build_map.cc File Reference

#include <ff_common/init.h>
#include <ff_common/thread.h>
#include <ff_common/utils.h>
#include <config_reader/config_reader.h>
#include <camera/camera_params.h>
#include <sparse_mapping/sparse_map.h>
#include <sparse_mapping/reprojection.h>
#include <sparse_mapping/tensor.h>
#include <sparse_mapping/sparse_mapping.h>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <sparse_map.pb.h>
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <iostream>
#include <fstream>
#include <algorithm>
#include <thread>

Include dependency graph for build_map.cc:

Functions
	DEFINE_string (output_map, "", "Output file containing the matches and control network.")
	DEFINE_int32 (sample_rate, 1, "Add one of every n input frames to the map.")
	DEFINE_bool (save_individual_maps, false, "Save separately the maps after detection, matching, track building, " "incremental bundle adjustment, and global bundle adjustment.")
	DEFINE_string (detector, "SURF", "Feature detector to use. Options are: SURF, ORGBRISK, TEBLID512, TEBLID256.")
	DEFINE_string (rebuild_detector, "TEBLID512", "Feature detector to use. Options are: SURF, ORGBRISK, TEBLID512, TEBLID256.")
	DEFINE_bool (feature_detection, false, "Compute features for input images.")
	DEFINE_bool (feature_matching, false, "Perform feature matching.")
	DEFINE_bool (track_building, false, "Perform track building.")
	DEFINE_bool (incremental_ba, false, "Perform incremental bundle adjustment.")
	DEFINE_bool (loop_closure, false, "Take a map where images start repeating, and close the loop.")
	DEFINE_bool (bundle_adjustment, false, "Perform bundle adjustment.")
	DEFINE_bool (rebuild, false, "Rebuild the map with BRISK features.")
	DEFINE_bool (rebuild_replace_camera, false, "During rebuilding replace the camera with the one from ASTROBEE_ROBOT.")
	DEFINE_bool (vocab_db, false, "Build the map with a vocabulary database.")
	DEFINE_bool (registration, false, "Register the map to world coordinates(requires control points and their xyz coordinates). " "This new data is used to redo the bundle adjustment")
	DEFINE_bool (verification, false, "Verify how an already registered map performs on an independently " "acquired set of control points and 3D measurements.")
	DEFINE_bool (registration_skip_bundle_adjustment, false, "Skip bundle adjustment during the registration step.")
	DEFINE_bool (prune, false, "Prune the map (the vocab db is unchanged).")
	DEFINE_bool (info, false, "Print some information on the existing map.")
	DEFINE_bool (save_poses, false, "Save the camera to world transform and its inverse for each image in the map.")
	DEFINE_bool (save_xyz, false, "Save the sparse set of points obtained by triangulating the interest point matches.")
	DEFINE_int32 (num_repeat_images, 0, "How many images from the beginning of the sequence to repeat at the end " "of the sequence, to help with loop closure (assuming first and last images " "are similar).")
	DEFINE_bool (fix_cameras, false, "Keep the cameras fixed during bundle adjustment.")
	DEFINE_bool (rebuild_refloat_cameras, false, "Optimize the cameras as well as part of rebuilding. Usually that is " "avoided when rebuilding with binary features, but could be useful with SURF.")
	DEFINE_int32 (db_restarts, 1, "Number of restarts when building the tree.")
	DEFINE_int32 (db_depth, 0, "Depth of the tree to build. Default: 4")
	DEFINE_int32 (db_branching_factor, 0, "Branching factor of the tree to build. " "Default: 10")
	DEFINE_string (robot_camera, "nav_cam", "Which of bot's cameras to use for map-building. Anything except nav_cam is experimental.")
	DEFINE_string (undistorted_camera_params, "", "Assume that the camera has no distortion and given intrinsics. " "Specify as: 'image_wid_x image_wid_y focal_length optical_center_x " "optical_center_y'.")
void	DetectAllFeatures (int argc, char **argv)
void	MatchFeatures ()
void	BuildTracks ()
void	IncrementalBA ()
void	CloseLoop ()
void	BundleAdjust ()
void	Rebuild ()
void	PruneMap ()
void	VocabDB ()
void	RegistrationOrVerification (std::vector< std::string > const &data_files)
void	MapInfo ()
void	SavePoses ()
void	SaveXYZ ()
int	main (int argc, char **argv)

Variables
bool	g_pruning_was_done = false

Function Documentation

BuildTracks()

void BuildTracks

(

)

BundleAdjust()

void BundleAdjust

(

)

CloseLoop()

void CloseLoop

(

)

DEFINE_bool() [1/19]

DEFINE_bool	(	bundle_adjustment	,
		false	,
		"Perform bundle adjustment."
	)

DEFINE_bool() [2/19]

DEFINE_bool	(	feature_detection	,
		false	,
		"Compute features for input images."
	)

DEFINE_bool() [3/19]

DEFINE_bool	(	feature_matching	,
		false	,
		"Perform feature matching."
	)

DEFINE_bool() [4/19]

DEFINE_bool	(	fix_cameras	,
		false	,
		"Keep the cameras fixed during bundle adjustment."
	)

DEFINE_bool() [5/19]

