sparse_mapping Namespace Reference

Classes
class	BinaryDB
struct	filename_ordering
struct	FilterStats
class	ProtobufDatabase
class	ProtobufVocabulary
class	RandomSampleConsensus
	RANSAC Driver class. More...
struct	ReprojectionError
struct	SparseMap
struct	TransformError
struct	TranslationRotationScaleFittingFunctor
struct	VocabDB

Typedefs
typedef std::map< std::pair< int, int >, Eigen::Affine3d, std::less< std::pair< int, int > >, Eigen::aligned_allocator< std::pair< std::pair< int, int > const, Eigen::Affine3d > > >	CIDPairAffineMap
typedef std::array< std::pair< std::pair< int, int >, Eigen::Affine3d >, 3 >	CIDAffineTuple
typedef std::vector< CIDAffineTuple, Eigen::aligned_allocator< CIDAffineTuple > >	CIDAffineTupleVec
typedef ProtobufVocabulary< DBoW2::FBrief::TDescriptor, DBoW2::FBrief >	BinaryVocabulary
typedef ProtobufDatabase< DBoW2::FBrief::TDescriptor, DBoW2::FBrief >	BriefDatabase

Functions
void	get_n_unique_integers (int min_val, int max_val, int num, std::mt19937 *generator, std::vector< int > *values)
template<class ContainerT1 , class ContainerT2 , class FittingFuncT , class ErrorFuncT >
FittingFuncT::result_type	ransac (std::vector< ContainerT1 > const &p1, std::vector< ContainerT2 > const &p2, FittingFuncT const &fitting_func, ErrorFuncT const &error_func, int num_iterations, double inlier_threshold, int min_num_output_inliers, bool reduce_min_num_output_inliers_if_no_fit, bool increase_threshold_if_no_fit)
ceres::LossFunction *	GetLossFunction (std::string cost_fun, double th)
void	BundleAdjust (std::vector< std::map< int, int > > const &pid_to_cid_fid, std::vector< Eigen::Matrix2Xd > const &cid_to_keypoint_map, double focal_length, std::vector< Eigen::Affine3d > *cid_to_cam_t_global, std::vector< Eigen::Vector3d > *pid_to_xyz, std::vector< std::map< int, int > > const &user_pid_to_cid_fid, std::vector< Eigen::Matrix2Xd > const &user_cid_to_keypoint_map, std::vector< Eigen::Vector3d > *user_pid_to_xyz, ceres::LossFunction *loss, ceres::Solver::Options const &options, ceres::Solver::Summary *summary, int first=0, int last=std::numeric_limits< int >::max(), bool fix_cameras=false, std::set< int > const &fixed_cameras=std::set< int >())
void	BundleAdjustSmallSet (std::vector< Eigen::Matrix2Xd > const &features_n, double focal_length, std::vector< Eigen::Affine3d > *cam_t_global_n, Eigen::Matrix3Xd *pid_to_xyz, ceres::LossFunction *loss, ceres::Solver::Options const &options, ceres::Solver::Summary *summary)
int	RandomInt (int min, int max)
void	SelectRandomObservations (const std::vector< Eigen::Vector3d > &all_landmarks, const std::vector< Eigen::Vector2d > &all_observations, size_t num_selected, std::vector< cv::Point3d > *landmarks, std::vector< cv::Point2d > *observations)
size_t	CountInliers (const std::vector< Eigen::Vector3d > &landmarks, const std::vector< Eigen::Vector2d > &observations, const camera::CameraModel &camera, int tolerance, std::vector< size_t > *inliers)
void	EstimateCamera (camera::CameraModel *camera_estimate, std::vector< Eigen::Vector3d > *landmarks, const std::vector< Eigen::Vector2d > &observations, const ceres::Solver::Options &options, ceres::Solver::Summary *summary)
int	RansacEstimateCamera (const std::vector< Eigen::Vector3d > &landmarks, const std::vector< Eigen::Vector2d > &observations, int num_tries, int inlier_tolerance, camera::CameraModel *camera_estimate, std::vector< Eigen::Vector3d > *inlier_landmarks_out=NULL, std::vector< Eigen::Vector2d > *inlier_observations_out=NULL, bool verbose=false)
void	Find3DAffineTransform (Eigen::Matrix3Xd const &in, Eigen::Matrix3Xd const &out, Eigen::Affine3d *result)
void	InitializeCidFidToPid (int num_cid, std::vector< std::map< int, int > > const &pid_to_cid_fid, std::vector< std::map< int, int > > *cid_fid_to_pid)
bool	Localize (cv::Mat const &test_descriptors, Eigen::Matrix2Xd const &test_keypoints, camera::CameraParameters const &camera_params, camera::CameraModel *pose, std::vector< Eigen::Vector3d > *inlier_landmarks, std::vector< Eigen::Vector2d > *inlier_observations, int num_cid, std::string const &detector_name, sparse_mapping::VocabDB *vocab_db, int num_similar, std::vector< std::string > const &cid_to_filename, std::vector< cv::Mat > const &cid_to_descriptor_map, std::vector< Eigen::Matrix2Xd > const &cid_to_keypoint_map, std::vector< std::map< int, int > > const &cid_fid_to_pid, std::vector< Eigen::Vector3d > const &pid_to_xyz, int num_ransac_iterations, int ransac_inlier_tolerance, int early_break_landmarks, int histogram_equalization, std::vector< int > *cid_list)
Eigen::Quaternion< double >	slerp_n (std::vector< double > const &W, std::vector< Eigen::Quaternion< double > > const &Q)
bool	IsBinaryDescriptor (std::string const &descriptor)
void	HistogramEqualizationCheck (int histogram_equalization1, int histogram_equalization2)
void	WriteNVM (std::vector< Eigen::Matrix2Xd > const &cid_to_keypoint_map, std::vector< std::string > const &cid_to_filename, std::vector< std::map< int, int > > const &pid_to_cid_fid, std::vector< Eigen::Vector3d > const &pid_to_xyz, std::vector< Eigen::Affine3d > const &cid_to_cam_t_global, double focal_length, std::string const &output_filename)
void	ReadNVM (std::string const &input_filename, std::vector< Eigen::Matrix2Xd > *cid_to_keypoint_map, std::vector< std::string > *cid_to_filename, std::vector< std::map< int, int > > *pid_to_cid_fid, std::vector< Eigen::Vector3d > *pid_to_xyz, std::vector< Eigen::Affine3d > *cid_to_cam_t_global)
