8000 Avoid const params in declarations by ahojnnes · Pull Request #2011 · colmap/colmap · GitHub
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Avoid const params in declarations #2011

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Merged
merged 8 commits into from
Jul 8, 2023
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Avoid const params in declarations #2011

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Add bugprone-* clang-tidy checks
ahojnnes Jul 8, 2023
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ahojnnes Jul 8, 2023
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ahojnnes Jul 8, 2023
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ahojnnes Jul 8, 2023
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Avoid const params in declaration
ahojnnes Jul 8, 2023
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ahojnnes Jul 8, 2023
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Merge branch 'dev' of https://github.com/colmap/colmap into user/josc…
ahojnnes Jul 8, 2023
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1 change: 1 addition & 0 deletions .clang-tidy
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Expand Up @@ -11,6 +11,7 @@ Checks: >
cppcoreguidelines-virtual-class-destructor,
google-explicit-constructor,
google-build-using-namespace,
readability-avoid-const-params-in-decls,
WarningsAsErrors: '*'
FormatStyle: 'file'
User: 'user'
50 changes: 25 additions & 25 deletions src/colmap/base/camera.h
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Expand Up @@ -47,39 +47,39 @@ class Camera {

// Access the unique identifier of the camera.
inline camera_t CameraId() const;
inline void SetCameraId(const camera_t camera_id);
inline void SetCameraId(camera_t camera_id);

// Access the camera model.
inline int ModelId() const;
std::string ModelName() const;
void SetModelId(const int model_id);
void SetModelId(int model_id);
void SetModelIdFromName(const std::string& model_name);

// Access dimensions of the camera sensor.
inline size_t Width() const;
inline size_t Height() const;
inline void SetWidth(const size_t width);
inline void SetHeight(const size_t height);
inline void SetWidth(size_t width);
inline void SetHeight(size_t height);

// Access focal length parameters.
double MeanFocalLength() const;
double FocalLength() const;
double FocalLengthX() const;
double FocalLengthY() const;
void SetFocalLength(const double focal_length);
void SetFocalLengthX(const double focal_length_x);
void SetFocalLengthY(const double focal_length_y);
void SetFocalLength(double focal_length);
void SetFocalLengthX(double focal_length_x);
void SetFocalLengthY(double focal_length_y);

// Check if camera has prior focal length.
inline bool HasPriorFocalLength() const;
inline void SetPriorFocalLength(const bool prior);
inline void SetPriorFocalLength(bool prior);

// Access principal point parameters. Only works if there are two
// principal point parameters.
double PrincipalPointX() const;
double PrincipalPointY() const;
void SetPrincipalPointX(const double ppx);
void SetPrincipalPointY(const double ppy);
void SetPrincipalPointX(double ppx);
void SetPrincipalPointY(double ppy);

// Get the indices of the parameter groups in the parameter vector.
const std::vector<size_t>& FocalLengthIdxs() const;
Expand All @@ -97,8 +97,8 @@ class Camera {
inline size_t NumParams() const;
inline const std::vector<double>& Params() const;
inline std::vector<double>& Params();
inline double Params(const size_t idx) const;
inline double& Params(const size_t idx);
inline double Params(size_t idx) const;
inline double& Params(size_t idx);
inline const double* ParamsData() const;
inline double* ParamsData();
inline void SetParams(const std::vector<double>& params);
Expand All @@ -117,34 +117,34 @@ class Camera {
bool IsUndistorted() const;

// Check whether camera has bogus parameters.
bool HasBogusParams(const double min_focal_length_ratio,
const double max_focal_length_ratio,
const double max_extra_param) const;
bool HasBogusParams(double min_focal_length_ratio,
double max_focal_length_ratio,
double max_extra_param) const;

// Initialize parameters for given camera model and focal length, and set
// the principal point to be the image center.
void InitializeWithId(const int model_id,
const double focal_length,
const size_t width,
const size_t height);
void InitializeWithId(int model_id,
double focal_length,
size_t width,
size_t height);
void InitializeWithName(const std::string& model_name,
const double focal_length,
const size_t width,
const size_t height);
double focal_length,
size_t width,
size_t height);

// Project point in image plane to world / infinity.
Eigen::Vector2d ImageToWorld(const Eigen::Vector2d& image_point) const;

// Convert pixel threshold in image plane to world space.
double ImageToWorldThreshold(const double threshold) const;
double ImageToWorldThreshold(double threshold) const;

