reprojection.cc File Reference

#include <sparse_mapping/reprojection.h>
#include <sparse_mapping/sparse_mapping.h>
#include <ff_common/thread.h>
#include <camera/camera_model.h>
#include <ceres/rotation.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <gflags/gflags.h>
#include <random>
#include <thread>
#include <unordered_map>

Include dependency graph for reprojection.cc:

Classes
struct	sparse_mapping::ReprojectionError

Namespaces
	sparse_mapping

Functions
	DEFINE_uint64 (num_min_localization_inliers, 10, "If fewer than this many number of inliers, localization has failed.")
ceres::LossFunction *	sparse_mapping::GetLossFunction (std::string cost_fun, double th)
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 >())
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)
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)
int	sparse_mapping::RandomInt (int min, int max)
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)
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)
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)
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)
void	sparse_mapping::Find3DAffineTransform (Eigen::Matrix3Xd const &in, Eigen::Matrix3Xd const &out, Eigen::Affine3d *result)

Function Documentation

DEFINE_uint64()

DEFINE_uint64	(	num_min_localization_inliers	,
		10	,
		"If fewer than this many number of	inliers,
		localization has failed."
	)