std::string	ImageToFeatureFile (std::string const &image_file, std::string const &detector_name)
std::string	DBImagesFile (std::string const &db_name)
std::string	MatchesFile (std::string const &map_file)
std::string	EssentialFile (std::string const &map_file)
void	WriteFeatures (std::string const &detector_name, std::vector< cv::KeyPoint > const &keypoints, cv::Mat const &descriptors, std::string const &output_filename)
bool	ReadFeatures (std::string const &input_filename, std::string const &detector_name, std::vector< cv::KeyPoint > *keypoints, cv::Mat *descriptors)
int	ReadFeaturesSIFT (std::string const &filename, cv::Mat *descriptors, std::vector< cv::KeyPoint > *keypoints)
Eigen::Vector3d	TriangulatePoint (Eigen::Vector3d const &unnormalized_pt1, Eigen::Vector3d const &unnormalized_pt2, Eigen::Matrix3d const &cam2_r_cam1, Eigen::Vector3d const &cam2_t_cam1, double *error)
void	DecomposeFMatIntoEMat (Eigen::Matrix3d const &fundamental, Eigen::Matrix3d const &intrinsics, Eigen::Matrix3d *essential)
void	DecomposeEMatIntoRT (Eigen::Matrix3d const &essential, Eigen::Matrix2Xd const &unnormalized_pts1, Eigen::Matrix2Xd const &unnormalized_pts2, std::vector< cv::DMatch > const &matches, double focal_length1, double focal_length2, Eigen::Matrix3d *cam2_r_cam1, Eigen::Vector3d *cam2_t_cam1)
std::string	CvMatTypeStr (cv::Mat const &Mat)
void	ListToListMap (std::vector< std::string > const &big_list, std::vector< std::string > const &small_list, std::map< int, int > *map)
void	MergePids (int repeat_index, int num_unique, std::vector< std::map< int, int > > *pid_to_cid_fid)
void	PrintPidStats (std::vector< std::map< int, int > > const &pid_to_cid_fid)
void	ParseHuginControlPoints (std::string const &hugin_file, std::vector< std::string > *images, Eigen::MatrixXd *points)
void	ParseXYZ (std::string const &xyz_file, Eigen::MatrixXd *xyz)
void	ParseCSV (std::string const &csv_file, std::map< std::string, std::vector< double > > *cols)
bool	WriteProtobufTo (const google::protobuf::MessageLite &message, google::protobuf::io::ZeroCopyOutputStream *rawOutput)
bool	WriteFileTo (const char *filename, google::protobuf::io::ZeroCopyOutputStream *rawOutput)
bool	ReadProtobufFrom (google::protobuf::io::ZeroCopyInputStream *rawInput, google::protobuf::MessageLite *message)
bool	ReadFileFrom (google::protobuf::io::ZeroCopyInputStream *rawInput, const char *filename)
void	TransformCamerasAndPoints (Eigen::Affine3d const &A, std::vector< Eigen::Affine3d > *cid_to_cam_t, std::vector< Eigen::Vector3d > *xyz)
double	GetErrThresh (const std::vector< double > &errors, double factor)
double	ComputeRaysAngle (int pid, std::vector< std::map< int, int > > const &pid_to_cid_fid, std::vector< Eigen::Vector3d > const &cam_ctrs, std::vector< Eigen::Vector3d > const &pid_to_xyz)
void	FilterPID (double reproj_thresh, camera::CameraParameters const &camera_params, std::vector< Eigen::Affine3d > const &cid_to_cam_t_global, std::vector< Eigen::Matrix2Xd > const &cid_to_keypoint_map, std::vector< std::map< int, int > > *pid_to_cid_fid, std::vector< Eigen::Vector3d > *pid_to_xyz, bool print_stats=true, double multiple_of_median=3.0)
bool	WriteBAL (const std::string &filename, camera::CameraParameters const &camera_params, std::vector< std::map< int, int > > const &pid_to_cid_fid, std::vector< Eigen::Vector3d > const &pid_to_xyz, std::vector< Eigen::Affine3d > const &cid_to_cam_t_global, std::vector< Eigen::Matrix2Xd > const &cid_to_keypoint_map)
void	PoseInterpolation (std::vector< std::string > const &images, std::vector< double > const &out_time, std::map< std::string, std::vector< double > > const &data, std::vector< Eigen::Affine3d > *cid_to_cam_t, std::vector< std::string > *good_images)
void	MatchFeatures (const std::string &essential_file, const std::string &matches_file, sparse_mapping::SparseMap *s)
void	BuildTracks (bool rm_invalid_xyz, const std::string &matches_file, sparse_mapping::SparseMap *s)
void	IncrementalBA (std::string const &essential_file, sparse_mapping::SparseMap *s)
void	CloseLoop (sparse_mapping::SparseMap *s)
void	BundleAdjust (bool fix_all_cameras, sparse_mapping::SparseMap *map, std::set< int > const &fixed_cameras=std::set< int >())
void	BundleAdjustment (sparse_mapping::SparseMap *s, ceres::LossFunction *loss, const ceres::Solver::Options &options, ceres::Solver::Summary *summary, int first=0, int last=std::numeric_limits< int >::max(), bool fix_all_cameras=false, std::set< int > const &fixed_cameras=std::set< int >())
void	AppendMapFile (std::string const &mapOut, std::string const &mapIn, int num_image_overlaps_at_endpoints, double outlier_factor, bool bundle_adjust, bool fix_first_map)
void	MergeMaps (sparse_mapping::SparseMap *A_in, sparse_mapping::SparseMap *B_in, int num_image_overlaps_at_endpoints, double outlier_factor, std::string const &output_map, sparse_mapping::SparseMap *C_out)
void	ExtractSubmap (std::vector< std::string > *keep_ptr, sparse_mapping::SparseMap *map_ptr)
double	RegistrationOrVerification (std::vector< std::string > const &data_files, bool verification, sparse_mapping::SparseMap *s)
void	WriteAffineCSV (CIDPairAffineMap const &relative_affines, std::string const &output_filename)
