pack and write to a binary file. :param fid: :param data: data to send, if multiple elements are sent at the same time, they should be enc

Read and unpack the next bytes from a binary file. :param fid: :param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc.

Adds the constraint from the triplet to the symmetric matrix. Our standard constraint matrix A is a 3M x 3N matrix with M triplet constraints and N ca

Triangulate the point and return the depth of the point relative to each view. Returns true if the depth was recovered successfully and false if the p

Inputs: - img_dir: str - The folder containing input images - output_dir: str - The workspace directory

Adds all the edges of view_id to the heap. Only edges that do not already have an orientation estimation are added.

Global structure-from-motion for videos

Incremental structure-from-motion with COLMAP

see: src/base/reconstruction.cc void Reconstruction::WriteCamerasBinary(const std::string& path) void Reconstruction::ReadCameras

Sequentially track point trajectories