reconstruction.hpp File Reference

Declarations for triangulation and other recovery-of-3D structure functions. More...

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "camera.hpp"
#include "geometry.hpp"
#include "tools.hpp"
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <visualization_msgs/MarkerArray.h>
#include <sba/sba.h>
#include <sba/sba_file_io.h>
#include <sba/visualization.h>
#include <math.h>

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Defines
#define	_USE_MATH_DEFINES
#define	EPSILON   0.00001
#define	POSITION_LIMIT   1000
Functions
void	addBlankCamera (SysSBA &sys, cameraParameters &cameraData, bool isFixed=false)
void	addFixedCamera (SysSBA &sys, cameraParameters &cameraData, const Mat &C)
void	addNewCamera (SysSBA &sys, cameraParameters &cameraData, const Mat &C)
void	addNewPoints (SysSBA &sys, const vector< Point3d > &pc)
unsigned int	addNewPoints (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, Mat *cameras, unsigned int earliest_index, unsigned int latest_index)
int	addToTracks (SysSBA &sys, int im1, vector< Point2f > &pts1, int im2, vector< Point2f > &pts2)
void	assignIntrinsicsToP0 (Mat &P0, const Mat &K)
void	assignTracksToSBA (SysSBA &sys, vector< featureTrack > &trackVector, int maxIndex)
double	calcFrameScore (double geomScore, int numFeatures, int numTracks)
double	calcGeometryScore (int numInliers_H, int numInliers_F, double sampsonError_H, double sampsonError_F)
double	calcInlierGeometryDistance (vector< Point2f > &points1, vector< Point2f > &points2, Mat &mat, Mat &mask, int distMethod=SAMPSON_DISTANCE)
double	calcSampsonDistance (Point2f &pt1, Point2f &pt2, Mat &F)
double	calcSampsonError (vector< Point2f > &points1, vector< Point2f > &points2, Mat &H, Mat &Hmask)
void	combineTransforms (Mat &CN, const Mat &C0, const Mat &C1)
void	compileTransform (Mat &c, const Mat &R, const Mat &t)
void	constrainDodgyPoints (SysSBA &sys)
void	convertPoint3dToMat (const Point3d &src, Mat &dst)
void	convertProjectionMatCVToEigen (const Mat &mat, Eigen::Matrix< double, 3, 4 > m)
void	convertProjectionMatEigenToCV (const Eigen::Matrix< double, 3, 4 > m, Mat &mat)
void	convertVec4dToMat (const Vector4d &vec4, Mat &mat)
int	countActiveTriangulatedTracks (vector< unsigned int > &indices, vector< featureTrack > &tracks)
void	decomposeTransform (const Mat &c, Mat &R, Mat &t)
Quaterniond	defaultQuaternion ()
double	dotProduct (const Quaterniond &q1, const Quaterniond &q2)
double	dotProduct (const Mat &vec1, const Mat &vec2)
void	estimateNewPose (vector< featureTrack > &tracks, Mat &K, int idx, Mat &pose)
bool	estimatePoseFromKnownPoints (Mat &dst, cameraParameters camData, vector< featureTrack > &tracks, unsigned int index, const Mat &guide)
void	ExtractPointCloud (vector< Point3d > &cloud, vector< featureTrack > &trackVector)
void	filterToActivePoints (vector< featureTrack > &tracks, vector< Point2f > &pts1, vector< Point2f > &pts2, vector< unsigned int > &indices, int idx1, int idx2)
void	filterToCompleteTracks (vector< unsigned int > &dst, vector< unsigned int > &src, vector< featureTrack > &tracks, int idx1, int idx2)
int	findBestCandidate (const Mat *CX, const Mat &K, const vector< Point2f > &pts1, const vector< Point2f > &pts2, Mat &C)
bool	findBestReconstruction (const Mat &P0, Mat &P1, Mat &R, Mat &t, const SVD &svd, const Mat &K, const vector< Point2f > &pts1, const vector< Point2f > &pts2, bool useDefault=false)
void	findCentroid (vector< featureTrack > &tracks, Point3d &centroid, Point3d &stdDeviation)
void	findCentroidAndSpread (vector< featureTrack > &tracks, Point3d &centroid, Point3d &deviations)
void	findFeaturesForPoints (vector< featureTrack > &tracks, vector< Point2f > &pts1, vector< Point2f > &pts2, vector< Point3d > &pts3d, int idx1, int idx2)
void	findFourTransformations (Mat *C, const Mat &E, const Mat &K, const vector< Point2f > &pts1, const vector< Point2f > &pts2)
void	findP1Matrix (Mat &P1, const Mat &R, const Mat &t)
void	findTriangulatableTracks (vector< featureTrack > &tracks, vector< unsigned int > &indices, unsigned int latest_index, unsigned int min_length=10)
void	getActive3dPoints (vector< featureTrack > &tracks, vector< unsigned int > &indices, vector< Point3d > &cloud)
void	getActiveTracks (vector< unsigned int > &indices, vector< featureTrack > &tracks, int idx1, int idx2)