void	WriteAffineCSV (CIDAffineTupleVec const &relative_affines, std::string const &output_filename)
void	ReadAffineCSV (std::string const &input_filename, CIDPairAffineMap *relative_affines)
void	ReadAffineCSV (std::string const &input_filename, CIDAffineTupleVec *relative_affines)
void	PrintTrackStats (std::vector< std::map< int, int > >const &pid_to_cid_fid, std::string const &step)
void	BuildMapFindEssentialAndInliers (const Eigen::Matrix2Xd &keypoints1, const Eigen::Matrix2Xd &keypoints2, const std::vector< cv::DMatch > &matches, camera::CameraParameters const &camera_params, bool compute_inliers_only, size_t cam_a_idx, size_t cam_b_idx, std::mutex *match_mutex, CIDPairAffineMap *relative_b_t_a, std::vector< cv::DMatch > *inlier_matches, bool compute_rays_angle, double *rays_angle)
void	GenerateCIDToPIDFIDMap (std::vector< std::map< int, int > > const &pid_to_cid_fid, size_t num_of_cameras, std::vector< std::map< int, int > > *cid_to_pid_fid)
void	GenerateTupleListing (CIDPairAffineMap const &relative_affines, std::set< std::tuple< int, int, int > > *tuple_listing)
void	Triangulate (bool rm_invalid_xyz, double focal_length, std::vector< Eigen::Affine3d > const &cid_to_cam_t_global, std::vector< Eigen::Matrix2Xd > const &cid_to_keypoint_map, std::vector< std::map< int, int > > *pid_to_cid_fid, std::vector< Eigen::Vector3d > *pid_to_xyz, std::vector< std::map< int, int > > *cid_fid_to_pid)
void	DBSanityChecks (std::string const &db_type, std::string const &descriptor)
void	BuildDB (std::string const &map_file, std::string const &descriptor, int depth, int branching_factor, int restarts)
void	ResetDB (VocabDB *db)
void	QueryDB (std::string const &descriptor, VocabDB *vocab_db, int num_similar, cv::Mat const &descriptors, std::vector< int > *indices)
void	BuildDBforDBoW2 (sparse_mapping::SparseMap *map, std::string const &descriptor, int depth, int branching_factor, int restarts)
bool	P3P (const std::vector< cv::Point3d > &landmarks, const std::vector< cv::Point2d > &observations, const camera::CameraParameters &params, Eigen::Vector3d *pos, Eigen::Matrix3d *rotation)
std::string	print_vec (double a)
std::string	print_vec (Eigen::Vector3d a)
int	ReadMatches (std::string const &matches_file, openMVG::matching::PairWiseMatches *match_map)
void	WriteMatches (openMVG::matching::PairWiseMatches const &match_map, std::string const &matches_file)
void	BuildMapPerformMatching (openMVG::matching::PairWiseMatches *match_map, std::vector< Eigen::Matrix2Xd > const &cid_to_keypoint_map, std::vector< cv::Mat > const &cid_to_descriptor_map, camera::CameraParameters const &camera_params, CIDPairAffineMap *relative_affines, std::mutex *match_mutex, int i, int j, bool compute_rays_angle, double *rays_angle)
double	estimateCloseDistance (std::vector< Eigen::Vector3d > const &vec)
void	TransformTracks (std::map< int, int > const &cid2cid, bool rm_tracks_of_len_one, std::vector< std::map< int, int > > *pid_to_cid_fid)
void	FindPidCorrespondences (std::vector< std::map< int, int > > const &A_cid_fid_to_pid, std::vector< std::map< int, int > > const &B_cid_fid_to_pid, std::vector< std::map< int, int > > const &C_pid_to_cid_fid, int num_acid, std::map< int, int > *A2B, std::map< int, int > *B2A)
void	findMatchingTracks (sparse_mapping::SparseMap *A_in, sparse_mapping::SparseMap *B_in, sparse_mapping::SparseMap *C_out, std::string const &output_map, int num_image_overlaps_at_endpoints, std::map< int, int > &A2B, std::map< int, int > &B2A)
void	findTracksForSharedImages (sparse_mapping::SparseMap *A_in, sparse_mapping::SparseMap *B_in, std::map< int, int > &A2B, std::map< int, int > &B2A)
void	TransformMap (std::map< int, int > &cid2cid, sparse_mapping::SparseMap *C_out)
template<class IterT >
void	WriteCIDPairAffineIterator (IterT it, IterT end, std::ofstream *file)
template<class IterT >
void	ReadAffine (std::ifstream *file, IterT output_iter)
template<class IterT >
void	PushBackCIDPairAffine (std::ifstream *file, IterT output_iter, IterT output_iter_end)
template<class IterT >
void	PushBackCIDPairAffine (std::ifstream *file, IterT iter)
void	MatDescrToVec (cv::Mat const &mat, std::vector< float > *vec)
void	MatDescrToVec (cv::Mat const &mat, DBoW2::BriefDescriptor *brief)
cv::Point2f	CvPoint2 (const Eigen::Vector2d &point)
void	CreateSubdirectory (const std::string &directory, const std::string &subdirectory)
boost::optional< vc::FeatureMatches >	Matches (const vc::FeatureImage &current_image, const vc::FeatureImage &next_image, vc::LKOpticalFlowFeatureDetectorAndMatcher &detector_and_matcher)
Eigen::Affine3d	EstimateAffine3d (const vc::FeatureMatches &matches, const camera::CameraParameters &camera_params, std::vector< cv::DMatch > &inliers)
vc::FeatureImage	LoadImage (const int index, const std::vector< std::string > &image_names, cv::Feature2D &detector)
vc::LKOpticalFlowFeatureDetectorAndMatcherParams	LoadParams ()
bool	LowMovementImagePair (const vision_common::FeatureMatches &matches, const double max_low_movement_mean_distance)
bool	LowMovementImagePair (const vc::FeatureImage &current_image, const vc::FeatureImage &next_image, const double max_low_movement_mean_distance, vc::LKOpticalFlowFeatureDetectorAndMatcher &detector_and_matcher)
std::vector< std::string >	GetImageNames (const std::string &image_directory, const std::string &image_extension)