// Project point from world / infinity to image plane.
Eigen::Vector2d WorldToImage(const Eigen::Vector2d& world_point) const;

// Rescale camera dimensions and accordingly the focal length and
// and the principal point.
void Rescale(const double scale);
void Rescale(const size_t width, const size_t height);
void Rescale(double scale);
void Rescale(size_t width, size_t height);

private:
// The unique identifier of the camera. If the identifier is not specified
Expand Down
16 changes: 8 additions & 8 deletions src/colmap/base/camera_rig.h
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Expand Up @@ -56,11 +56,11 @@ class CameraRig {
size_t NumSnapshots() const;

// Check whether the given camera is part of the rig.
bool HasCamera(const camera_t camera_id) const;
bool HasCamera(camera_t camera_id) const;

// Access the reference camera.
camera_t RefCameraId() const;
void SetRefCameraId(const camera_t camera_id);
void SetRefCameraId(camera_t camera_id);

// Get the identifiers of the cameras in the rig.
std::vector<camera_t> GetCameraIds() const;
Expand All @@ -71,7 +71,7 @@ class CameraRig {
// Add a new camera to the rig. The relative pose may contain dummy values and
// can then be computed automatically from a given reconstruction using the
// method `ComputeRelativePoses`.
void AddCamera(const camera_t camera_id,
void AddCamera(camera_t camera_id,
const Eigen::Vector4d& rel_qvec,
const Eigen::Vector3d& rel_tvec);

Expand All @@ -85,10 +85,10 @@ class CameraRig {
void Check(const Reconstruction& reconstruction) const;

// Get the relative poses of the cameras in the rig.
Eigen::Vector4d& RelativeQvec(const camera_t camera_id);
const Eigen::Vector4d& RelativeQvec(const camera_t camera_id) const;
Eigen::Vector3d& RelativeTvec(const camera_t camera_id);
const Eigen::Vector3d& RelativeTvec(const camera_t camera_id) const;
Eigen::Vector4d& RelativeQvec(camera_t camera_id);
const Eigen::Vector4d& RelativeQvec(camera_t camera_id) const;
Eigen::Vector3d& RelativeTvec(camera_t camera_id);
const Eigen::Vector3d& RelativeTvec(camera_t camera_id) const;

// Compute the scaling factor from the reconstruction to the camera rig
// dimensions by averaging over the distances between the projection centers.
Expand All @@ -105,7 +105,7 @@ class CameraRig {
// Compute the absolute camera pose of the rig. The absolute camera pose of
// the rig is computed as the average of all relative camera poses in the rig
// and their corresponding image poses in the reconstruction.
void ComputeAbsolutePose(const size_t snapshot_idx,
void ComputeAbsolutePose(size_t snapshot_idx,
const Reconstruction& reconstruction,
Eigen::Vector4d* abs_qvec,
Eigen::Vector3d* abs_tvec) const;
Expand Down
34 changes: 16 additions & 18 deletions src/colmap/base/correspondence_graph.h
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Expand Up @@ -65,18 +65,18 @@ class CorrespondenceGraph {
inline size_t NumImagePairs() const;

// Check whether image exists.
inline bool ExistsImage(const image_t image_id) const;
inline bool ExistsImage(image_t image_id) const;

// Get the number of observations in an image. An observation is an image
// point that has at least one correspondence.
inline point2D_t NumObservationsForImage(const image_t image_id) const;
inline point2D_t NumObservationsForImage(image_t image_id) const;

// Get the number of correspondences per image.
inline point2D_t NumCorrespondencesForImage(const image_t image_id) const;
inline point2D_t NumCorrespondencesForImage(image_t image_id) const;

// Get the number of correspondences between a pair of images.
inline point2D_t NumCorrespondencesBetweenImages(
const image_t image_id1, const image_t image_id2) const;
inline point2D_t NumCorrespondencesBetweenImages(image_t image_id1,
image_t image_id2) const;

// Get the number of correspondences between all images.
std::unordered_map<image_pair_t, point2D_t> NumCorrespondencesBetweenImages()
Expand All @@ -91,19 +91,19 @@ class CorrespondenceGraph {
void Finalize();

// Add new image to the correspondence graph.
void AddImage(const image_t image_id, const size_t num_points2D);
void AddImage(image_t image_id, size_t num_points2D);

