nvm_visualize.cc File Reference

#include <ff_common/init.h>
#include <ff_common/utils.h>
#include <camera/camera_model.h>
#include <sparse_mapping/reprojection.h>
#include <sparse_mapping/sparse_map.h>
#include <sparse_mapping/sparse_mapping.h>
#include <camera/camera_params.h>
#include <Eigen/Geometry>
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <opencv2/core/eigen.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/viz/vizcore.hpp>
#include <boost/filesystem.hpp>
#include <iomanip>
#include <iostream>
#include <fstream>
#include <sstream>

Include dependency graph for nvm_visualize.cc:

Classes
struct	MapViewerState

Functions
	DEFINE_bool (only_poses, false, "Only view camera poses in 3D.")
	DEFINE_bool (jump_to_3d_view, false, "Skip displaying images and features, go directly to the 3D view.")
	DEFINE_bool (skip_3d_points, false, "Show just the cameras in 3D space, without the triangulated points.")
	DEFINE_bool (only_3d_points, false, "Show just the the triangulated points.")
	DEFINE_bool (skip_3d_images, false, "Show just the camera wireframes instead of the camera images in the 3D view.")
	DEFINE_bool (fit_view_to_points_bdbox, false, "Zoom just enough to see all points in the cloud.")
	DEFINE_bool (plot_matches, false, "For each feature, also plot (in red) its match in the next image.")
	DEFINE_bool (enable_image_deletion, false, "When viewing only images, so without a map, enable deleting the currently " "seen image with the Del key.")
	DEFINE_int32 (first, 0, "The index of the first image to plot in the 3D view.")
	DEFINE_int32 (last, std::numeric_limits< int >::max(), "The index after the last image to plot in the 3D view.")
	DEFINE_double (scale, 0.5, "The scale of images in the 3D view.")
cv::Affine3f	EigenToCVAffine (const Eigen::Affine3d &e)
void	Draw3DFrame (cv::viz::Viz3d *window, const sparse_mapping::SparseMap &map, int cid, cv::Vec3f const &center)
bool	LocalizeFrame (MapViewerState *state, int frame)
int	remainder (int cid, int num)
void	Recenter ()
void	KeyboardCallback (const cv::viz::KeyboardEvent &event, void *param)
static void	onMouse (int event, int x, int y, int, void *)
std::shared_ptr< sparse_mapping::SparseMap >	map_with_no_features (int argc, char **argv)
void	deleteImageFromDiskAndMap (sparse_mapping::SparseMap &map, std::string const &image_name)
bool	file_exists (const std::string &name)
int	main (int argc, char **argv)

Variables
std::shared_ptr< sparse_mapping::SparseMap >	g_map_ptr
cv::viz::Viz3d *	g_win_ptr
int	g_cid
cv::Mat *	g_image
std::string *	g_windowName
std::vector< std::string >	g_openWindows

Function Documentation

DEFINE_bool() [1/8]

DEFINE_bool	(	enable_image_deletion	,
		false	,
		"When viewing only	images,
		so without a	map,
		enable deleting the currently " "seen image with the Del key."
	)

DEFINE_bool() [2/8]

DEFINE_bool	(	fit_view_to_points_bdbox	,
		false	,
		"Zoom just enough to see all points in the cloud."
	)

DEFINE_bool() [3/8]

DEFINE_bool	(	jump_to_3d_view	,
		false	,
		"Skip displaying images and	features,
		go directly to the 3D view."
	)

DEFINE_bool() [4/8]

DEFINE_bool	(	only_3d_points	,
		false	,
		"Show just the the triangulated points."
	)

DEFINE_bool() [5/8]

DEFINE_bool	(	only_poses	,
		false	,
		"Only view camera poses in 3D."
	)

DEFINE_bool() [6/8]

DEFINE_bool	(	plot_matches	,
		false	,
		"For each	feature,
		also plot(in red) its match in the next image."
	)

DEFINE_bool() [7/8]

DEFINE_bool	(	skip_3d_images	,
		false	,
		"Show just the camera wireframes instead of the camera images in the 3D view."
	)

DEFINE_bool() [8/8]

DEFINE_bool	(	skip_3d_points	,
		false	,
		"Show just the cameras in 3D	space,
		without the triangulated points."
	)

DEFINE_double()

DEFINE_double	(	scale	,
		0.	5,
		"The scale of images in the 3D view."
	)

DEFINE_int32() [1/2]

DEFINE_int32	(	first	,
		0	,
		"The index of the first image to plot in the 3D view."
	)

DEFINE_int32() [2/2]

DEFINE_int32	(	last	,
		std::numeric_limits< int >	::max(),
		"The index after the last image to plot in the 3D view."
	)

deleteImageFromDiskAndMap()

void deleteImageFromDiskAndMap	(	sparse_mapping::SparseMap &	map,
		std::string const &	image_name
	)

Draw3DFrame()

void Draw3DFrame	(	cv::viz::Viz3d *	window,
		const sparse_mapping::SparseMap &	map,
		int	cid,
		cv::Vec3f const &	center
	)

EigenToCVAffine()

cv::Affine3f EigenToCVAffine

(

const Eigen::Affine3d &

e

)

file_exists()

bool file_exists

(

const std::string &

name

)

KeyboardCallback()

void KeyboardCallback	(	const cv::viz::KeyboardEvent &	event,
		void *	param
	)

LocalizeFrame()

bool LocalizeFrame	(	MapViewerState *	state,
		int	frame
	)

main()

int main	(	int	argc,
		char **	argv
	)

map_with_no_features()

std::shared_ptr<sparse_mapping::SparseMap> map_with_no_features	(	int	argc,
		char **	argv
	)

onMouse()

static void onMouse ( int  event, int  x, int  y, int  , void *    )

static

Recenter()

void Recenter

(

)

remainder()

int remainder	(	int	cid,
		int	num
	)

Variable Documentation

g_cid

int g_cid

g_image

cv::Mat* g_image

g_map_ptr

std::shared_ptr<sparse_mapping::SparseMap> g_map_ptr

g_openWindows

std::vector<std::string> g_openWindows

g_win_ptr

cv::viz::Viz3d* g_win_ptr

g_windowName

std::string* g_windowName