1, 2) << " "
<< rot_mat(2, 0) << " " << rot_mat(2, 1) << " " << rot_mat(2, 2)
<< std::endl;
file << camera.MeanFocalLength() / max_size << " " << k1 << " " << k2 << " 1.0 "
<< camera.PrincipalPointX() / camera.Width() << " "
file << camera.MeanFocalLength() / max_image_size << " " << k1 << " " << k2
<< " 1.0 " << camera.PrincipalPointX() / camera.Width() << " "
<< camera.PrincipalPointY() / camera.Height() << std::endl;
file.close();
}

return true;
Expand Down Expand Up @@ -1055,7 +1053,8 @@ bool Reconstruction::ExportRecon3D(const std::string& path,
k1 = -1 * camera.Params(RadialCameraModel::extra_params_idxs[0]);
k2 = -1 * camera.Params(RadialCameraModel::extra_params_idxs[1]);
} else {
std::cout << "WARNING: Recon3D only supports `SIMPLE_RADIAL` and `RADIAL` camera model."
std::cout << "WARNING: Recon3D only supports `SIMPLE_RADIAL` and "
"`RADIAL` camera model."
<< std::endl;
return false;
}
Expand All @@ -1064,8 +1063,10 @@ bool Reconstruction::ExportRecon3D(const std::string& path,
1.0 / (double)std::max(camera.Width(), camera.Height());
synth_file << scale * camera.MeanFocalLength() << " " << k1 << " " << k2
<< std::endl;
synth_file << QuaternionToRotationMatrix(NormalizeQuaternion(image.Qvec())) << std::endl;
synth_file << image.Tvec(0) << " " << image.Tvec(1) << " " << image.Tvec(2) << std::endl;
synth_file << QuaternionToRotationMatrix(NormalizeQuaternion(image.Qvec()))
<< std::endl;
synth_file << image.Tvec(0) << " " << image.Tvec(1) << " " << image.Tvec(2)
<< std::endl;

image_id_to_idx_[image_id] = image_idx;
image_list_file << image.Name() << std::endl
Expand All @@ -1080,8 +1081,10 @@ bool Reconstruction::ExportRecon3D(const std::string& path,
// Write point info
for (const auto& point3D : points3D_) {
auto& p = point3D.second;
synth_file << p.XYZ()(0) << " " << p.XYZ()(1) << " " << p.XYZ()(2) << std::endl;
synth_file << (int)p.Color(0) << " " << (int)p.Color(1) << " " << (int)p.Color(2) << std::endl;
synth_file << p.XYZ()(0) << " " << p.XYZ()(1) << " " << p.XYZ()(2)
<< std::endl;
synth_file << (int)p.Color(0) << " " << (int)p.Color(1) << " "
<< (int)p.Color(2) << std::endl;

std::ostringstream line;

Expand Down Expand Up @@ -1146,7 +1149,7 @@ bool Reconstruction::ExportBundler(const std::string& path,
k1 = 0.0;
k2 = 0.0;
} else if (camera.ModelId() == SimplePinholeCameraModel::model_id ||
camera.ModelId() == PinholeCameraModel::model_id) {
camera.ModelId() == PinholeCameraModel::model_id) {
k1 = 0.0;
k2 = 0.0;
} else if (camera.ModelId() == SimpleRadialCameraModel::model_id) {
Expand Down
18 changes: 9 additions & 9 deletions src/base/scene_clustering.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -217,17 +217,17 @@ void SceneClustering::PartitionFlatCluster(
// We do the process sequentially for each image to ensure that at
// least we get the best matches firat
for (int i = 0; i < options_.branching; ++i) {
auto& orig_images = root_cluster_->child_clusters[i].image_ids;
auto& orig_image_ids = root_cluster_->child_clusters[i].image_ids;
std::set<int> cluster_images(
root_cluster_->child_clusters[i].image_ids.begin(),
root_cluster_->child_clusters[i].image_ids.end());
const int max_size = cluster_images.size() + options_.image_overlap;
const size_t max_size = cluster_images.size() + options_.image_overlap;
// check up to all the desired matches
for (int j = 0;
j < options_.num_image_matches && cluster_images.size() < max_size;
for (size_t j = 0; j < static_cast<size_t>(options_.num_image_matches) &&
cluster_images.size() < max_size;
++j) {
for (auto im_id : orig_images) {
const auto& images = related_images[im_id];
for (const image_t image_id : orig_image_ids) {
const auto& images = related_images[image_id];
if (j >= images.size()) {
continue;
}
Expand All @@ -241,9 +241,9 @@ void SceneClustering::PartitionFlatCluster(
}
}
}
orig_images.clear();
orig_images.insert(orig_images.end(), cluster_images.begin(),
cluster_images.end());
orig_image_ids.clear();
orig_image_ids.insert(orig_image_ids.end(), cluster_images.begin(),
cluster_images.end());
}
}

Expand Down
11 changes: 10 additions & 1 deletion src/exe/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -35,5 +35,14 @@ if(IS_MSVC)
add_compile_options("/bigobj")
endif()

COLMAP_ADD_EXECUTABLE(colmap_exe colmap.cc)
COLMAP_ADD_EXECUTABLE(colmap_exe
colmap.cc
database.cc
feature.cc
gui.cc
image.cc
model.cc
mvs.cc
sfm.cc
vocab_tree.cc)
set_target_properties(colmap_exe PROPERTIES OUTPUT_NAME colmap)
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