sparse_mapping.h File Reference

#include <camera/camera_params.h>
#include <ff_common/eigen_vectors.h>
#include <Eigen/Geometry>
#include <vector>
#include <map>
#include <string>

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Namespaces
	cv
	common
	google
	google::protobuf
	google::protobuf::io
	sparse_mapping

Enumerations
enum	sparse_mapping::HistogramEqualizationType { sparse_mapping::kNone = 0, sparse_mapping::kEqualizeHist = 1, sparse_mapping::kUnknown = 2, sparse_mapping::kCLAHE = 3 }

Functions
Eigen::Quaternion< double >	sparse_mapping::slerp_n (std::vector< double > const &W, std::vector< Eigen::Quaternion< double > > const &Q)
bool	sparse_mapping::IsBinaryDescriptor (std::string const &descriptor)
bool	sparse_mapping::HistogramEqualizationCheck (int histogram_equalization1, int histogram_equalization2, bool fatal_failure=true)
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)
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)
std::string	sparse_mapping::ImageToFeatureFile (std::string const &image_file, std::string const &detector_name)
std::string	sparse_mapping::DBImagesFile (std::string const &db_name)
std::string	sparse_mapping::MatchesFile (std::string const &map_file)
std::string	sparse_mapping::EssentialFile (std::string const &map_file)
void	sparse_mapping::WriteFeatures (std::string const &detector_name, std::vector< cv::KeyPoint > const &keypoints, cv::Mat const &descriptors, std::string const &output_filename)
bool	sparse_mapping::ReadFeatures (std::string const &input_filename, std::string const &detector_name, std::vector< cv::KeyPoint > *keypoints, cv::Mat *descriptors)
int	sparse_mapping::ReadFeaturesSIFT (std::string const &filename, cv::Mat *descriptors, std::vector< cv::KeyPoint > *keypoints)
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)
void	sparse_mapping::DecomposeFMatIntoEMat (Eigen::Matrix3d const &fundamental, Eigen::Matrix3d const &intrinsics, Eigen::Matrix3d *essential)
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)
std::string	sparse_mapping::CvMatTypeStr (cv::Mat const &Mat)
void	sparse_mapping::ListToListMap (std::vector< std::string > const &big_list, std::vector< std::string > const &small_list, std::map< int, int > *map)
void	sparse_mapping::MergePids (int repeat_index, int num_unique, std::vector< std::map< int, int > > *pid_to_cid_fid)
void	sparse_mapping::PrintPidStats (std::vector< std::map< int, int > > const &pid_to_cid_fid)
void	sparse_mapping::ParseHuginControlPoints (std::string const &hugin_file, std::vector< std::string > *images, Eigen::MatrixXd *points)
void	sparse_mapping::ParseXYZ (std::string const &xyz_file, Eigen::MatrixXd *xyz)
void	sparse_mapping::ParseCSV (std::string const &csv_file, std::map< std::string, std::vector< double > > *cols)
bool	sparse_mapping::WriteProtobufTo (const google::protobuf::MessageLite &message, google::protobuf::io::ZeroCopyOutputStream *rawOutput)
bool	sparse_mapping::WriteFileTo (const char *filename, google::protobuf::io::ZeroCopyOutputStream *rawOutput)
bool	sparse_mapping::ReadProtobufFrom (google::protobuf::io::ZeroCopyInputStream *rawInput, google::protobuf::MessageLite *message)
bool	sparse_mapping::ReadFileFrom (google::protobuf::io::ZeroCopyInputStream *rawInput, const char *filename)
void	sparse_mapping::TransformCamerasAndPoints (Eigen::Affine3d const &A, std::vector< Eigen::Affine3d > *cid_to_cam_t, std::vector< Eigen::Vector3d > *xyz)
double	sparse_mapping::GetErrThresh (const std::vector< double > &errors, double factor)
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)
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)
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)
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)