Function CopyRegisteredImage

src/colmap/estimators/alignment.cc:443–470

namespace {

void CopyRegisteredImage(image_t image_id,
                         const Sim3d& tgt_from_src,
                         const Reconstruction& src_reconstruction,
                         Reconstruction& tgt_reconstruction) {
  const Image& src_image = src_reconstruction.Image(image_id);
  if (!tgt_reconstruction.ExistsCamera(src_image.CameraId())) {
    tgt_reconstruction.AddCamera(
        src_reconstruction.Camera(src_image.CameraId()));
  }
  if (!tgt_reconstruction.ExistsRig(src_image.FramePtr()->RigId())) {
    tgt_reconstruction.AddRig(
        src_reconstruction.Rig(src_image.FramePtr()->RigId()));
  }
  if (!tgt_reconstruction.ExistsFrame(src_image.FrameId())) {
    Frame tgt_frame = src_reconstruction.Frame(src_image.FrameId());
    tgt_frame.ResetRigPtr();
    tgt_reconstruction.AddFrame(std::move(tgt_frame));
    const Rigid3d cam_from_tgt_world =
        TransformCameraWorld(tgt_from_src, src_image.CamFromWorld());
    tgt_reconstruction.Frame(src_image.FrameId())
        .SetCamFromWorld(src_image.CameraId(), cam_from_tgt_world);
  }

  Image tgt_image = src_image;
  tgt_image.ResetCameraPtr();
  tgt_image.ResetFramePtr();
  tgt_reconstruction.AddImage(std::move(tgt_image));
}

}  // namespace