Method WriteTwoViewGeometry

src/colmap/scene/database_sqlite.cc:1316–1389

  }

  void WriteTwoViewGeometry(const image_t image_id1,
                            const image_t image_id2,
                            const TwoViewGeometry& two_view_geometry) override {
    THROW_CHECK(!ExistsTwoViewGeometry(image_id1, image_id2))
        << "Two view geometry between image " << image_id1 << " and "
        << image_id2 << " already exists.";
    Sqlite3StmtContext context(sql_stmt_write_two_view_geometry_);

    const image_pair_t pair_id = ImagePairToPairId(image_id1, image_id2);
    SQLITE3_CALL(
        sqlite3_bind_int64(sql_stmt_write_two_view_geometry_, 1, pair_id));

    const TwoViewGeometry* two_view_geometry_ptr = &two_view_geometry;

    // Invert the two-view geometry if the image pair has to be swapped.
    std::unique_ptr<TwoViewGeometry> swapped_two_view_geometry;
    if (ShouldSwapImagePair(image_id1, image_id2)) {
      swapped_two_view_geometry = std::make_unique<TwoViewGeometry>();
      *swapped_two_view_geometry = two_view_geometry;
      swapped_two_view_geometry->Invert();
      two_view_geometry_ptr = swapped_two_view_geometry.get();
    }

    const FeatureMatchesBlob inlier_matches =
        FeatureMatchesToBlob(two_view_geometry_ptr->inlier_matches);
    WriteDynamicMatrixBlob(
        sql_stmt_write_two_view_geometry_, inlier_matches, 2);

    SQLITE3_CALL(sqlite3_bind_int64(
        sql_stmt_write_two_view_geometry_, 5, two_view_geometry_ptr->config));

    // Write NULL for F/E/H if not set, otherwise transpose and write.
    // Important: Transposed matrices must be declared outside if-statements
    // because sqlite3_step reads the bound data after the bind calls.
    Eigen::Matrix3d Ft, Et, Ht;
    if (two_view_geometry_ptr->F.has_value()) {
      Ft = two_view_geometry_ptr->F->transpose();
      WriteStaticMatrixBlob(sql_stmt_write_two_view_geometry_, Ft, 6);
    } else {
      SQLITE3_CALL(sqlite3_bind_null(sql_stmt_write_two_view_geometry_, 6));
    }
    if (two_view_geometry_ptr->E.has_value()) {
      Et = two_view_geometry_ptr->E->transpose();
      WriteStaticMatrixBlob(sql_stmt_write_two_view_geometry_, Et, 7);
    } else {
      SQLITE3_CALL(sqlite3_bind_null(sql_stmt_write_two_view_geometry_, 7));
    }
    if (two_view_geometry_ptr->H.has_value()) {
      Ht = two_view_geometry_ptr->H->transpose();
      WriteStaticMatrixBlob(sql_stmt_write_two_view_geometry_, Ht, 8);
    } else {
      SQLITE3_CALL(sqlite3_bind_null(sql_stmt_write_two_view_geometry_, 8));
    }

    // Write NULL for qvec/tvec if cam2_from_cam1 is not set.
    // Important: quat_wxyz and tvec must be declared outside the if-statement
    // because sqlite3_step reads the bound data after the bind calls.
    Eigen::Vector4d quat_wxyz;