sparse_map.cc File Reference

#include <sparse_mapping/sparse_map.h>
#include <camera/camera_params.h>
#include <ff_common/thread.h>
#include <ff_common/utils.h>
#include <interest_point/matching.h>
#include <sparse_mapping/reprojection.h>
#include <sparse_mapping/sparse_mapping.h>
#include <sparse_mapping/tensor.h>
#include <sparse_mapping/visualization_utilities.h>
#include <google/protobuf/io/zero_copy_stream_impl.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc.hpp>
#include <Eigen/Geometry>
#include <sparse_map.pb.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/time.h>
#include <boost/algorithm/string.hpp>
#include <boost/filesystem.hpp>
#include <fstream>
#include <queue>
#include <set>
#include <thread>
#include <limits>

Include dependency graph for sparse_map.cc:

Namespaces
	sparse_mapping

Functions
	DEFINE_int32 (num_similar, 20, "Use in localization this many images which " "are most similar to the image to localize.")
	DEFINE_double (min_query_score_ratio, 0, "Use in localization as a threshold for including " "db images. Min ratio between best query and current query" "db image scores for a map image to be matched with.")
	DEFINE_int32 (num_ransac_iterations, 1000, "Use in localization this many ransac iterations.")
	DEFINE_int32 (ransac_inlier_tolerance, 3, "Use in localization this inlier tolerance.")
	DEFINE_int32 (early_break_landmarks, 100, "Break early when we have this many landmarks during localization.")
	DEFINE_bool (histogram_equalization, false, "If true, equalize the histogram for images to improve robustness to illumination conditions.")
	DEFINE_int32 (localization_hamming_distance, 85, "Used for localization. A smaller value keeps fewer but more reliable binary descriptor matches.")
	DEFINE_double (localization_goodness_ratio, 0.8, "Used for localization. A smaller value keeps fewer but more reliable descriptor matches.")
	DEFINE_bool (use_clahe, false, "If true, use CLAHE if histogram equalization enabled.")
	DEFINE_int32 (num_extra_localization_db_images, 0, "Match this many extra images from the Vocab DB, only keep num_similar.")
	DEFINE_bool (verbose_localization, false, "If true, list the images most similar to the one being localized.")
	DEFINE_bool (visualize_localization_matches, false, "If true, visualized matches between input image and each available map image during localization.")
	DEFINE_bool (localization_check_essential_matrix, true, "If true, verify a valid essential matrix can be calculated between the input image and each potential map " "match image before adding map matches.")
	DEFINE_bool (localization_add_similar_images, true, "If true, for each cid matched to, also attempt to match to any cid with at least 5 of the same features " "as the matched cid.")
	DEFINE_bool (localization_add_best_previous_image, true, "If true, add previous cid with the most matches to list of cids to check for" "matches with.")
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)

Function Documentation

DEFINE_bool() [1/7]

DEFINE_bool	(	histogram_equalization	,
		false	,
		"If	true,
		equalize the histogram for images to improve robustness to illumination conditions."
	)

DEFINE_bool() [2/7]

DEFINE_bool	(	localization_add_best_previous_image	,
		true	,
		"If	true,
		add previous cid with the most matches to list of cids to check for" "matches with."
	)

DEFINE_bool() [3/7]

DEFINE_bool	(	localization_add_similar_images	,
		true	,
		"If	true,
		for each cid matched	to,
		also attempt to match to any cid with at least 5 of the same features " "as the matched cid."
	)

DEFINE_bool() [4/7]

DEFINE_bool	(	localization_check_essential_matrix	,
		true	,
		"If	true,
		verify a valid essential matrix can be calculated between the input image and each potential map " "match image before adding map matches."
	)

DEFINE_bool() [5/7]

DEFINE_bool	(	use_clahe	,
		false	,
		"If	true,
		use CLAHE if histogram equalization enabled."
	)

DEFINE_bool() [6/7]

DEFINE_bool	(	verbose_localization	,
		false	,
		"If	true,
		list the images most similar to the one being localized."
	)

DEFINE_bool() [7/7]

DEFINE_bool	(	visualize_localization_matches	,
		false	,
		"If	true,
		visualized matches between input image and each available map image during localization."
	)

DEFINE_double() [1/2]

DEFINE_double	(	localization_goodness_ratio	,
		0.	8,
		"Used for localization. A smaller value keeps fewer but more reliable descriptor matches."
	)

DEFINE_double() [2/2]

DEFINE_double	(	min_query_score_ratio	,
		0	,
		"Use in localization as a threshold for including " "db images. Min ratio between best query and current query" "db image scores for a map image to be matched with."
	)

DEFINE_int32() [1/6]

DEFINE_int32	(	early_break_landmarks	,
		100	,
		"Break early when we have this many landmarks during localization."
	)

DEFINE_int32() [2/6]

DEFINE_int32	(	localization_hamming_distance	,
		85	,
		"Used for localization. A smaller value keeps fewer but more reliable binary descriptor matches."
	)

DEFINE_int32() [3/6]

DEFINE_int32	(	num_extra_localization_db_images	,
		0	,
		"Match this many extra images from the Vocab	DB,
		only keep num_similar."
	)

DEFINE_int32() [4/6]

DEFINE_int32	(	num_ransac_iterations	,
		1000	,
		"Use in localization this many ransac iterations."
	)

DEFINE_int32() [5/6]

DEFINE_int32	(	num_similar	,
		20	,
		"Use in localization this many images which " "are most similar to the image to localize."
	)

DEFINE_int32() [6/6]

DEFINE_int32	(	ransac_inlier_tolerance	,
		3	,
		"Use in localization this inlier tolerance."
	)