Method AddSensor

src/colmap/sensor/rig.cc:40–48

}

void Rig::AddSensor(sensor_t sensor_id,
                    const std::optional<Rigid3d>& sensor_from_rig) {
  THROW_CHECK_GE(NumSensors(), 1)
      << "The reference sensor needs to be added first before other sensors.";
  THROW_CHECK(!HasSensor(sensor_id))
      << "Sensor (" << sensor_id.type << ", " << sensor_id.id
      << ") is inserted twice into the rig";
  sensors_from_rig_.emplace(sensor_id, sensor_from_rig);
}

std::ostream& operator<<(std::ostream& stream, const Rig& rig) {
  const std::string rig_id_str =