Cleanup of code after previous merge

shengyenlo · Nov 5, 2018 · e86a97d · e86a97d
1 parent dfee088
commit e86a97d
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Showing 3 changed files with 18 additions and 29 deletions.
diff --git a/src/base/cost_functions.h b/src/base/cost_functions.h
@@ -93,10 +93,10 @@ class BundleAdjustmentConstantPoseCostFunction {
   BundleAdjustmentConstantPoseCostFunction(const Eigen::Vector4d& qvec,
                                            const Eigen::Vector3d& tvec,
                                            const Eigen::Vector2d& point2D)
-      : qx_(qvec(0)),
-        qy_(qvec(1)),
-        qz_(qvec(2)),
-        qw_(qvec(3)),
+      : qw_(qvec(0)),
+        qx_(qvec(1)),
+        qy_(qvec(2)),
+        qz_(qvec(3)),
         tx_(tvec(0)),
         ty_(tvec(1)),
         tz_(tvec(2)),
@@ -115,7 +115,7 @@ class BundleAdjustmentConstantPoseCostFunction {
   template <typename T>
   bool operator()(const T* const point3D, const T* const camera_params,
                   T* residuals) const {
-    const T qvec[4] = {T(qx_), T(qy_), T(qz_), T(qw_)};
+    const T qvec[4] = {T(qw_), T(qx_), T(qy_), T(qz_)};
 
     // Rotate and translate.
     T projection[3];
@@ -140,15 +140,15 @@ class BundleAdjustmentConstantPoseCostFunction {
   }
 
  private:
-  double qx_;
-  double qy_;
-  double qz_;
-  double qw_;
-  double tx_;
-  double ty_;
-  double tz_;
-  double observed_x_;
-  double observed_y_;
+  const double qw_;
+  const double qx_;
+  const double qy_;
+  const double qz_;
+  const double tx_;
+  const double ty_;
+  const double tz_;
+  const double observed_x_;
+  const double observed_y_;
 };
 
 // Rig bundle adjustment cost function for variable camera pose and calibration

diff --git a/src/exe/colmap.cc b/src/exe/colmap.cc
@@ -30,7 +30,7 @@
 // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
 
 #ifndef NOMINMAX
-# define NOMINMAX
+#define NOMINMAX
 #endif
 
 #include <boost/property_tree/json_parser.hpp>
@@ -1657,22 +1657,11 @@ std::vector<Image> ReadVocabTreeRetrievalImageList(const std::string& path,
     }
   } else {
     DatabaseTransaction database_transaction(database);
-    std::unordered_map<std::string, image_t> image_name_to_image_id;
-    image_name_to_image_id.reserve(database->NumImages());
-    for (const auto& image : database->ReadAllImages()) {
-      image_name_to_image_id.emplace(image.Name(), image.ImageId());
-    }
 
     const auto image_names = ReadTextFileLines(path);
     images.reserve(image_names.size());
     for (const auto& image_name : image_names) {
-      if (image_name_to_image_id.count(image_name) == 0) {
-        std::cerr << "ERROR: Image " << image_name << " does not exist."
-                  << std::endl;
-        continue;
-      }
-      const auto image =
-          database->ReadImage(image_name_to_image_id.at(image_name));
+      const auto image = database->ReadImageWithName(image_name);
       CHECK_NE(image.ImageId(), kInvalidImageId);
       images.push_back(image);
     }

diff --git a/src/util/ply.h b/src/util/ply.h
@@ -32,11 +32,11 @@
 #ifndef COLMAP_SRC_UTIL_PLY_H_
 #define COLMAP_SRC_UTIL_PLY_H_
 
-#include "types.h"
-
 #include <string>
 #include <vector>
 
+#include "types.h"
+
 namespace colmap {
 
 struct PlyPoint {