Typedef Documentation

BinaryVocabulary

typedef ProtobufVocabulary<DBoW2::FBrief::TDescriptor, DBoW2::FBrief> sparse_mapping::BinaryVocabulary

BriefDatabase

typedef ProtobufDatabase<DBoW2::FBrief::TDescriptor, DBoW2::FBrief> sparse_mapping::BriefDatabase

CIDAffineTuple

typedef std::array<std::pair<std::pair<int, int>, Eigen::Affine3d>, 3> sparse_mapping::CIDAffineTuple

CIDAffineTupleVec

typedef std::vector<CIDAffineTuple, Eigen::aligned_allocator<CIDAffineTuple> > sparse_mapping::CIDAffineTupleVec

CIDPairAffineMap

typedef std::map<std::pair<int, int>, Eigen::Affine3d, std::less<std::pair<int, int> >, Eigen::aligned_allocator<std::pair<std::pair<int , int > const, Eigen::Affine3d> > > sparse_mapping::CIDPairAffineMap

Function Documentation

AppendMapFile()

void sparse_mapping::AppendMapFile	(	std::string const &	mapOut,
		std::string const &	mapIn,
		int	num_image_overlaps_at_endpoints,
		double	outlier_factor,
		bool	bundle_adjust,
		bool	fix_first_map
	)

Append map file.

BuildDB()

void sparse_mapping::BuildDB	(	std::string const &	map_file,
		std::string const &	descriptor,
		int	depth,
		int	branching_factor,
		int	restarts
	)

BuildDBforDBoW2()

void sparse_mapping::BuildDBforDBoW2	(	sparse_mapping::SparseMap *	map,
		std::string const &	descriptor,
		int	depth,
		int	branching_factor,
		int	restarts
	)

BuildMapFindEssentialAndInliers()

void sparse_mapping::BuildMapFindEssentialAndInliers	(	const Eigen::Matrix2Xd &	keypoints1,
		const Eigen::Matrix2Xd &	keypoints2,
		const std::vector< cv::DMatch > &	matches,
		camera::CameraParameters const &	camera_params,
		bool	compute_inliers_only,
		size_t	cam_a_idx,
		size_t	cam_b_idx,
		std::mutex *	match_mutex,
		CIDPairAffineMap *	relative_b_t_a,
		std::vector< cv::DMatch > *	inlier_matches,
		bool	compute_rays_angle,
		double *	rays_angle
	)

BuildMapPerformMatching()

void sparse_mapping::BuildMapPerformMatching	(	openMVG::matching::PairWiseMatches *	match_map,
		std::vector< Eigen::Matrix2Xd > const &	cid_to_keypoint_map,
		std::vector< cv::Mat > const &	cid_to_descriptor_map,
		camera::CameraParameters const &	camera_params,
		CIDPairAffineMap *	relative_affines,
		std::mutex *	match_mutex,
		int	i,
		int	j,
		bool	compute_rays_angle,
		double *	rays_angle
	)

BuildTracks()

void sparse_mapping::BuildTracks	(	bool	rm_invalid_xyz,
		const std::string &	matches_file,
		sparse_mapping::SparseMap *	s
	)

Build the tracks based on the matches

BundleAdjust() [1/2]

void sparse_mapping::BundleAdjust	(	bool	fix_all_cameras,
		sparse_mapping::SparseMap *	map,
		std::set< int > const &	fixed_cameras = std::set<int>()
	)

Improve the map with bundle adjustment. Vary only the cameras between given indices.

BundleAdjust() [2/2]

void sparse_mapping::BundleAdjust	(	std::vector< std::map< int, int > > const &	pid_to_cid_fid,
		std::vector< Eigen::Matrix2Xd > const &	cid_to_keypoint_map,
		double	focal_length,
		std::vector< Eigen::Affine3d > *	cid_to_cam_t_global,
		std::vector< Eigen::Vector3d > *	pid_to_xyz,
		std::vector< std::map< int, int > > const &	user_pid_to_cid_fid,
		std::vector< Eigen::Matrix2Xd > const &	user_cid_to_keypoint_map,
		std::vector< Eigen::Vector3d > *	user_pid_to_xyz,
		ceres::LossFunction *	loss,
		ceres::Solver::Options const &	options,
		ceres::Solver::Summary *	summary,
		int	first = 0,
		int	last = std::numeric_limits<int>::max(),
		bool	fix_cameras = false,
		std::set< int > const &	fixed_cameras = std::set<int>()
	)

Perform bundle adjustment.

cid_to_cam_t_global is the camera transforms focal_length is the focal_length pid_to_xyz are landmark locations All should be set to initial guesses and are modified to improved guesses when the function returns.

pid_to_cid_fid is maps from landmark id to camera id and feature id cid_to_keypoint_map gives a list of observations for each camera Ceres loss function and options can be specified, and summary returns results from ceres. Optimize only the cameras with indices in [first, last].

