pe Namespace Reference

Classes
class	CameraSimulator
class	CircleCameraSimulator
struct	HomographyDecomposition
class	HowardDescriptorExtractor
class	HowardStereoMatcher
class	PoseEstimator
	A class that estimates camera pose from features in image frames. More...
class	PoseEstimator2d
class	PoseEstimator3d
class	PoseEstimatorH
Functions
void	_filterInliers (const vector< Point3f > &obj_pts, const vector< Point2f > &img_pts, const Mat &R, const Mat &T, const Mat &intrinsics, const Mat &distortion, double reprojectionError, vector< bool > &valid)
void	addLinkNoise (std::vector< cv::DMatch > &indices, double ratio=0.05)
void	addLinkNoise (vector< int > &indices, double ratio=0.05)
void	addLinkNoise (vector< cv::DMatch > &indices, double ratio)
void	addPointNoise (vector< Point2f > &points, double sigma=3.0)
void	applyRT (const Mat &R, const Mat &T, const vector< Point3f > &points, vector< Point3f > &pointsRT)
double	avgSampsonusError (const cv::Mat &essential, const std::vector< cv::Point2f > &points1, const std::vector< cv::Point2f > &points2, double max_error=1.0, bool verbose=false)
double	avgSampsonusError (const Mat &essential, const vector< Point2f > &points1, const vector< Point2f > &points2, double max_error, bool verbose)
double	calcCamProjCost (sba::SysSBA &sba, int cam)
cv::Mat	calcEssentialMatrix (const cv::Mat &intrinsics_inv, const cv::Mat &R, const cv::Mat &T)
Mat	calcEssentialMatrix (const Mat &intrinsics_inv, const Mat &R, const Mat &T)
double	calcNodeErr (sba::Proj &prj, const sba::Node &nd, const sba::Point &pt)
float	calcOptimalPointCloudScale (const vector< Point3f > &points1, const vector< Point3f > &points2)
void	calcRelativeRT (const cv::Mat &R1, const cv::Mat &T1, const cv::Mat &R2, const cv::Mat &T2, cv::Mat &dR, cv::Mat &dT)
void	calcRelativeRT (const Mat &R1, const Mat &T1, const Mat &R2, const Mat &T2, Mat &dR, Mat &dT)
float	calcScaledPointCloudDistance (const std::vector< cv::Point3f > &points1, const std::vector< cv::Point3f > &points2)
float	calcScaledPointCloudDistance (const vector< Point3f > &points1, const vector< Point3f > &points2)
void	calcVisible (const cv::Mat &intrinsics, const cv::Mat &R, const cv::Mat &T, const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, std::vector< bool > &visible)
void	calcVisible (const Mat &intrinsics, const Mat &R, const Mat &T, const vector< Point3f > &objectPoints, const vector< cv::KeyPoint > &imagePoints, vector< int > &visible)
void	computeEpipolarInliers (const cv::Mat &essential, const std::vector< cv::Point2f > &points1, const std::vector< cv::Point2f > &points2, std::vector< bool > &inliers, double maxError=3.0)
void	computeEpipolarInliers (const Mat &essential, const vector< Point2f > &points1, const vector< Point2f > &points2, vector< bool > &inliers, double maxError)
	Computes epipolar inliers.
void	computeHomographyInliers (const vector< Point2f > &src1, const vector< Point2f > &src2, const Mat &H, vector< Point2f > &inliers1, vector< Point2f > &inliers2, float maxProjError=2.0f)
cv::Point3f	crossProduct (cv::Point3f &p1, cv::Point3f &p2)
void	drawMatches (const Mat &img, const vector< KeyPoint > &kpts1, const vector< KeyPoint > &kpts2, const vector< cv::DMatch > &matches, Mat &display)
void	dumpDecomposition (const HomographyDecomposition &d)
void	dumpDecompositions (const vector< HomographyDecomposition > &decompositions)
void	dumpFltMat (const char *name, const cv::Mat &mat)
void	dumpFltMat (const char *name, const Mat &mat)
void	extractPnPData (const fc::Frame &frame1, const fc::Frame &frame2, const std::vector< cv::DMatch > &matches, vector< cv::Point2f > &imagePoints, vector< cv::Point3f > &objectPoints)
double	filterDecompositionsEpipolar (const Mat &intrinsics, const Mat &intrinsics_inv, vector< HomographyDecomposition > &decompositions, const vector< Point2f > &points1, const vector< Point2f > &points2)
void	filterDecompositionsVisibility (vector< HomographyDecomposition > &decompositions, const Mat &H, const vector< Point2f > &inliers1, const vector< Point2f > &inliers2)