void	getCorrespondingPoints (vector< featureTrack > &tracks, const vector< Point2f > &pts1, vector< Point2f > &pts2, int idx0, int idx1)
double	getDistanceInUnits (const Mat &t)
void	getIndicesForTriangulation (vector< unsigned int > &dst, vector< unsigned int > &src, vector< unsigned int > &already_triangulated)
void	getPoints3dFromTracks (vector< featureTrack > &tracks, vector< Point3d > &cloud, int idx1, int idx2)
void	getPointsFromTracks (vector< featureTrack > &tracks, vector< Point2f > &pts1, vector< Point2f > &pts2, int idx1, int idx2)
double	getQuaternionAngle (const Quaterniond &q1, const Quaterniond &q2)
double	getRotationInDegrees (const Mat &R)
void	getTranslationBetweenCameras (Mat &C1, Mat &C2, double *translations)
void	getTriangulatedFullSpanPoints (vector< featureTrack > &tracks, vector< Point2f > &pts1, vector< Point2f > &pts2, int idx1, int idx2, vector< Point3f > &points3)
void	getWandZ (Mat &W, Mat &Winv, Mat &Z)
void	initializeP0 (Mat &P)
void	IterativeLinearLSTriangulation (Mat &dst, const Point3d &u, const Mat &P, const Point3d &u1, const Mat &P1)
void	LinearLSTriangulation (Mat &dst, const Point3d &u, const Mat &P, const Point3d &u1, const Mat &P1)
void	matrixToQuaternion (const Mat &mat, Quaterniond &quat)
void	obtainAppropriateBaseTransformation (Mat &C0, vector< featureTrack > &tracks)
bool	pointIsInFront (const Mat &C, const Point3d &pt)
int	pointsInFront (const Mat &C1, const Mat &K, const vector< Point2f > &pts1, const vector< Point2f > &pts2)
int	pointsInFront (const Mat &C1, const Mat &C2, const vector< Point3d > &pts)
void	printSystemSummary (SysSBA &sys)
void	projectionToRotation (const Mat &src, Mat &dst)
void	projectionToTransformation (const Mat &proj, Mat &trans)
unsigned int	putativelyTriangulateNewTracks (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, Mat *cameras, unsigned int earliest_index, unsigned int latest_index)
void	quaternionToMatrix (const Quaterniond &quat, Mat &mat)
float	ReciprocalSqrt (float x)
void	reconstructSubsequence (vector< featureTrack > &tracks, vector< Point3d > &ptCloud, int idx1, int idx2)
void	reduceActiveToTriangulated (vector< featureTrack > &tracks, vector< unsigned int > &indices, vector< unsigned int > &untriangulated)
void	reduceVectorsToTrackedPoints (const vector< Point2f > &points1, vector< Point2f > &trackedPoints1, const vector< Point2f > &points2, vector< Point2f > &trackedPoints2, vector< uchar > &statusVec)
void	removeShortTracks (vector< featureTrack > &tracks, int idx1, int idx2)
void	retrieveAllCameras (Mat *allCameraPoses, const SysSBA &sys)
void	retrieveAllPoints (vector< Point3d > &pts, const SysSBA &sys)
void	retrieveCamera (Mat &camera, const SysSBA &sys, unsigned int idx)
void	retrieveCameraPose (SysSBA &sys, Mat &camPose, int idx)
void	reverseTranslation (Mat &C)
void	rotationToProjection (const Mat &src, Mat &dst)
void	summarizeTransformation (const Mat &C, char *summary)
void	transfer3dPoint (const Point3d &src, Point3d &dst, const Mat &C)
void	transfer3DPoints (const vector< Point3d > &src, vector< Point3d > &dst, const Mat &C)
void	transformationToProjection (const Mat &trans, Mat &proj)
void	Triangulate (const Point2f &pt1, const Point2f &pt2, const Mat &K, const Mat &Kinv, const Mat &P1, const Mat &P2, Point3d &xyzPoint, bool debug=false)
int	TriangulateNewTracks (vector< featureTrack > &trackVector, const int index1, const int index2, const Mat &K, const Mat &K_inv, const Mat &P0, const Mat &P1, bool initializeOnFocalPlane=false)
void	TriangulatePoints (const vector< Point2f > &pt_set1, const vector< Point2f > &pt_set2, const Mat &K, const Mat &Kinv, const Mat &P, const Mat &P1, vector< Point3d > &pointcloud, vector< Point2f > &correspImg1Pt)
void	triangulateTracks (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, Mat *cameras, unsigned int earliest_index, unsigned int latest_index)
void	updateCameraNode (SysSBA &sys, Mat R, Mat t, int img1, int img2)
void	updateCameraNode_2 (SysSBA &sys, const Mat &C, int image_index)
void	updateCameraNode_2 (SysSBA &sys, const Mat &R, const Mat &t, int image_index)
void	updateSystemTracks (SysSBA &sys, vector< featureTrack > &tracks, unsigned int start_index)
void	updateTracks (vector< featureTrack > &trackVector, const SysSBA &sys)
void	updateTriangulatedPoints (vector< featureTrack > &tracks, vector< unsigned int > &indices, vector< Point3d > &cloud)