// Add correspondences between images. This function ignores invalid
// correspondences where the point indices are out of bounds or duplicate
// correspondences between the same image points. Whenever either of the two
// cases occur this function prints a warning to the standard output.
void AddCorrespondences(const image_t image_id1,
const image_t image_id2,
void AddCorrespondences(image_t image_id1,
image_t image_id2,
const FeatureMatches& matches);

// Find the correspondence of an image observation to all other images.
inline const std::vector<Correspondence>& FindCorrespondences(
const image_t image_id, const point2D_t point2D_idx) const;
image_t image_id, point2D_t point2D_idx) const;

// Find correspondences to the given observation.
//
Expand All @@ -114,24 +114,22 @@ class CorrespondenceGraph {
// found. The returned list does not contain duplicates and contains
// the given observation.
void FindTransitiveCorrespondences(
const image_t image_id,
const point2D_t point2D_idx,
const size_t transitivity,
image_t image_id,
point2D_t point2D_idx,
size_t transitivity,
std::vector<Correspondence>* found_corrs) const;

// Find all correspondences between two images.
FeatureMatches FindCorrespondencesBetweenImages(
const image_t image_id1, const image_t image_id2) const;
FeatureMatches FindCorrespondencesBetweenImages(image_t image_id1,
image_t image_id2) const;

// Check whether the image point has correspondences.
inline bool HasCorrespondences(const image_t image_id,
const point2D_t point2D_idx) const;
inline bool HasCorrespondences(image_t image_id, point2D_t point2D_idx) const;

// Check whether the given observation is part of a two-view track, i.e.
// it only has one correspondence and that correspondence has the given
// observation as its only correspondence.
bool IsTwoViewObservation(const image_t image_id,
const point2D_t point2D_idx) const;
bool IsTwoViewObservation(image_t image_id, point2D_t point2D_idx) const;

private:
struct Image {
Expand Down
68 changes: 31 additions & 37 deletions src/colmap/base/database.h
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Expand Up @@ -72,14 +72,13 @@ class Database {

// Check if entry already exists in database. For image pairs, the order of
// `image_id1` and `image_id2` does not matter.
bool ExistsCamera(const camera_t camera_id) const;
bool ExistsImage(const image_t image_id) const;
bool ExistsCamera(camera_t camera_id) const;
bool ExistsImage(image_t image_id) const;
bool ExistsImageWithName(const std::string& name) const;
bool ExistsKeypoints(const image_t image_id) const;
bool ExistsDescriptors(const image_t image_id) const;
bool ExistsMatches(const image_t image_id1, const image_t image_id2) const;
bool ExistsInlierMatches(const image_t image_id1,
const image_t image_id2) const;
bool ExistsKeypoints(image_t image_id) const;
bool ExistsDescriptors(image_t image_id) const;
bool ExistsMatches(image_t image_id1, image_t image_id2) const;
F438 bool ExistsInlierMatches(image_t image_id1, image_t image_id2) const;

// Number of rows in `cameras` table.
size_t NumCameras() const;
Expand All @@ -94,7 +93,7 @@ class Database {
size_t MaxNumKeypoints() const;

// Number of descriptors for specific image.
size_t NumKeypointsForImage(const image_t image_id) const;
size_t NumKeypointsForImage(image_t image_id) const;

// Sum of `rows` column in `descriptors` table,
// i.e. number of total descriptors.
Expand All @@ -104,7 +103,7 @@ class Database {
size_t MaxNumDescriptors() const;

// Number of descriptors for specific image.
size_t NumDescriptorsForImage(const image_t image_id) const;
size_t NumDescriptorsForImage(image_t image_id) const;

// Sum of `rows` column in `matches` table, i.e. number of total matches.
size_t NumMatches() const;
Expand All @@ -123,38 +122,36 @@ class Database {
// `two_view_geometries` table. We intentionally avoid to store the pairs in a
// separate table by using e.g. AUTOINCREMENT, since the overhead of querying
// the unique pair ID is significant.
inline static image_pair_t ImagePairToPairId(const image_t image_id1,
const image_t image_id2);
inline static image_pair_t ImagePairToPairId(image_t image_id1,
image_t image_id2);

inline static void PairIdToImagePair(const image_pair_t pair_id,
inline static void PairIdToImagePair(image_pair_t pair_id,
image_t* image_id1,
image_t* image_id2);

// Return true if image pairs should be swapped. Used to enforce a specific
// image order to generate unique image pair identifiers independent of the
// order in which the image identifiers are used.
inline static bool SwapImagePair(const image_t image_id1,
const image_t image_id2);
inline static bool SwapImagePair(image_t image_id1, image_t image_id2);