BundleAdjustment()

void sparse_mapping::BundleAdjustment	(	sparse_mapping::SparseMap *	s,
		ceres::LossFunction *	loss,
		const ceres::Solver::Options &	options,
		ceres::Solver::Summary *	summary,
		int	first = 0,
		int	last = std::numeric_limits<int>::max(),
		bool	fix_all_cameras = false,
		std::set< int > const &	fixed_cameras = std::set<int>()
	)

BundleAdjustSmallSet()

void sparse_mapping::BundleAdjustSmallSet	(	std::vector< Eigen::Matrix2Xd > const &	features_n,
		double	focal_length,
		std::vector< Eigen::Affine3d > *	cam_t_global_n,
		Eigen::Matrix3Xd *	pid_to_xyz,
		ceres::LossFunction *	loss,
		ceres::Solver::Options const &	options,
		ceres::Solver::Summary *	summary
	)

Perform bundle adjustment.

This variant assumes that all cameras see that same points. This is meant to be used to do 2 or 3 camera refinements however it can do N cameras just fine.

CloseLoop()

void sparse_mapping::CloseLoop

(

sparse_mapping::SparseMap *

s

)

Close a loop with repeated images.

ComputeRaysAngle()

double sparse_mapping::ComputeRaysAngle	(	int	pid,
		std::vector< std::map< int, int > > const &	pid_to_cid_fid,
		std::vector< Eigen::Vector3d > const &	cam_ctrs,
		std::vector< Eigen::Vector3d > const &	pid_to_xyz
	)

CountInliers()

size_t sparse_mapping::CountInliers	(	const std::vector< Eigen::Vector3d > &	landmarks,
		const std::vector< Eigen::Vector2d > &	observations,
		const camera::CameraModel &	camera,
		int	tolerance,
		std::vector< size_t > *	inliers
	)

CreateSubdirectory()

void sparse_mapping::CreateSubdirectory	(	const std::string &	directory,
		const std::string &	subdirectory
	)

CvMatTypeStr()

std::string sparse_mapping::CvMatTypeStr

(

cv::Mat const &

Mat

)

CvPoint2()

cv::Point2f sparse_mapping::CvPoint2

(

const Eigen::Vector2d &

point

)

DBImagesFile()

std::string sparse_mapping::DBImagesFile

(

std::string const &

db_name

)

DBSanityChecks()

void sparse_mapping::DBSanityChecks	(	std::string const &	db_type,
		std::string const &	descriptor
	)

DecomposeEMatIntoRT()

void sparse_mapping::DecomposeEMatIntoRT	(	Eigen::Matrix3d const &	essential,
		Eigen::Matrix2Xd const &	unnormalized_pts1,
		Eigen::Matrix2Xd const &	unnormalized_pts2,
		std::vector< cv::DMatch > const &	matches,
		double	focal_length1,
		double	focal_length2,
		Eigen::Matrix3d *	cam2_r_cam1,
		Eigen::Vector3d *	cam2_t_cam1
	)

DecomposeFMatIntoEMat()

void sparse_mapping::DecomposeFMatIntoEMat	(	Eigen::Matrix3d const &	fundamental,
		Eigen::Matrix3d const &	intrinsics,
		Eigen::Matrix3d *	essential
	)

EssentialFile()

std::string sparse_mapping::EssentialFile

(

std::string const &

map_file

)

EstimateAffine3d()

Eigen::Affine3d sparse_mapping::EstimateAffine3d	(	const vc::FeatureMatches &	matches,
		const camera::CameraParameters &	camera_params,
		std::vector< cv::DMatch > &	inliers
	)

EstimateCamera()

void sparse_mapping::EstimateCamera	(	camera::CameraModel *	camera_estimate,
		std::vector< Eigen::Vector3d > *	landmarks,
		const std::vector< Eigen::Vector2d > &	observations,
		const ceres::Solver::Options &	options,
		ceres::Solver::Summary *	summary
	)

Estimate the camera matrix, with translation and rotation, that maps the points in landmarks to the image coordinates observed in observations. This uses a least squares solver and the initial estimate must be in the neighborhood of the true position for it to converge.

After the function is called, camera_estimate is updated to contain the results, and summary summarizes them.

estimateCloseDistance()

double sparse_mapping::estimateCloseDistance

(

std::vector< Eigen::Vector3d > const &

vec

)

ExtractSubmap()

void sparse_mapping::ExtractSubmap	(	std::vector< std::string > *	keep_ptr,
		sparse_mapping::SparseMap *	map_ptr
	)

Take a map. Form a map with only a subset of the images. Bundle adjustment will happen later.