---

Detailed Description

Declarations for triangulation and other recovery-of-3D structure functions.

Definition in file reconstruction.hpp.

---

Define Documentation

#define _USE_MATH_DEFINES

Definition at line 33 of file reconstruction.hpp.

#define EPSILON   0.00001

Definition at line 43 of file reconstruction.hpp.

#define POSITION_LIMIT   1000

Definition at line 40 of file reconstruction.hpp.

---

Function Documentation

void addBlankCamera	(	SysSBA &	sys,
		cameraParameters &	cameraData,
		bool	isFixed = false
	)

Definition at line 2286 of file reconstruction.cpp.

void addFixedCamera	(	SysSBA &	sys,
		cameraParameters &	cameraData,
		const Mat &	C
	)

Definition at line 1966 of file reconstruction.cpp.

void addNewCamera	(	SysSBA &	sys,
		cameraParameters &	cameraData,
		const Mat &	C
	)

Definition at line 1971 of file reconstruction.cpp.

void addNewPoints	(	SysSBA &	sys,
		const vector< Point3d > &	pc
	)

Definition at line 2146 of file reconstruction.cpp.

unsigned int addNewPoints	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		cameraParameters &	cameraData,
		Mat *	cameras,
		unsigned int	earliest_index,
		unsigned int	latest_index
	)

Definition at line 928 of file reconstruction.cpp.

int addToTracks	(	SysSBA &	sys,
		int	im1,
		vector< Point2f > &	pts1,
		int	im2,
		vector< Point2f > &	pts2
	)

Definition at line 2162 of file reconstruction.cpp.

void assignIntrinsicsToP0	(	Mat &	P0,
		const Mat &	K
	)

Definition at line 1900 of file reconstruction.cpp.

void assignTracksToSBA	(	SysSBA &	sys,
		vector< featureTrack > &	trackVector,
		int	maxIndex
	)

Definition at line 2051 of file reconstruction.cpp.

double calcFrameScore	(	double	geomScore,
		int	numFeatures,
		int	numTracks
	)

Definition at line 1828 of file reconstruction.cpp.

double calcGeometryScore	(	int	numInliers_H,
		int	numInliers_F,
		double	sampsonError_H,
		double	sampsonError_F
	)

Definition at line 1892 of file reconstruction.cpp.

double calcInlierGeometryDistance	(	vector< Point2f > &	points1,
		vector< Point2f > &	points2,
		Mat &	mat,
		Mat &	mask,
		int	distMethod = SAMPSON_DISTANCE
	)

Definition at line 1762 of file reconstruction.cpp.

double calcSampsonDistance	(	Point2f &	pt1,
		Point2f &	pt2,
		Mat &	F
	)

Definition at line 1859 of file reconstruction.cpp.

double calcSampsonError	(	vector< Point2f > &	points1,
		vector< Point2f > &	points2,
		Mat &	H,
		Mat &	Hmask
	)

Definition at line 1837 of file reconstruction.cpp.

void combineTransforms	(	Mat &	CN,
		const Mat &	C0,
		const Mat &	C1
	)

Definition at line 1929 of file reconstruction.cpp.

void compileTransform	(	Mat &	c,
		const Mat &	R,
		const Mat &	t
	)

