tensor.cc File Reference

#include <ff_common/init.h>
#include <ff_common/thread.h>
#include <ff_common/utils.h>
#include <sparse_mapping/tensor.h>
#include <sparse_mapping/ransac.h>
#include <sparse_mapping/reprojection.h>
#include <sparse_mapping/sparse_mapping.h>
#include <sparse_mapping/sparse_map.h>
#include <sparse_mapping/vocab_tree.h>
#include <interest_point/essential.h>
#include <interest_point/matching.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <ceres/ceres.h>
#include <gflags/gflags.h>
#include <glog/logging.h>
#include <openMVG/multiview/projection.hpp>
#include <openMVG/multiview/rotation_averaging_l1.hpp>
#include <openMVG/multiview/triangulation_nview.hpp>
#include <openMVG/numeric/numeric.h>
#include <openMVG/tracks/tracks.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <sys/stat.h>
#include <set>
#include <thread>
#include <vector>
#include <mutex>
#include <functional>
#include <cstdio>

Include dependency graph for tensor.cc:

Classes
struct	sparse_mapping::TranslationRotationScaleFittingFunctor
struct	sparse_mapping::TransformError

Namespaces
	sparse_mapping

Functions
	DEFINE_int32 (min_valid, 20, "Minimum number of valid inlier matches required to keep matches for given image pair.")
	DEFINE_int32 (max_pairwise_matches, 5000, "Maximum number of matches to keep in any image pair.")
	DEFINE_int32 (num_subsequent_images, std::numeric_limits< int32_t >::max()/2, "When no vocabulary tree is provided, match every image against this " "many subsequent images.")
	DEFINE_int32 (match_all_rate, -1, "If nonnegative, match one of every match_all_rate images to every other image.")
	DEFINE_bool (skip_filtering, false, "Skip filtering of outliers after bundle adjustment.")
	DEFINE_bool (skip_adding_new_matches_on_merging, false, "When merging maps, do not take advantage of performed matching to add new tracks.")
	DEFINE_bool (fast_merge, false, "When merging maps that have shared images, use those and skip doing additional matches among the images.")
	DEFINE_double (reproj_thresh, 5.0, "Filter points with re-projection error higher than this.")
	DEFINE_int32 (max_num_iterations, 1000, "Maximum number of iterations for bundle adjustment solver.")
	DEFINE_int32 (num_ba_passes, 5, "How many times to run bundle adjustment, removing outliers each time.")
	DEFINE_string (cost_function, "Cauchy", "Choose a bundle adjustment cost function from: Cauchy, PseudoHuber, Huber, L1, L2.")
	DEFINE_double (cost_function_threshold, 2.0, "Threshold to use with some cost functions, e.g., Cauchy.")
	DEFINE_int32 (first_ba_index, 0, "Vary only cameras starting with this index during bundle adjustment.")
	DEFINE_int32 (last_ba_index, std::numeric_limits< int >::max(), "Vary only cameras ending with this index during bundle adjustment.")
	DEFINE_bool (silent_matching, false, "Do not print a lot of verbose info when matching.")
std::string	sparse_mapping::print_vec (double a)
std::string	sparse_mapping::print_vec (Eigen::Vector3d a)
int	sparse_mapping::ReadMatches (std::string const &matches_file, openMVG::matching::PairWiseMatches *match_map)
void	sparse_mapping::WriteMatches (openMVG::matching::PairWiseMatches const &match_map, std::string const &matches_file)
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)
void	sparse_mapping::MatchFeatures (const std::string &essential_file, const std::string &matches_file, sparse_mapping::SparseMap *s)
void	sparse_mapping::BuildTracks (bool rm_invalid_xyz, const std::string &matches_file, sparse_mapping::SparseMap *s)
void	sparse_mapping::IncrementalBA (std::string const &essential_file, sparse_mapping::SparseMap *s)
void	sparse_mapping::CloseLoop (sparse_mapping::SparseMap *s)
void	sparse_mapping::BundleAdjust (bool fix_all_cameras, sparse_mapping::SparseMap *map, std::set< int > const &fixed_cameras=std::set< int >())
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 >())
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)
double	sparse_mapping::estimateCloseDistance (std::vector< Eigen::Vector3d > const &vec)
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)
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)
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)
void	sparse_mapping::findTracksForSharedImages (sparse_mapping::SparseMap *A_in, sparse_mapping::SparseMap *B_in, std::map< int, int > &A2B, std::map< int, int > &B2A)
void	sparse_mapping::TransformMap (std::map< int, int > &cid2cid, sparse_mapping::SparseMap *C_out)
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)
void	sparse_mapping::ExtractSubmap (std::vector< std::string > *keep_ptr, sparse_mapping::SparseMap *map_ptr)
double	sparse_mapping::RegistrationOrVerification (std::vector< std::string > const &data_files, bool verification, sparse_mapping::SparseMap *s)
void	sparse_mapping::PrintTrackStats (std::vector< std::map< int, int > >const &pid_to_cid_fid, std::string const &step)
template<class IterT >
void	sparse_mapping::WriteCIDPairAffineIterator (IterT it, IterT end, std::ofstream *file)
template<class IterT >
void	sparse_mapping::ReadAffine (std::ifstream *file, IterT output_iter)
template<class IterT >
void	sparse_mapping::PushBackCIDPairAffine (std::ifstream *file, IterT output_iter, IterT output_iter_end)
template<class IterT >
void	sparse_mapping::PushBackCIDPairAffine (std::ifstream *file, IterT iter)
void	sparse_mapping::WriteAffineCSV (CIDPairAffineMap const &relative_affines, std::string const &output_filename)
void	sparse_mapping::WriteAffineCSV (CIDAffineTupleVec const &relative_affines, std::string const &output_filename)
void	sparse_mapping::ReadAffineCSV (std::string const &input_filename, CIDPairAffineMap *relative_affines)
void	sparse_mapping::ReadAffineCSV (std::string const &input_filename, CIDAffineTupleVec *relative_affines)
void	sparse_mapping::FindEssentialAndInliers (Eigen::Matrix2Xd const &keypoints1, Eigen::Matrix2Xd const &keypoints2, std::vector< cv::DMatch > const &matches, camera::CameraParameters const &camera_params, std::vector< cv::DMatch > *inlier_matches, std::vector< size_t > *vec_inliers, Eigen::Matrix3d *essential_matrix, const int ransac_iterations=4096)
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)
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)