double	filterDecompositionsZ (vector< HomographyDecomposition > &decompositions, const vector< Point2f > &points1, const vector< Point2f > &points2, const Mat &intrinsics, const Mat &intrinsics_inv)
void	filterInliers (const std::vector< cv::Point3f > &obj_pts, const std::vector< cv::Point2f > &img1_pts, const std::vector< cv::Point2f > &img2_pts, const cv::Mat &R, const cv::Mat &T, const cv::Mat &intrinsics, double reprojectionError, std::vector< bool > &valid)
void	filterInliers (const vector< Point3f > &obj_pts, const vector< Point2f > &img1_pts, const vector< Point2f > &img2_pts, const Mat &R, const Mat &T, const Mat &intrinsics, double reprojectionError, vector< bool > &valid)
void	filterMatchesByDistance (std::vector< cv::DMatch > &matches, float percentile=0.1f)
void	filterMatchesOpticalFlow (const fc::Frame &frame1, const fc::Frame &frame2, std::vector< cv::DMatch > &matches)
template<class T >
void	filterVector (const std::vector< T > &src, const std::vector< bool > &valid, std::vector< T > &dst)
template<class T >
void	filterVector (const std::vector< T > &src, const std::vector< int > &valid, std::vector< T > &dst)
template<class T >
void	filterVector (std::vector< T > &v, const std::vector< bool > &valid)
void	findNaNPoints (const std::vector< cv::Point3f > &points, std::vector< bool > &valid)
void	findNaNPoints (const vector< Point3f > &points, vector< bool > &valid)
void	findRayIntersection (Point3f k1, Point3f b1, Point3f k2, Point3f b2, Point3f &p)
void	generate3DPointCloud (std::vector< cv::Point3f > &points, cv::Point3f pmin=cv::Point3f(-1,-1, 5), cv::Point3f pmax=cv::Point3f(1, 1, 10))
void	generate3DPointCloud (vector< Point3f > &points, Point3f pmin, Point3f pmax)
void	generateCube (std::vector< cv::Point3f > &cloud)
void	generateData (cv::Mat &intrinsics, cv::Mat &R, cv::Mat &T, std::vector< cv::KeyPoint > &points1, std::vector< cv::KeyPoint > &points2, std::vector< int > &indices, std::vector< cv::Point3f > &points)
void	generateData (Mat &intrinsics, Mat &R, Mat &T, vector< KeyPoint > &points1, vector< KeyPoint > &points2, vector< int > &indices, vector< Point3f > &points)
void	generateIntrinsics (Mat &intrinsics)
void	generatePlanarObject (vector< Point3f > &points, Point3f N, float d)
void	generatePlanarObject (std::vector< cv::Point3f > &points, cv::Point3f N=cv::Point3f(0.0f, 0.0f, 1.0f), float d=10.0f)
void	generatePlanarObject (vector< Point3f > &points, Point3f v1, Point3f v2, Vec2f limits1, Vec2f limits2, Point3f t)
void	generateProjections (const cv::Mat &intrinsics, const cv::Mat &rvec, const cv::Mat &tvec, const std::vector< cv::Point3f > &cloud, std::vector< cv::KeyPoint > &keypoints)
void	generateProjections (const Mat &intrinsics, const Mat &rvec, const Mat &tvec, const vector< Point3f > &cloud, vector< KeyPoint > &keypoints)
void	generateRing (std::vector< cv::Point3f > &cloud, cv::Point3f center=cv::Point3f(0, 0, 0))
bool	homographyDecompose (const Mat &intrinsics, const Mat &_H, vector< HomographyDecomposition > &hd)
Mat	homographyFromDecomposition (const HomographyDecomposition &decomposition)
void	initNode (const Mat &intrinsics, const Mat &rvec, const Mat &tvec, sba::Node &node)
void	invert (Mat &rvec, Mat &tvec)
void	keyPoints2Point2f (const cv::vector< cv::KeyPoint > &src, std::vector< cv::Point2f > &dst)
void	keyPoints2Point2f (const vector< KeyPoint > &src, vector< Point2f > &dst)
void	keyPoints2Point2f (const std::vector< cv::KeyPoint > &src, std::vector< cv::Point2f > &dst)
void	logDecompositions (std::string filename, const vector< HomographyDecomposition > &decompositions)
void	matchesFromIndices (const std::vector< cv::KeyPoint > &_set1, const std::vector< cv::KeyPoint > &_set2, const std::vector< int > &indices, std::vector< cv::Point2f > &points1, std::vector< cv::Point2f > &points2)
void	matchesFromIndices (const std::vector< cv::KeyPoint > &src1, const std::vector< cv::KeyPoint > &src2, const std::vector< cv::DMatch > &indices, std::vector< cv::Point2f > &dst1, std::vector< cv::Point2f > &dst2)
void	matchesFromIndices (const vector< KeyPoint > &src1, const vector< KeyPoint > &src2, const vector< cv::DMatch > &indices, vector< Point2f > &dst1, vector< Point2f > &dst2)