FilterPID()

void sparse_mapping::FilterPID	(	double	reproj_thresh,
		camera::CameraParameters const &	camera_params,
		std::vector< Eigen::Affine3d > const &	cid_to_cam_t_global,
		std::vector< Eigen::Matrix2Xd > const &	cid_to_keypoint_map,
		std::vector< std::map< int, int > > *	pid_to_cid_fid,
		std::vector< Eigen::Vector3d > *	pid_to_xyz,
		bool	print_stats = true,
		double	multiple_of_median = 3.0
	)

Find3DAffineTransform()

void sparse_mapping::Find3DAffineTransform	(	Eigen::Matrix3Xd const &	in,
		Eigen::Matrix3Xd const &	out,
		Eigen::Affine3d *	result
	)

findMatchingTracks()

void sparse_mapping::findMatchingTracks	(	sparse_mapping::SparseMap *	A_in,
		sparse_mapping::SparseMap *	B_in,
		sparse_mapping::SparseMap *	C_out,
		std::string const &	output_map,
		int	num_image_overlaps_at_endpoints,
		std::map< int, int > &	A2B,
		std::map< int, int > &	B2A
	)

FindPidCorrespondences()

void sparse_mapping::FindPidCorrespondences	(	std::vector< std::map< int, int > > const &	A_cid_fid_to_pid,
		std::vector< std::map< int, int > > const &	B_cid_fid_to_pid,
		std::vector< std::map< int, int > > const &	C_pid_to_cid_fid,
		int	num_acid,
		std::map< int, int > *	A2B,
		std::map< int, int > *	B2A
	)

findTracksForSharedImages()

void sparse_mapping::findTracksForSharedImages	(	sparse_mapping::SparseMap *	A_in,
		sparse_mapping::SparseMap *	B_in,
		std::map< int, int > &	A2B,
		std::map< int, int > &	B2A
	)

GenerateCIDToPIDFIDMap()

void sparse_mapping::GenerateCIDToPIDFIDMap	(	std::vector< std::map< int, int > > const &	pid_to_cid_fid,
		size_t	num_of_cameras,
		std::vector< std::map< int, int > > *	cid_to_pid_fid
	)

GenerateTupleListing()

void sparse_mapping::GenerateTupleListing	(	CIDPairAffineMap const &	relative_affines,
		std::set< std::tuple< int, int, int > > *	tuple_listing
	)

get_n_unique_integers()

void sparse_mapping::get_n_unique_integers	(	int	min_val,
		int	max_val,
		int	num,
		std::mt19937 *	generator,
		std::vector< int > *	values
	)

GetErrThresh()

double sparse_mapping::GetErrThresh	(	const std::vector< double > &	errors,
		double	factor
	)

GetImageNames()

std::vector< std::string > sparse_mapping::GetImageNames	(	const std::string &	image_directory,
		const std::string &	image_extension
	)

GetLossFunction()

ceres::LossFunction * sparse_mapping::GetLossFunction	(	std::string	cost_fun,
		double	th
	)

HistogramEqualizationCheck()

void sparse_mapping::HistogramEqualizationCheck	(	int	histogram_equalization1,
		int	histogram_equalization2
	)

ImageToFeatureFile()

std::string sparse_mapping::ImageToFeatureFile	(	std::string const &	image_file,
		std::string const &	detector_name
	)

IncrementalBA()

void sparse_mapping::IncrementalBA	(	std::string const &	essential_file,
		sparse_mapping::SparseMap *	s
	)

Incremental bundle adjustment.

InitializeCidFidToPid()

void sparse_mapping::InitializeCidFidToPid	(	int	num_cid,
		std::vector< std::map< int, int > > const &	pid_to_cid_fid,
		std::vector< std::map< int, int > > *	cid_fid_to_pid
	)

IsBinaryDescriptor()

bool sparse_mapping::IsBinaryDescriptor

(

std::string const &

descriptor

)

ListToListMap()

void sparse_mapping::ListToListMap	(	std::vector< std::string > const &	big_list,
		std::vector< std::string > const &	small_list,
		std::map< int, int > *	map
	)

LoadImage()

vision_common::FeatureImage sparse_mapping::LoadImage	(	const int	index,
		const std::vector< std::string > &	image_names,
		cv::Feature2D &	detector
	)

LoadParams()

vision_common::LKOpticalFlowFeatureDetectorAndMatcherParams sparse_mapping::LoadParams

(

)

Localize()

bool sparse_mapping::Localize	(	cv::Mat const &	test_descriptors,
		Eigen::Matrix2Xd const &	test_keypoints,
		camera::CameraParameters const &	camera_params,
		camera::CameraModel *	pose,
		std::vector< Eigen::Vector3d > *	inlier_landmarks,
		std::vector< Eigen::Vector2d > *	inlier_observations,
		int	num_cid,
		std::string const &	detector_name,
		sparse_mapping::VocabDB *	vocab_db,
		int	num_similar,
		std::vector< std::string > const &	cid_to_filename,
		std::vector< cv::Mat > const &	cid_to_descriptor_map,
		std::vector< Eigen::Matrix2Xd > const &	cid_to_keypoint_map,
		std::vector< std::map< int, int > > const &	cid_fid_to_pid,
		std::vector< Eigen::Vector3d > const &	pid_to_xyz,
		int	num_ransac_iterations,
		int	ransac_inlier_tolerance,
		int	early_break_landmarks,
		int	histogram_equalization,
		std::vector< int > *	cid_list
	)

Estimate the camera pose for a set of image descriptors and keypoints. Non-member function. We will invoke it both from within the SparseMap class and from outside of it.

LowMovementImagePair() [1/2]

bool sparse_mapping::LowMovementImagePair	(	const vc::FeatureImage &	current_image,
		const vc::FeatureImage &	next_image,
		const double	max_low_movement_mean_distance,
		vc::LKOpticalFlowFeatureDetectorAndMatcher &	detector_and_matcher
	)

LowMovementImagePair() [2/2]

bool sparse_mapping::LowMovementImagePair	(	const vision_common::FeatureMatches &	matches,
		const double	max_low_movement_mean_distance
	)

Matches()

boost::optional< vision_common::FeatureMatches > sparse_mapping::Matches	(	const vc::FeatureImage &	current_image,
		const vc::FeatureImage &	next_image,
		vc::LKOpticalFlowFeatureDetectorAndMatcher &	detector_and_matcher
	)

MatchesFile()

std::string sparse_mapping::MatchesFile

(

std::string const &

map_file

)

MatchFeatures()

void sparse_mapping::MatchFeatures	(	const std::string &	essential_file,
		const std::string &	matches_file,
		sparse_mapping::SparseMap *	s
	)

Create the initial map by feature matching and essential affine computation.