Function Documentation

DEFINE_bool() [1/4]

DEFINE_bool	(	fast_merge	,
		false	,
		"When merging maps that have shared	images,
		use those and skip doing additional matches among the images."
	)

DEFINE_bool() [2/4]

DEFINE_bool	(	silent_matching	,
		false	,
		"Do not print a lot of verbose info when matching."
	)

DEFINE_bool() [3/4]

DEFINE_bool	(	skip_adding_new_matches_on_merging	,
		false	,
		"When merging	maps,
		do not take advantage of performed matching to add new tracks."
	)

DEFINE_bool() [4/4]

DEFINE_bool	(	skip_filtering	,
		false	,
		"Skip filtering of outliers after bundle adjustment."
	)

DEFINE_double() [1/2]

DEFINE_double	(	cost_function_threshold	,
		2.	0,
		"Threshold to use with some cost	functions,
		e.	g.,
		Cauchy."
	)

DEFINE_double() [2/2]

DEFINE_double	(	reproj_thresh	,
		5.	0,
		"Filter points with re-projection error higher than this."
	)

DEFINE_int32() [1/8]

DEFINE_int32	(	first_ba_index	,
		0	,
		"Vary only cameras starting with this index during bundle adjustment."
	)

DEFINE_int32() [2/8]

DEFINE_int32	(	last_ba_index	,
		std::numeric_limits< int >	::max(),
		"Vary only cameras ending with this index during bundle adjustment."
	)

DEFINE_int32() [3/8]

DEFINE_int32	(	match_all_rate	,
		-	1,
		"If	nonnegative,
		match one of every match_all_rate images to every other image."
	)

DEFINE_int32() [4/8]

DEFINE_int32	(	max_num_iterations	,
		1000	,
		"Maximum number of iterations for bundle adjustment solver."
	)

DEFINE_int32() [5/8]

DEFINE_int32	(	max_pairwise_matches	,
		5000	,
		"Maximum number of matches to keep in any image pair."
	)

DEFINE_int32() [6/8]

DEFINE_int32	(	min_valid	,
		20	,
		"Minimum number of valid inlier matches required to keep matches for given image pair."
	)

DEFINE_int32() [7/8]

DEFINE_int32	(	num_ba_passes	,
		5	,
		"How many times to run bundle	adjustment,
		removing outliers each time."
	)

DEFINE_int32() [8/8]

DEFINE_int32	(	num_subsequent_images	,
		std::numeric_limits< int32_t >::max()/	2,
		"When no vocabulary tree is	provided,
		match every image against this " "many subsequent images."
	)

DEFINE_string()

DEFINE_string	(	cost_function	,
		"Cauchy"	,
		"Choose a bundle adjustment cost function from:	Cauchy,
		PseudoHuber	,
		Huber	,
		L1	,
		L2."
	)