Bundle adjustment based on Ceres-Solver. Enables most flexible configurations and provides best solution quality.

Configuration container to setup bundle adjustment problems.

Scene graph represents the graph of image to image and feature to feature correspondences of a dataset. It should be accessed from the DatabaseCache.

A class that caches the contents of the database in memory, used to quickly create new reconstruction instances when multiple models are reconstructed

A triplet of views described by the pairwise transformations between each view pair.

Class that triangulates points during the incremental reconstruction. It holds the state and provides all functionality for triangulation.

Estimates the camera position of views given pairwise relative poses and the absolute orientations of cameras. Positions are estimated using a least u

Estimates the camera position of views given global orientations and view triplets. The constraints formed by each triplet are used to create a sparse

Helper struct to maintain the graph for the translation projection problem.

Estimates the camera position of views given pairwise relative poses and the absolute orientations of cameras. Positions are estimated using a nonline

A generic class defining the interface for global position estimation methods. These methods take in as input the (global/absolute) orientation estima

Reconstruction class holds all information about a single reconstructed model. It is used by the mapping and bundle adjustment classes and can be writ

Computes the global rotations given relative rotations and an initial guess for the global orientations. The robust algorithm of "Efficient and Large

A generic class defining the interface for global rotation estimation methods. These methods take in as input the relative pairwise orientations and o

Two-view geometry estimator.