void	matchesFromIndices (const vector< Point2f > &set1, const vector< Point2f > &set2, const vector< int > &indices, vector< Point2f > &points1, vector< Point2f > &points2)
void	matchesFromIndices (const vector< KeyPoint > &_set1, const vector< KeyPoint > &_set2, const vector< int > &indices, vector< Point2f > &points1, vector< Point2f > &points2)
cv::Point3f	mult (const cv::Mat &M, const cv::Point3f &p)
Point3f	mult (const Mat &M, const Point3f &p)
Point3f	multh (const Mat &M, const Point2f &p)
bool	operator< (const HomographyDecomposition lhs, const HomographyDecomposition rhs)
void	planarSFM (const cv::Mat &intrinsics, const std::vector< cv::KeyPoint > &set1, const std::vector< cv::KeyPoint > &set2, const std::vector< int > &indices, cv::Mat &H, cv::Mat &R, cv::Mat &T, double reprojectionError=6.0)
void	planarSFM (Mat &intrinsics, const vector< KeyPoint > &set1, const vector< KeyPoint > &set2, const vector< int > &indices, Mat &H, Mat &R, Mat &T, double reprojectionError)
void	project3dPoints (const vector< Point3f > &points, const Mat &rvec, const Mat &tvec, vector< Point3f > &modif_points)
Mat	randomHomography (const vector< Point2f > &points1, const vector< Point2f > &points2, vector< Point2f > &sample1, vector< Point2f > &sample2)
void	reprojectPoint (const Mat &R, const Mat &T, Point3f p1, Point3f p2, Point3f &p)
void	reprojectPoints (const cv::Mat &intrinsics, const cv::Mat &R, const cv::Mat &T, const std::vector< cv::Point2f > &p1, const std::vector< cv::Point2f > &p2, std::vector< cv::Point3f > &p, std::vector< bool > &valid)
void	reprojectPoints (const Mat &intrinsics, const Mat &R, const Mat &T, const vector< Point2f > &p1, const vector< Point2f > &p2, vector< Point3f > &p, vector< bool > &valid)
void	sample (int max_index, int count, std::vector< int > &sample_indices)
void	sample (int max_index, int count, vector< int > &sample_indices)
static double	SampsonusError (const Mat &essential, Point2f pl, Point2f pr)
void	sba (const cv::Mat &intrinsics, cv::Mat &rvec, cv::Mat &tvec, std::vector< cv::Point3f > &points, const std::vector< cv::Point2f > &points1, const std::vector< cv::Point2f > &points2)
void	sba (const Mat &intrinsics, Mat &rvec, Mat &tvec, vector< Point3f > &points, const vector< Point2f > &points1, const vector< Point2f > &points2)
void	selectDecomposition (vector< HomographyDecomposition > &decompositions, const Mat &H, const vector< Point2f > &points1, const vector< Point2f > &points2, const vector< Point2f > &inliers1, const vector< Point2f > &inliers2, const Mat &intrinsics, const Mat &intrinsics_inv)
double	SFM (const cv::Mat &intrinsics, const std::vector< cv::KeyPoint > &set1, const std::vector< cv::KeyPoint > &set2, const std::vector< int > &indices, cv::Mat &R, cv::Mat &T, double reprojectionError=6.0)
double	SFM (const cv::Mat &intrinsics, const std::vector< cv::Point2f > &points1, const std::vector< cv::Point2f > &points2, cv::Mat &R, cv::Mat &T, double reprojectionError=6.0)
double	SFM (const Mat &intrinsics, const vector< KeyPoint > &set1, const vector< KeyPoint > &set2, const vector< int > &indices, Mat &R, Mat &T, double reprojectionError)
double	SFM (const Mat &intrinsics, const vector< Point2f > &points1, const vector< Point2f > &points2, Mat &R, Mat &T, double reprojectionError)
double	SFMwithSBA (const cv::Mat &intrinsics, const std::vector< cv::KeyPoint > &points1, const std::vector< cv::KeyPoint > &points2, const std::vector< int > &indices, cv::Mat &rvec, cv::Mat &T, double reprojectionError)
double	SFMwithSBA (const cv::Mat &intrinsics, std::vector< cv::Point2f > &points1, std::vector< cv::Point2f > &points2, cv::Mat &rvec, cv::Mat &T, double reprojectionError)
double	SFMwithSBA (const Mat &intrinsics, const vector< KeyPoint > &set1, const vector< KeyPoint > &set2, const vector< int > &indices, Mat &rvec, Mat &T, double reprojectionError)
double	SFMwithSBA (const Mat &intrinsics, vector< Point2f > &points1, vector< Point2f > &points2, Mat &rvec, Mat &T, double reprojectionError)
void	test ()
void	testReprojectPoints ()
template<class T >
void	vectorSubset (const std::vector< T > &src, const std::vector< int > &indices, std::vector< T > &dst)