DEFINE_bool	(	incremental_ba	,
		false	,
		"Perform incremental bundle adjustment."
	)

DEFINE_bool() [6/19]

DEFINE_bool	(	info	,
		false	,
		"Print some information on the existing map."
	)

DEFINE_bool() [7/19]

DEFINE_bool	(	loop_closure	,
		false	,
		"Take a map where images start	repeating,
		and close the loop."
	)

DEFINE_bool() [8/19]

DEFINE_bool	(	prune	,
		false	,
		"Prune the map (the vocab db is unchanged)."
	)

DEFINE_bool() [9/19]

DEFINE_bool	(	rebuild	,
		false	,
		"Rebuild the map with BRISK features."
	)

DEFINE_bool() [10/19]

DEFINE_bool	(	rebuild_refloat_cameras	,
		false	,
		"Optimize the cameras as well as part of rebuilding. Usually that is " "avoided when rebuilding with binary	features,
		but could be useful with SURF."
	)

DEFINE_bool() [11/19]

DEFINE_bool	(	rebuild_replace_camera	,
		false	,
		"During rebuilding replace the camera with the one from ASTROBEE_ROBOT."
	)

DEFINE_bool() [12/19]

DEFINE_bool	(	registration	,
		false	,
		"Register the map to world coordinates(requires control points and their xyz coordinates). " "This new data is used to redo the bundle adjustment"
	)

DEFINE_bool() [13/19]

DEFINE_bool	(	registration_skip_bundle_adjustment	,
		false	,
		"Skip bundle adjustment during the registration step."
	)

DEFINE_bool() [14/19]

DEFINE_bool	(	save_individual_maps	,
		false	,
		"Save separately the maps after	detection,
		matching	,
		track	building,
		" "incremental bundle	adjustment,
		and global bundle adjustment."
	)

DEFINE_bool() [15/19]

DEFINE_bool	(	save_poses	,
		false	,
		"Save the camera to world transform and its inverse for each image in the map."
	)

DEFINE_bool() [16/19]

DEFINE_bool	(	save_xyz	,
		false	,
		"Save the sparse set of points obtained by triangulating the interest point matches."
	)

DEFINE_bool() [17/19]

DEFINE_bool	(	track_building	,
		false	,
		"Perform track building."
	)

DEFINE_bool() [18/19]

DEFINE_bool	(	verification	,
		false	,
		"Verify how an already registered map performs on an independently " "acquired set of control points and 3D measurements."
	)

DEFINE_bool() [19/19]

DEFINE_bool	(	vocab_db	,
		false	,
		"Build the map with a vocabulary database."
	)

DEFINE_int32() [1/5]

DEFINE_int32	(	db_branching_factor	,
		0	,
		"Branching factor of the tree to build. " "Default: 10"
	)

DEFINE_int32() [2/5]

DEFINE_int32	(	db_depth	,
		0	,
		"Depth of the tree to build. Default: 4"
	)

DEFINE_int32() [3/5]

DEFINE_int32	(	db_restarts	,
		1	,
		"Number of restarts when building the tree."
	)

DEFINE_int32() [4/5]

DEFINE_int32	(	num_repeat_images	,
		0	,
		"How many images from the beginning of the sequence to repeat at the end " "of the	sequence,
		to help with loop closure(assuming first and last images " "are similar)."
	)

DEFINE_int32() [5/5]

DEFINE_int32	(	sample_rate	,
		1	,
		"Add one of every n input frames to the map."
	)

DEFINE_string() [1/5]

DEFINE_string	(	detector	,
		"SURF"	,
		"Feature detector to use. Options are:	SURF,
		ORGBRISK	,
		TEBLID512	,
		TEBLID256."
	)

DEFINE_string() [2/5]

DEFINE_string	(	output_map	,
		""	,
		"Output file containing the matches and control network."
	)

DEFINE_string() [3/5]

DEFINE_string	(	rebuild_detector	,
		"TEBLID512"	,
		"Feature detector to use. Options are:	SURF,
		ORGBRISK	,
		TEBLID512	,
		TEBLID256."
	)

DEFINE_string() [4/5]

DEFINE_string	(	robot_camera	,
		"nav_cam"	,
		"Which of bot's cameras to use for map-building. Anything except nav_cam is experimental."
	)

DEFINE_string() [5/5]

DEFINE_string	(	undistorted_camera_params	,
		""	,
		"Assume that the camera has no distortion and given intrinsics. " "Specify as: 'image_wid_x image_wid_y focal_length optical_center_x " "optical_center_y'."
	)

DetectAllFeatures()

void DetectAllFeatures	(	int	argc,
		char **	argv
	)

IncrementalBA()

void IncrementalBA

(

)

main()

int main	(	int	argc,
		char **	argv
	)

MapInfo()

void MapInfo

(

)

MatchFeatures()

void MatchFeatures

(

)

PruneMap()

void PruneMap

(

)

Rebuild()

void Rebuild

(

)

RegistrationOrVerification()

void RegistrationOrVerification

(

std::vector< std::string > const &

data_files

)

SavePoses()

void SavePoses

(

)

SaveXYZ()

void SaveXYZ

(

)

VocabDB()

void VocabDB

(

)

Variable Documentation

g_pruning_was_done

bool g_pruning_was_done = false