MatDescrToVec() [1/2]

void sparse_mapping::MatDescrToVec	(	cv::Mat const &	mat,
		DBoW2::BriefDescriptor *	brief
	)

MatDescrToVec() [2/2]

void sparse_mapping::MatDescrToVec	(	cv::Mat const &	mat,
		std::vector< float > *	vec
	)

MergeMaps()

void sparse_mapping::MergeMaps	(	sparse_mapping::SparseMap *	A_in,
		sparse_mapping::SparseMap *	B_in,
		int	num_image_overlaps_at_endpoints,
		double	outlier_factor,
		std::string const &	output_map,
		sparse_mapping::SparseMap *	C_out
	)

Merge two maps.

MergePids()

void sparse_mapping::MergePids	(	int	repeat_index,
		int	num_unique,
		std::vector< std::map< int, int > > *	pid_to_cid_fid
	)

P3P()

bool sparse_mapping::P3P	(	const std::vector< cv::Point3d > &	landmarks,
		const std::vector< cv::Point2d > &	observations,
		const camera::CameraParameters &	params,
		Eigen::Vector3d *	pos,
		Eigen::Matrix3d *	rotation
	)

ParseCSV()

void sparse_mapping::ParseCSV	(	std::string const &	csv_file,
		std::map< std::string, std::vector< double > > *	cols
	)

ParseHuginControlPoints()

void sparse_mapping::ParseHuginControlPoints	(	std::string const &	hugin_file,
		std::vector< std::string > *	images,
		Eigen::MatrixXd *	points
	)

ParseXYZ()

void sparse_mapping::ParseXYZ	(	std::string const &	xyz_file,
		Eigen::MatrixXd *	xyz
	)

PoseInterpolation()

void sparse_mapping::PoseInterpolation	(	std::vector< std::string > const &	images,
		std::vector< double > const &	out_time,
		std::map< std::string, std::vector< double > > const &	data,
		std::vector< Eigen::Affine3d > *	cid_to_cam_t,
		std::vector< std::string > *	good_images
	)

print_vec() [1/2]

std::string sparse_mapping::print_vec

(

double

a

)

print_vec() [2/2]

std::string sparse_mapping::print_vec

(

Eigen::Vector3d

a

)

PrintPidStats()

void sparse_mapping::PrintPidStats

(

std::vector< std::map< int, int > > const &

pid_to_cid_fid

)

PrintTrackStats()

void sparse_mapping::PrintTrackStats	(	std::vector< std::map< int, int > >const &	pid_to_cid_fid,
		std::string const &	step
	)

PushBackCIDPairAffine() [1/2]

template<class IterT >

void sparse_mapping::PushBackCIDPairAffine	(	std::ifstream *	file,
		IterT	iter
	)

PushBackCIDPairAffine() [2/2]

template<class IterT >

void sparse_mapping::PushBackCIDPairAffine	(	std::ifstream *	file,
		IterT	output_iter,
		IterT	output_iter_end
	)

QueryDB()

void sparse_mapping::QueryDB	(	std::string const &	descriptor,
		VocabDB *	vocab_db,
		int	num_similar,
		cv::Mat const &	descriptors,
		std::vector< int > *	indices
	)

RandomInt()

int sparse_mapping::RandomInt	(	int	min,
		int	max
	)

ransac()

template<class ContainerT1 , class ContainerT2 , class FittingFuncT , class ErrorFuncT >

FittingFuncT::result_type sparse_mapping::ransac	(	std::vector< ContainerT1 > const &	p1,
		std::vector< ContainerT2 > const &	p2,
		FittingFuncT const &	fitting_func,
		ErrorFuncT const &	error_func,
		int	num_iterations,
		double	inlier_threshold,
		int	min_num_output_inliers,
		bool	reduce_min_num_output_inliers_if_no_fit,
		bool	increase_threshold_if_no_fit
	)

RansacEstimateCamera()

int sparse_mapping::RansacEstimateCamera	(	const std::vector< Eigen::Vector3d > &	landmarks,
		const std::vector< Eigen::Vector2d > &	observations,
		int	num_tries,
		int	inlier_tolerance,
		camera::CameraModel *	camera_estimate,
		std::vector< Eigen::Vector3d > *	inlier_landmarks_out = NULL,
		std::vector< Eigen::Vector2d > *	inlier_observations_out = NULL,
		bool	verbose = false
	)

Estimate the camera matrix, with translation and rotation, that maps the points in landmarks to the image coordinates observed in observations. This uses ransac with a three point perspective algorithm, and does not use an initial guess for the camera pose.

After the function is called, camera_estimate is updated to contain the results.

Returns zero on success, nonzero on failure.

ReadAffine()

template<class IterT >

void sparse_mapping::ReadAffine	(	std::ifstream *	file,
		IterT	output_iter
	)

ReadAffineCSV() [1/2]

void sparse_mapping::ReadAffineCSV	(	std::string const &	input_filename,
		CIDAffineTupleVec *	relative_affines
	)

ReadAffineCSV() [2/2]

void sparse_mapping::ReadAffineCSV	(	std::string const &	input_filename,
		CIDPairAffineMap *	relative_affines
	)

ReadFeatures()

bool sparse_mapping::ReadFeatures	(	std::string const &	input_filename,
		std::string const &	detector_name,
		std::vector< cv::KeyPoint > *	keypoints,
		cv::Mat *	descriptors
	)

ReadFeaturesSIFT()

int sparse_mapping::ReadFeaturesSIFT	(	std::string const &	filename,
		cv::Mat *	descriptors,
		std::vector< cv::KeyPoint > *	keypoints
	)

