Method Load

src/colmap/scene/database_cache.cc:61–303

    : correspondence_graph_(std::make_shared<class CorrespondenceGraph>()) {}

void DatabaseCache::Load(const Database& database, const Options& options) {
  const bool has_rigs = database.NumRigs() > 0;
  const bool has_frames = database.NumFrames() > 0;

  //////////////////////////////////////////////////////////////////////////////
  // Load rigs
  //////////////////////////////////////////////////////////////////////////////

  Timer timer;

  timer.Start();
  LOG(INFO) << "Loading rigs...";

  {
    std::vector<class Rig> rigs = database.ReadAllRigs();
    rigs_.reserve(rigs.size());
    for (auto& rig : rigs) {
      rigs_.emplace(rig.RigId(), std::move(rig));
    }
  }

  LOG(INFO) << StringPrintf(
      " %d in %.3fs", rigs_.size(), timer.ElapsedSeconds());

  //////////////////////////////////////////////////////////////////////////////
  // Load cameras
  //////////////////////////////////////////////////////////////////////////////

  timer.Restart();
  LOG(INFO) << "Loading cameras...";

  {
    std::vector<struct Camera> cameras = database.ReadAllCameras();
    cameras_.reserve(cameras.size());
    for (auto& camera : cameras) {
      if (!has_rigs) {
        // For backwards compatibility with old databases from before having
        // support for rigs/frames, we create a rig for each camera.
        class Rig rig;
        rig.SetRigId(camera.camera_id);
        rig.AddRefSensor(camera.SensorId());
        rigs_.emplace(rig.RigId(), std::move(rig));
      }
      cameras_.emplace(camera.camera_id, std::move(camera));
    }
  }

  LOG(INFO) << StringPrintf(
      " %d in %.3fs", cameras_.size(), timer.ElapsedSeconds());

  //////////////////////////////////////////////////////////////////////////////
  // Load frames
  //////////////////////////////////////////////////////////////////////////////

  timer.Restart();
  LOG(INFO) << "Loading frames...";

  {