---

Function Documentation

void pe::_filterInliers	(	const vector< Point3f > &	obj_pts,
		const vector< Point2f > &	img_pts,
		const Mat &	R,
		const Mat &	T,
		const Mat &	intrinsics,
		const Mat &	distortion,
		double	reprojectionError,
		vector< bool > &	valid
	)

Definition at line 680 of file planarSFM.cpp.

void pe::addLinkNoise	(	std::vector< cv::DMatch > &	indices,
		double	ratio = 0.05
	)

void pe::addLinkNoise	(	vector< int > &	indices,
		double	ratio = 0.05
	)

Definition at line 99 of file simulated.cpp.

void pe::addLinkNoise	(	vector< cv::DMatch > &	indices,
		double	ratio
	)

Definition at line 110 of file simulated.cpp.

void pe::addPointNoise	(	vector< Point2f > &	points,
		double	sigma = 3.0
	)

Definition at line 89 of file simulated.cpp.

void pe::applyRT	(	const Mat &	R,
		const Mat &	T,
		const vector< Point3f > &	points,
		vector< Point3f > &	pointsRT
	)

Definition at line 227 of file simulated.cpp.

double pe::avgSampsonusError	(	const cv::Mat &	essential,
		const std::vector< cv::Point2f > &	points1,
		const std::vector< cv::Point2f > &	points2,
		double	max_error = 1.0,
		bool	verbose = false
	)

double pe::avgSampsonusError	(	const Mat &	essential,
		const vector< Point2f > &	points1,
		const vector< Point2f > &	points2,
		double	max_error,
		bool	verbose
	)

Definition at line 479 of file planarSFM.cpp.

double pe::calcCamProjCost	(	sba::SysSBA &	sba,
		int	cam
	)

Definition at line 1071 of file planarSFM.cpp.

cv::Mat pe::calcEssentialMatrix	(	const cv::Mat &	intrinsics_inv,
		const cv::Mat &	R,
		const cv::Mat &	T
	)

Mat pe::calcEssentialMatrix	(	const Mat &	intrinsics_inv,
		const Mat &	R,
		const Mat &	T
	)

Definition at line 441 of file planarSFM.cpp.

double pe::calcNodeErr	(	sba::Proj &	prj,
		const sba::Node &	nd,
		const sba::Point &	pt
	)		[inline]