Definition at line 1740 of file reconstruction.cpp.

void constrainDodgyPoints

(

SysSBA &

sys

)

Definition at line 2806 of file reconstruction.cpp.

void convertPoint3dToMat	(	const Point3d &	src,
		Mat &	dst
	)

Definition at line 1613 of file reconstruction.cpp.

void convertProjectionMatCVToEigen	(	const Mat &	mat,
		Eigen::Matrix< double, 3, 4 >	m
	)

Definition at line 2399 of file reconstruction.cpp.

void convertProjectionMatEigenToCV	(	const Eigen::Matrix< double, 3, 4 >	m,
		Mat &	mat
	)

Definition at line 2418 of file reconstruction.cpp.

void convertVec4dToMat	(	const Vector4d &	vec4,
		Mat &	mat
	)

Definition at line 1976 of file reconstruction.cpp.

int countActiveTriangulatedTracks	(	vector< unsigned int > &	indices,
		vector< featureTrack > &	tracks
	)

Definition at line 94 of file reconstruction.cpp.

void decomposeTransform	(	const Mat &	c,
		Mat &	R,
		Mat &	t
	)

Definition at line 1719 of file reconstruction.cpp.

Quaterniond defaultQuaternion

(

)

Definition at line 2325 of file reconstruction.cpp.

double dotProduct	(	const Quaterniond &	q1,
		const Quaterniond &	q2
	)

Definition at line 1921 of file reconstruction.cpp.

double dotProduct	(	const Mat &	vec1,
		const Mat &	vec2
	)

Definition at line 1935 of file reconstruction.cpp.

void estimateNewPose	(	vector< featureTrack > &	tracks,
		Mat &	K,
		int	idx,
		Mat &	pose
	)

Definition at line 2101 of file reconstruction.cpp.

bool estimatePoseFromKnownPoints	(	Mat &	dst,
		cameraParameters	camData,
		vector< featureTrack > &	tracks,
		unsigned int	index,
		const Mat &	guide
	)

Definition at line 393 of file reconstruction.cpp.

void ExtractPointCloud	(	vector< Point3d > &	cloud,
		vector< featureTrack > &	trackVector
	)

Definition at line 2891 of file reconstruction.cpp.

void filterToActivePoints	(	vector< featureTrack > &	tracks,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		vector< unsigned int > &	indices,
		int	idx1,
		int	idx2
	)

Definition at line 260 of file reconstruction.cpp.

void filterToCompleteTracks	(	vector< unsigned int > &	dst,
		vector< unsigned int > &	src,
		vector< featureTrack > &	tracks,
		int	idx1,
		int	idx2
	)

Definition at line 305 of file reconstruction.cpp.

int findBestCandidate	(	const Mat *	CX,
		const Mat &	K,
		const vector< Point2f > &	pts1,
		const vector< Point2f > &	pts2,
		Mat &	C
	)

Definition at line 22 of file reconstruction.cpp.

bool findBestReconstruction	(	const Mat &	P0,
		Mat &	P1,
		Mat &	R,
		Mat &	t,
		const SVD &	svd,
		const Mat &	K,
		const vector< Point2f > &	pts1,
		const vector< Point2f > &	pts2,
		bool	useDefault = false
	)

Definition at line 2922 of file reconstruction.cpp.

void findCentroid	(	vector< featureTrack > &	tracks,
		Point3d &	centroid,
		Point3d &	stdDeviation
	)

Definition at line 3465 of file reconstruction.cpp.

void findCentroidAndSpread	(	vector< featureTrack > &	tracks,
		Point3d &	centroid,
		Point3d &	deviations
	)

Definition at line 1237 of file reconstruction.cpp.

void findFeaturesForPoints	(	vector< featureTrack > &	tracks,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		vector< Point3d > &	pts3d,
		int	idx1,
		int	idx2
	)

Definition at line 53 of file reconstruction.cpp.

void findFourTransformations	(	Mat *	C,
		const Mat &	E,
		const Mat &	K,
		const vector< Point2f > &	pts1,
		const vector< Point2f > &	pts2
	)

Definition at line 1315 of file reconstruction.cpp.

void findP1Matrix	(	Mat &	P1,
		const Mat &	R,
		const Mat &	t
	)

Definition at line 3340 of file reconstruction.cpp.

void findTriangulatableTracks	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		unsigned int	latest_index,
		unsigned int	min_length = 10
	)

Definition at line 592 of file reconstruction.cpp.

void getActive3dPoints	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		vector< Point3d > &	cloud
	)