// Read an existing entry in the database. The user is responsible for making
// sure that the entry actually exists. For image pairs, the order of
// `image_id1` and `image_id2` does not matter.
Camera ReadCamera(const camera_t camera_id) const;
Camera ReadCamera(camera_t camera_id) const;
std::vector<Camera> ReadAllCameras() const;

Image ReadImage(const image_t image_id) const;
Image ReadImage(image_t image_id) const;
Image ReadImageWithName(const std::string& name) const;
std::vector<Image> ReadAllImages() const;

FeatureKeypoints ReadKeypoints(const image_t image_id) const;
FeatureDescriptors ReadDescriptors(const image_t image_id) const;
FeatureKeypoints ReadKeypoints(image_t image_id) const;
FeatureDescriptors ReadDescriptors(image_t image_id) const;

FeatureMatches ReadMatches(const image_t image_id1,
const image_t image_id2) const;
FeatureMatches ReadMatches(image_t image_id1, image_t image_id2) const;
std::vector<std::pair<image_pair_t, FeatureMatches>> ReadAllMatches() const;

TwoViewGeometry ReadTwoViewGeometry(const image_t image_id1,
const image_t image_id2) const;
TwoViewGeometry ReadTwoViewGeometry(image_t image_id1,
image_t image_id2) const;
void ReadTwoViewGeometries(
std::vector<image_pair_t>* image_pair_ids,
std::vector<TwoViewGeometry>* two_view_geometries) const;
Expand All @@ -167,25 +164,24 @@ class Database {

// Add new camera and return its database identifier. If `use_camera_id`
// is false a new identifier is automatically generated.
camera_t WriteCamera(const Camera& camera,
const bool use_camera_id = false) const;
camera_t WriteCamera(const Camera& camera, bool use_camera_id = false) const;

// Add new image and return its database identifier. If `use_image_id`
// is false a new identifier is automatically generated.
image_t WriteImage(const Image& image, const bool use_image_id = false) const;
image_t WriteImage(const Image& image, bool use_image_id = false) const;

// Write a new entry in the database. The user is responsible for making sure
// that the entry does not yet exist. For image pairs, the order of
// `image_id1` and `image_id2` does not matter.
void WriteKeypoints(const image_t image_id,
void WriteKeypoints(image_t image_id,
const FeatureKeypoints& keypoints) const;
void WriteDescriptors(const image_t image_id,
void WriteDescriptors(image_t image_id,
const FeatureDescriptors& descriptors) const;
void WriteMatches(const image_t image_id1,
const image_t image_id2,
void WriteMatches(image_t image_id1,
image_t image_id2,
const FeatureMatches& matches) const;
void WriteTwoViewGeometry(const image_t image_id1,
const image_t image_id2,
void WriteTwoViewGeometry(image_t image_id1,
image_t image_id2,
const TwoViewGeometry& two_view_geometry) const;

// Update an existing camera in the database. The user is responsible for
Expand All @@ -197,11 +193,10 @@ class Database {
void UpdateImage(const Image& image) const;

// Delete matches of an image pair.
void DeleteMatches(const image_t image_id1, const image_t image_id2) const;
void DeleteMatches(image_t image_id1, image_t image_id2) const;

// Delete inlier matches of an image pair.
void DeleteInlierMatches(const image_t image_id1,
const image_t image_id2) const;
void DeleteInlierMatches(image_t image_id1, image_t image_id2) const;

// Clear all database tables
void ClearAllTables() const;
Expand Down Expand Up @@ -260,13 +255,12 @@ class Database {
bool ExistsColumn(const std::string& table_name,
const std::string& column_name) const;

bool ExistsRowId(sqlite3_stmt* sql_stmt, const sqlite3_int64 row_id) const;
bool ExistsRowId(sqlite3_stmt* sql_stmt, sqlite3_int64 row_id) const;
bool ExistsRowString(sqlite3_stmt* sql_stmt,
const std::string& row_entry) const;

size_t CountRows(const std::string& table) const;
size_t CountRowsForEntry(sqlite3_stmt* sql_stmt,
const sqlite3_int64 row_id) const;
size_t CountRowsForEntry(sqlite3_stmt* sql_stmt, sqlite3_int64 row_id) const;
size_t SumColumn(const std::string& column, const std::string& table) const;
size_t MaxColumn(const std::string& column, const std::string& table) const;

Expand Down
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