Definition at line 1056 of file planarSFM.cpp.

float pe::calcOptimalPointCloudScale	(	const vector< Point3f > &	points1,
		const vector< Point3f > &	points2
	)

Definition at line 1186 of file planarSFM.cpp.

void pe::calcRelativeRT	(	const cv::Mat &	R1,
		const cv::Mat &	T1,
		const cv::Mat &	R2,
		const cv::Mat &	T2,
		cv::Mat &	dR,
		cv::Mat &	dT
	)

void pe::calcRelativeRT	(	const Mat &	R1,
		const Mat &	T1,
		const Mat &	R2,
		const Mat &	T2,
		Mat &	dR,
		Mat &	dT
	)

Definition at line 1236 of file planarSFM.cpp.

float pe::calcScaledPointCloudDistance	(	const std::vector< cv::Point3f > &	points1,
		const std::vector< cv::Point3f > &	points2
	)

float pe::calcScaledPointCloudDistance	(	const vector< Point3f > &	points1,
		const vector< Point3f > &	points2
	)

Definition at line 1200 of file planarSFM.cpp.

void pe::calcVisible	(	const cv::Mat &	intrinsics,
		const cv::Mat &	R,
		const cv::Mat &	T,
		const std::vector< cv::Point3f > &	objectPoints,
		const std::vector< cv::Point2f > &	imagePoints,
		std::vector< bool > &	visible
	)

void pe::calcVisible	(	const Mat &	intrinsics,
		const Mat &	R,
		const Mat &	T,
		const vector< Point3f > &	objectPoints,
		const vector< cv::KeyPoint > &	imagePoints,
		vector< int > &	visible
	)

Definition at line 241 of file simulated.cpp.

void pe::computeEpipolarInliers	(	const cv::Mat &	essential,
		const std::vector< cv::Point2f > &	points1,
		const std::vector< cv::Point2f > &	points2,
		std::vector< bool > &	inliers,
		double	maxError = 3.0
	)

void pe::computeEpipolarInliers	(	const Mat &	essential,
		const vector< Point2f > &	points1,
		const vector< Point2f > &	points2,
		vector< bool > &	inliers,
		double	maxError
	)

Computes epipolar inliers.

Definition at line 340 of file planarSFM.cpp.

void pe::computeHomographyInliers	(	const vector< Point2f > &	src1,
		const vector< Point2f > &	src2,
		const Mat &	H,
		vector< Point2f > &	inliers1,
		vector< Point2f > &	inliers2,
		float	maxProjError = 2.0f
	)

Computes homography inliers

Parameters:

src1	First set of points
src2	Second set of points
H	3x3 homography matrix
inliers1	First set of inliers
inliers2	Second set of inliers
maxProjError	Maximum reprojection error of an inlier

Definition at line 298 of file planarSFM.cpp.

cv::Point3f pe::crossProduct	(	cv::Point3f &	p1,
		cv::Point3f &	p2
	)		[inline]

Definition at line 77 of file planarSFM.h.

void pe::drawMatches	(	const Mat &	img,
		const vector< KeyPoint > &	kpts1,
		const vector< KeyPoint > &	kpts2,
		const vector< cv::DMatch > &	matches,
		Mat &	display
	)

Definition at line 58 of file pe2d.cpp.

void pe::dumpDecomposition

(

const HomographyDecomposition &

d

)

Definition at line 96 of file planarSFM.cpp.

void pe::dumpDecompositions

(

const vector< HomographyDecomposition > &

decompositions

)

Definition at line 103 of file planarSFM.cpp.

void pe::dumpFltMat	(	const char *	name,
		const cv::Mat &	mat
	)

void pe::dumpFltMat	(	const char *	name,
		const Mat &	mat
	)

Definition at line 82 of file planarSFM.cpp.

void pe::extractPnPData	(	const fc::Frame &	frame1,
		const fc::Frame &	frame2,
		const std::vector< cv::DMatch > &	matches,
		vector< cv::Point2f > &	imagePoints,
		vector< cv::Point3f > &	objectPoints
	)

Definition at line 71 of file pe2d.cpp.