Definition at line 295 of file reconstruction.cpp.

void getActiveTracks	(	vector< unsigned int > &	indices,
		vector< featureTrack > &	tracks,
		int	idx1,
		int	idx2
	)

Definition at line 346 of file reconstruction.cpp.

void getCorrespondingPoints	(	vector< featureTrack > &	tracks,
		const vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		int	idx0,
		int	idx1
	)

Definition at line 483 of file reconstruction.cpp.

double getDistanceInUnits

(

const Mat &

t

)

Definition at line 1954 of file reconstruction.cpp.

void getIndicesForTriangulation	(	vector< unsigned int > &	dst,
		vector< unsigned int > &	src,
		vector< unsigned int > &	already_triangulated
	)

Definition at line 110 of file reconstruction.cpp.

void getPoints3dFromTracks	(	vector< featureTrack > &	tracks,
		vector< Point3d > &	cloud,
		int	idx1,
		int	idx2
	)

Definition at line 1287 of file reconstruction.cpp.

void getPointsFromTracks	(	vector< featureTrack > &	tracks,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		int	idx1,
		int	idx2
	)

Definition at line 1160 of file reconstruction.cpp.

double getQuaternionAngle	(	const Quaterniond &	q1,
		const Quaterniond &	q2
	)

Definition at line 1911 of file reconstruction.cpp.

double getRotationInDegrees

(

const Mat &

R

)

Definition at line 1944 of file reconstruction.cpp.

void getTranslationBetweenCameras	(	Mat &	C1,
		Mat &	C2,
		double *	translations
	)

Definition at line 663 of file reconstruction.cpp.

void getTriangulatedFullSpanPoints	(	vector< featureTrack > &	tracks,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		int	idx1,
		int	idx2,
		vector< Point3f > &	points3
	)

Definition at line 554 of file reconstruction.cpp.

void getWandZ	(	Mat &	W,
		Mat &	Winv,
		Mat &	Z
	)

Definition at line 3305 of file reconstruction.cpp.

void initializeP0

(

Mat &

P

)

Definition at line 3171 of file reconstruction.cpp.

void IterativeLinearLSTriangulation	(	Mat &	dst,
		const Point3d &	u,
		const Mat &	P,
		const Point3d &	u1,
		const Mat &	P1
	)

Definition at line 3227 of file reconstruction.cpp.

void LinearLSTriangulation	(	Mat &	dst,
		const Point3d &	u,
		const Mat &	P,
		const Point3d &	u1,
		const Mat &	P1
	)

Definition at line 3187 of file reconstruction.cpp.

void matrixToQuaternion	(	const Mat &	mat,
		Quaterniond &	quat
	)

Definition at line 2490 of file reconstruction.cpp.

void obtainAppropriateBaseTransformation	(	Mat &	C0,
		vector< featureTrack > &	tracks
	)

Definition at line 1203 of file reconstruction.cpp.

bool pointIsInFront	(	const Mat &	C,
		const Point3d &	pt
	)

Definition at line 1476 of file reconstruction.cpp.

int pointsInFront	(	const Mat &	C1,
		const Mat &	K,
		const vector< Point2f > &	pts1,
		const vector< Point2f > &	pts2
	)

Definition at line 1535 of file reconstruction.cpp.

int pointsInFront	(	const Mat &	C1,
		const Mat &	C2,
		const vector< Point3d > &	pts
	)

Definition at line 1494 of file reconstruction.cpp.

void printSystemSummary

(

SysSBA &

sys

)

Definition at line 2320 of file reconstruction.cpp.

void projectionToRotation	(	const Mat &	src,
		Mat &	dst
	)

Definition at line 2439 of file reconstruction.cpp.

void projectionToTransformation	(	const Mat &	proj,
		Mat &	trans
	)

Definition at line 1437 of file reconstruction.cpp.

unsigned int putativelyTriangulateNewTracks	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		cameraParameters &	cameraData,
		Mat *	cameras,
		unsigned int	earliest_index,
		unsigned int	latest_index
	)

Definition at line 1045 of file reconstruction.cpp.

void quaternionToMatrix	(	const Quaterniond &	quat,
		Mat &	mat
	)

Definition at line 1676 of file reconstruction.cpp.

float ReciprocalSqrt

(

float

x

)

Definition at line 2477 of file reconstruction.cpp.

void reconstructSubsequence	(	vector< featureTrack > &	tracks,
		vector< Point3d > &	ptCloud,
		int	idx1,
		int	idx2
	)

