Method Load

src/colmap/scene/reconstruction.cc:295–349

}

void Reconstruction::Load(const DatabaseCache& database_cache) {
  // Add cameras.
  cameras_.reserve(database_cache.NumCameras());
  for (const auto& [camera_id, camera] : database_cache.Cameras()) {
    if (ExistsCamera(camera_id)) {
      struct Camera& existing_camera = Camera(camera_id);
      THROW_CHECK_EQ(existing_camera.model_id, camera.model_id);
      THROW_CHECK_EQ(existing_camera.width, camera.width);
      THROW_CHECK_EQ(existing_camera.height, camera.height);
    } else {
      AddCamera(camera);
    }
  }

  // Add rigs.
  rigs_.reserve(database_cache.NumRigs());
  for (const auto& [rig_id, rig] : database_cache.Rigs()) {
    if (ExistsRig(rig_id)) {
      class Rig& existing_rig = Rig(rig_id);
      THROW_CHECK(existing_rig.RefSensorId() == rig.RefSensorId());
      THROW_CHECK(existing_rig.SensorIds() == rig.SensorIds());
    } else {
      AddRig(rig);
    }
  }

  // Add frames.
  frames_.reserve(database_cache.NumFrames());
  for (const auto& [frame_id, frame] : database_cache.Frames()) {
    if (ExistsFrame(frame_id)) {
      class Frame& existing_frame = Frame(frame_id);
      THROW_CHECK(existing_frame.RigId() == frame.RigId());
      THROW_CHECK(existing_frame.DataIds() == frame.DataIds());
    } else {
      AddFrame(frame);
    }
  }

  // Add images.
  images_.reserve(database_cache.NumImages());

  for (const auto& [image_id, image] : database_cache.Images()) {
    if (ExistsImage(image_id)) {
      class Image& existing_image = Image(image_id);
      THROW_CHECK_EQ(existing_image.Name(), image.Name());
      if (existing_image.NumPoints2D() == 0) {
        existing_image.SetPoints2D(image.Points2D());
      } else {
        THROW_CHECK_EQ(image.NumPoints2D(), existing_image.NumPoints2D());
      }
    } else {
      AddImage(image);
    }
  }
}

void Reconstruction::TearDown() {
  // Remove all non-registered frames/images.