double pe::filterDecompositionsEpipolar	(	const Mat &	intrinsics,
		const Mat &	intrinsics_inv,
		vector< HomographyDecomposition > &	decompositions,
		const vector< Point2f > &	points1,
		const vector< Point2f > &	points2
	)

Definition at line 535 of file planarSFM.cpp.

void pe::filterDecompositionsVisibility	(	vector< HomographyDecomposition > &	decompositions,
		const Mat &	H,
		const vector< Point2f > &	inliers1,
		const vector< Point2f > &	inliers2
	)

Definition at line 363 of file planarSFM.cpp.

double pe::filterDecompositionsZ	(	vector< HomographyDecomposition > &	decompositions,
		const vector< Point2f > &	points1,
		const vector< Point2f > &	points2,
		const Mat &	intrinsics,
		const Mat &	intrinsics_inv
	)

Definition at line 500 of file planarSFM.cpp.

void pe::filterInliers	(	const std::vector< cv::Point3f > &	obj_pts,
		const std::vector< cv::Point2f > &	img1_pts,
		const std::vector< cv::Point2f > &	img2_pts,
		const cv::Mat &	R,
		const cv::Mat &	T,
		const cv::Mat &	intrinsics,
		double	reprojectionError,
		std::vector< bool > &	valid
	)

void pe::filterInliers	(	const vector< Point3f > &	obj_pts,
		const vector< Point2f > &	img1_pts,
		const vector< Point2f > &	img2_pts,
		const Mat &	R,
		const Mat &	T,
		const Mat &	intrinsics,
		double	reprojectionError,
		vector< bool > &	valid
	)

Definition at line 710 of file planarSFM.cpp.

void pe::filterMatchesByDistance	(	std::vector< cv::DMatch > &	matches,
		float	percentile = 0.1f
	)

Definition at line 150 of file pe2d.cpp.

void pe::filterMatchesOpticalFlow	(	const fc::Frame &	frame1,
		const fc::Frame &	frame2,
		std::vector< cv::DMatch > &	matches
	)

Definition at line 113 of file pe2d.cpp.

template<class T >

void pe::filterVector	(	const std::vector< T > &	src,
		const std::vector< bool > &	valid,
		std::vector< T > &	dst
	)

Definition at line 102 of file planarSFM.h.

template<class T >

void pe::filterVector	(	const std::vector< T > &	src,
		const std::vector< int > &	valid,
		std::vector< T > &	dst
	)

Definition at line 115 of file planarSFM.h.

template<class T >

void pe::filterVector	(	std::vector< T > &	v,
		const std::vector< bool > &	valid
	)

Definition at line 128 of file planarSFM.h.

void pe::findNaNPoints	(	const std::vector< cv::Point3f > &	points,
		std::vector< bool > &	valid
	)

void pe::findNaNPoints	(	const vector< Point3f > &	points,
		vector< bool > &	valid
	)

Definition at line 1220 of file planarSFM.cpp.

void pe::findRayIntersection	(	Point3f	k1,
		Point3f	b1,
		Point3f	k2,
		Point3f	b2,
		Point3f &	p
	)

Definition at line 976 of file planarSFM.cpp.

void pe::generate3DPointCloud	(	std::vector< cv::Point3f > &	points,
		cv::Point3f	pmin = cv::Point3f(-1,-1, 5),
		cv::Point3f	pmax = cv::Point3f(1, 1, 10)
	)

void pe::generate3DPointCloud	(	vector< Point3f > &	points,
		Point3f	pmin,
		Point3f	pmax
	)

Definition at line 74 of file simulated.cpp.

void pe::generateCube

(

std::vector< cv::Point3f > &

cloud

)

Definition at line 268 of file simulated.cpp.

void pe::generateData	(	cv::Mat &	intrinsics,
		cv::Mat &	R,
		cv::Mat &	T,
		std::vector< cv::KeyPoint > &	points1,
		std::vector< cv::KeyPoint > &	points2,
		std::vector< int > &	indices,
		std::vector< cv::Point3f > &	points
	)

void pe::generateData	(	Mat &	intrinsics,
		Mat &	R,
		Mat &	T,
		vector< KeyPoint > &	points1,
		vector< KeyPoint > &	points2,
		vector< int > &	indices,
		vector< Point3f > &	points
	)

Definition at line 130 of file simulated.cpp.