Definition at line 139 of file reconstruction.cpp.

void reduceActiveToTriangulated	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		vector< unsigned int > &	untriangulated
	)

Definition at line 246 of file reconstruction.cpp.

void reduceVectorsToTrackedPoints	(	const vector< Point2f > &	points1,
		vector< Point2f > &	trackedPoints1,
		const vector< Point2f > &	points2,
		vector< Point2f > &	trackedPoints2,
		vector< uchar > &	statusVec
	)

Definition at line 2904 of file reconstruction.cpp.

void removeShortTracks	(	vector< featureTrack > &	tracks,
		int	idx1,
		int	idx2
	)

Definition at line 143 of file reconstruction.cpp.

void retrieveAllCameras	(	Mat *	allCameraPoses,
		const SysSBA &	sys
	)

Definition at line 2032 of file reconstruction.cpp.

void retrieveAllPoints	(	vector< Point3d > &	pts,
		const SysSBA &	sys
	)

Definition at line 1998 of file reconstruction.cpp.

void retrieveCamera	(	Mat &	camera,
		const SysSBA &	sys,
		unsigned int	idx
	)

Definition at line 2022 of file reconstruction.cpp.

void retrieveCameraPose	(	SysSBA &	sys,
		Mat &	camPose,
		int	idx
	)

Definition at line 2011 of file reconstruction.cpp.

void reverseTranslation

(

Mat &

C

)

Definition at line 43 of file reconstruction.cpp.

void rotationToProjection	(	const Mat &	src,
		Mat &	dst
	)

Definition at line 2456 of file reconstruction.cpp.

void summarizeTransformation	(	const Mat &	C,
		char *	summary
	)

Definition at line 7 of file reconstruction.cpp.

void transfer3dPoint	(	const Point3d &	src,
		Point3d &	dst,
		const Mat &	C
	)

Definition at line 1623 of file reconstruction.cpp.

void transfer3DPoints	(	const vector< Point3d > &	src,
		vector< Point3d > &	dst,
		const Mat &	C
	)

Definition at line 1644 of file reconstruction.cpp.

void transformationToProjection	(	const Mat &	trans,
		Mat &	proj
	)

Definition at line 1456 of file reconstruction.cpp.

void Triangulate	(	const Point2f &	pt1,
		const Point2f &	pt2,
		const Mat &	K,
		const Mat &	Kinv,
		const Mat &	P1,
		const Mat &	P2,
		Point3d &	xyzPoint,
		bool	debug = false
	)

Definition at line 3367 of file reconstruction.cpp.

int TriangulateNewTracks	(	vector< featureTrack > &	trackVector,
		const int	index1,
		const int	index2,
		const Mat &	K,
		const Mat &	K_inv,
		const Mat &	P0,
		const Mat &	P1,
		bool	initializeOnFocalPlane = false
	)

Definition at line 2825 of file reconstruction.cpp.

void TriangulatePoints	(	const vector< Point2f > &	pt_set1,
		const vector< Point2f > &	pt_set2,
		const Mat &	K,
		const Mat &	Kinv,
		const Mat &	P,
		const Mat &	P1,
		vector< Point3d > &	pointcloud,
		vector< Point2f > &	correspImg1Pt
	)

Definition at line 3441 of file reconstruction.cpp.

void triangulateTracks	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		cameraParameters &	cameraData,
		Mat *	cameras,
		unsigned int	earliest_index,
		unsigned int	latest_index
	)

Definition at line 673 of file reconstruction.cpp.

void updateCameraNode	(	SysSBA &	sys,
		Mat	R,
		Mat	t,
		int	img1,
		int	img2
	)

Definition at line 2671 of file reconstruction.cpp.

void updateCameraNode_2	(	SysSBA &	sys,
		const Mat &	C,
		int	image_index
	)

Definition at line 2331 of file reconstruction.cpp.

void updateCameraNode_2	(	SysSBA &	sys,
		const Mat &	R,
		const Mat &	t,
		int	image_index
	)

Definition at line 2366 of file reconstruction.cpp.

void updateSystemTracks	(	SysSBA &	sys,
		vector< featureTrack > &	tracks,
		unsigned int	start_index
	)

Definition at line 162 of file reconstruction.cpp.

void updateTracks	(	vector< featureTrack > &	trackVector,
		const SysSBA &	sys
	)

Definition at line 1985 of file reconstruction.cpp.

void updateTriangulatedPoints	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		vector< Point3d > &	cloud
	)

Definition at line 226 of file reconstruction.cpp.