ReadFileFrom()

bool sparse_mapping::ReadFileFrom	(	google::protobuf::io::ZeroCopyInputStream *	rawInput,
		const char *	filename
	)

ReadMatches()

int sparse_mapping::ReadMatches	(	std::string const &	matches_file,
		openMVG::matching::PairWiseMatches *	match_map
	)

ReadNVM()

void sparse_mapping::ReadNVM	(	std::string const &	input_filename,
		std::vector< Eigen::Matrix2Xd > *	cid_to_keypoint_map,
		std::vector< std::string > *	cid_to_filename,
		std::vector< std::map< int, int > > *	pid_to_cid_fid,
		std::vector< Eigen::Vector3d > *	pid_to_xyz,
		std::vector< Eigen::Affine3d > *	cid_to_cam_t_global
	)

ReadProtobufFrom()

bool sparse_mapping::ReadProtobufFrom	(	google::protobuf::io::ZeroCopyInputStream *	rawInput,
		google::protobuf::MessageLite *	message
	)

RegistrationOrVerification()

double sparse_mapping::RegistrationOrVerification	(	std::vector< std::string > const &	data_files,
		bool	verification,
		sparse_mapping::SparseMap *	s
	)

Register the map to the world coordinate system or verify how well registration did.

ResetDB()

void sparse_mapping::ResetDB

(

VocabDB *

db

)

SelectRandomObservations()

void sparse_mapping::SelectRandomObservations	(	const std::vector< Eigen::Vector3d > &	all_landmarks,
		const std::vector< Eigen::Vector2d > &	all_observations,
		size_t	num_selected,
		std::vector< cv::Point3d > *	landmarks,
		std::vector< cv::Point2d > *	observations
	)

slerp_n()

Eigen::Quaternion< double > sparse_mapping::slerp_n	(	std::vector< double > const &	W,
		std::vector< Eigen::Quaternion< double > > const &	Q
	)

TransformCamerasAndPoints()

void sparse_mapping::TransformCamerasAndPoints	(	Eigen::Affine3d const &	A,
		std::vector< Eigen::Affine3d > *	cid_to_cam_t,
		std::vector< Eigen::Vector3d > *	xyz
	)

TransformMap()

void sparse_mapping::TransformMap	(	std::map< int, int > &	cid2cid,
		sparse_mapping::SparseMap *	C_out
	)

TransformTracks()

void sparse_mapping::TransformTracks	(	std::map< int, int > const &	cid2cid,
		bool	rm_tracks_of_len_one,
		std::vector< std::map< int, int > > *	pid_to_cid_fid
	)

Triangulate()

void sparse_mapping::Triangulate	(	bool	rm_invalid_xyz,
		double	focal_length,
		std::vector< Eigen::Affine3d > const &	cid_to_cam_t_global,
		std::vector< Eigen::Matrix2Xd > const &	cid_to_keypoint_map,
		std::vector< std::map< int, int > > *	pid_to_cid_fid,
		std::vector< Eigen::Vector3d > *	pid_to_xyz,
		std::vector< std::map< int, int > > *	cid_fid_to_pid
	)

TriangulatePoint()

Eigen::Vector3d sparse_mapping::TriangulatePoint	(	Eigen::Vector3d const &	unnormalized_pt1,
		Eigen::Vector3d const &	unnormalized_pt2,
		Eigen::Matrix3d const &	cam2_r_cam1,
		Eigen::Vector3d const &	cam2_t_cam1,
		double *	error
	)

WriteAffineCSV() [1/2]

void sparse_mapping::WriteAffineCSV	(	CIDAffineTupleVec const &	relative_affines,
		std::string const &	output_filename
	)

WriteAffineCSV() [2/2]

void sparse_mapping::WriteAffineCSV	(	CIDPairAffineMap const &	relative_affines,
		std::string const &	output_filename
	)

WriteBAL()

bool sparse_mapping::WriteBAL	(	const std::string &	filename,
		camera::CameraParameters const &	camera_params,
		std::vector< std::map< int, int > > const &	pid_to_cid_fid,
		std::vector< Eigen::Vector3d > const &	pid_to_xyz,
		std::vector< Eigen::Affine3d > const &	cid_to_cam_t_global,
		std::vector< Eigen::Matrix2Xd > const &	cid_to_keypoint_map
	)

WriteCIDPairAffineIterator()

template<class IterT >

void sparse_mapping::WriteCIDPairAffineIterator	(	IterT	it,
		IterT	end,
		std::ofstream *	file
	)

WriteFeatures()

void sparse_mapping::WriteFeatures	(	std::string const &	detector_name,
		std::vector< cv::KeyPoint > const &	keypoints,
		cv::Mat const &	descriptors,
		std::string const &	output_filename
	)

WriteFileTo()

bool sparse_mapping::WriteFileTo	(	const char *	filename,
		google::protobuf::io::ZeroCopyOutputStream *	rawOutput
	)

WriteMatches()

void sparse_mapping::WriteMatches	(	openMVG::matching::PairWiseMatches const &	match_map,
		std::string const &	matches_file
	)

WriteNVM()

void sparse_mapping::WriteNVM	(	std::vector< Eigen::Matrix2Xd > const &	cid_to_keypoint_map,
		std::vector< std::string > const &	cid_to_filename,
		std::vector< std::map< int, int > > const &	pid_to_cid_fid,
		std::vector< Eigen::Vector3d > const &	pid_to_xyz,
		std::vector< Eigen::Affine3d > const &	cid_to_cam_t_global,
		double	focal_length,
		std::string const &	output_filename
	)

WriteProtobufTo()

bool sparse_mapping::WriteProtobufTo	(	const google::protobuf::MessageLite &	message,
		google::protobuf::io::ZeroCopyOutputStream *	rawOutput
	)