void pe::generateIntrinsics

(

Mat &

intrinsics

)

Definition at line 121 of file simulated.cpp.

void pe::generatePlanarObject	(	vector< Point3f > &	points,
		Point3f	N,
		float	d
	)

Definition at line 47 of file simulated.cpp.

void pe::generatePlanarObject	(	std::vector< cv::Point3f > &	points,
		cv::Point3f	N = cv::Point3f(0.0f, 0.0f, 1.0f),
		float	d = 10.0f
	)

void pe::generatePlanarObject	(	vector< Point3f > &	points,
		Point3f	v1,
		Point3f	v2,
		Vec2f	limits1,
		Vec2f	limits2,
		Point3f	t
	)

Definition at line 63 of file simulated.cpp.

void pe::generateProjections	(	const cv::Mat &	intrinsics,
		const cv::Mat &	rvec,
		const cv::Mat &	tvec,
		const std::vector< cv::Point3f > &	cloud,
		std::vector< cv::KeyPoint > &	keypoints
	)

void pe::generateProjections	(	const Mat &	intrinsics,
		const Mat &	rvec,
		const Mat &	tvec,
		const vector< Point3f > &	cloud,
		vector< KeyPoint > &	keypoints
	)

Definition at line 214 of file simulated.cpp.

void pe::generateRing	(	std::vector< cv::Point3f > &	cloud,
		cv::Point3f	center = cv::Point3f(0, 0, 0)
	)

Definition at line 287 of file simulated.cpp.

bool pe::homographyDecompose	(	const Mat &	intrinsics,
		const Mat &	_H,
		vector< HomographyDecomposition > &	hd
	)

Calculates 8 possible decompositions of a homography

Parameters:

H	Homography matrix
hd	Output decompositions

Definition at line 163 of file planarSFM.cpp.

Mat pe::homographyFromDecomposition

(

const HomographyDecomposition &

decomposition

)

Definition at line 154 of file planarSFM.cpp.

void pe::initNode	(	const Mat &	intrinsics,
		const Mat &	rvec,
		const Mat &	tvec,
		sba::Node &	node
	)

Definition at line 932 of file planarSFM.cpp.

void pe::invert	(	Mat &	rvec,
		Mat &	tvec
	)

Definition at line 18 of file peh.cpp.

void pe::keyPoints2Point2f	(	const cv::vector< cv::KeyPoint > &	src,
		std::vector< cv::Point2f > &	dst
	)

void pe::keyPoints2Point2f	(	const vector< KeyPoint > &	src,
		vector< Point2f > &	dst
	)

Definition at line 112 of file planarSFM.cpp.

void pe::keyPoints2Point2f	(	const std::vector< cv::KeyPoint > &	src,
		std::vector< cv::Point2f > &	dst
	)

void pe::logDecompositions	(	std::string	filename,
		const vector< HomographyDecomposition > &	decompositions
	)

Definition at line 616 of file planarSFM.cpp.

void pe::matchesFromIndices	(	const std::vector< cv::KeyPoint > &	_set1,
		const std::vector< cv::KeyPoint > &	_set2,
		const std::vector< int > &	indices,
		std::vector< cv::Point2f > &	points1,
		std::vector< cv::Point2f > &	points2
	)

void pe::matchesFromIndices	(	const std::vector< cv::KeyPoint > &	src1,
		const std::vector< cv::KeyPoint > &	src2,
		const std::vector< cv::DMatch > &	indices,
		std::vector< cv::Point2f > &	dst1,
		std::vector< cv::Point2f > &	dst2
	)

void pe::matchesFromIndices	(	const vector< KeyPoint > &	src1,
		const vector< KeyPoint > &	src2,
		const vector< cv::DMatch > &	indices,
		vector< Point2f > &	dst1,
		vector< Point2f > &	dst2
	)

Definition at line 121 of file planarSFM.cpp.

void pe::matchesFromIndices	(	const vector< Point2f > &	set1,
		const vector< Point2f > &	set2,
		const vector< int > &	indices,
		vector< Point2f > &	points1,
		vector< Point2f > &	points2
	)

Definition at line 133 of file planarSFM.cpp.

void pe::matchesFromIndices	(	const vector< KeyPoint > &	_set1,
		const vector< KeyPoint > &	_set2,
		const vector< int > &	indices,
		vector< Point2f > &	points1,
		vector< Point2f > &	points2
	)

Definition at line 140 of file planarSFM.cpp.

cv::Point3f pe::mult	(	const cv::Mat &	M,
		const cv::Point3f &	p
	)

Point3f pe::mult	(	const Mat &	M,
		const Point3f &	p
	)

Definition at line 964 of file planarSFM.cpp.

Point3f pe::multh	(	const Mat &	M,
		const Point2f &	p
	)

Definition at line 970 of file planarSFM.cpp.

bool pe::operator<	(	const HomographyDecomposition	lhs,
		const HomographyDecomposition	rhs
	)

Definition at line 626 of file planarSFM.cpp.

void pe::planarSFM	(	const cv::Mat &	intrinsics,
		const std::vector< cv::KeyPoint > &	set1,
		const std::vector< cv::KeyPoint > &	set2,
		const std::vector< int > &	indices,
		cv::Mat &	H,
		cv::Mat &	R,
		cv::Mat &	T,
		double	reprojectionError = 6.0
	)

Implements the algorithm for structure from motion on planar data from the paper by Faugeras and Lustman "Motion and Structure from Motion in a Piecewise Planar Environment, PRAI(2), 1988, pp. 485-508

Parameters:

intrinsics	Intrinsics matrix
set1	First set of keypoints
set2	Second set of keypoints
indices	Mapping from the first set to the second
H	Output 3x3 homography matrix
R	Output 3x3 rotation matrix
T	Output 3x1 translation matrix
reprojectionError	Reprojection error for homography used to find inliers.

void pe::planarSFM	(	Mat &	intrinsics,
		const vector< KeyPoint > &	set1,
		const vector< KeyPoint > &	set2,
		const vector< int > &	indices,
		Mat &	H,
		Mat &	R,
		Mat &	T,
		double	reprojectionError
	)

Definition at line 898 of file planarSFM.cpp.

void pe::project3dPoints	(	const vector< Point3f > &	points,
		const Mat &	rvec,
		const Mat &	tvec,
		vector< Point3f > &	modif_points
	)

Definition at line 40 of file peh.cpp.

Mat pe::randomHomography	(	const vector< Point2f > &	points1,
		const vector< Point2f > &	points2,
		vector< Point2f > &	sample1,
		vector< Point2f > &	sample2
	)

Definition at line 656 of file planarSFM.cpp.

void pe::reprojectPoint	(	const Mat &	R,
		const Mat &	T,
		Point3f	p1,
		Point3f	p2,
		Point3f &	p
	)

reprojects points to 3d p1 and p2 are uniform coordinates in 2d, identity intrinsics matrix assumed

Definition at line 1010 of file planarSFM.cpp.

void pe::reprojectPoints	(	const cv::Mat &	intrinsics,
		const cv::Mat &	R,
		const cv::Mat &	T,
		const std::vector< cv::Point2f > &	p1,
		const std::vector< cv::Point2f > &	p2,
		std::vector< cv::Point3f > &	p,
		std::vector< bool > &	valid
	)

void pe::reprojectPoints	(	const Mat &	intrinsics,
		const Mat &	R,
		const Mat &	T,
		const vector< Point2f > &	p1,
		const vector< Point2f > &	p2,
		vector< Point3f > &	p,
		vector< bool > &	valid
	)

Definition at line 1025 of file planarSFM.cpp.

void pe::sample	(	int	max_index,
		int	count,
		std::vector< int > &	sample_indices
	)

void pe::sample	(	int	max_index,
		int	count,
		vector< int > &	sample_indices
	)

Definition at line 632 of file planarSFM.cpp.

static double pe::SampsonusError	(	const Mat &	essential,
		Point2f	pl,
		Point2f	pr
	)		[static]

Calculates the epipolar reprojection error pl*E*pr

Parameters:

essential	Essential matrix
pl	A point from the first image
pr	A point from the second image

Definition at line 320 of file planarSFM.cpp.

void pe::sba	(	const cv::Mat &	intrinsics,
		cv::Mat &	rvec,
		cv::Mat &	tvec,
		std::vector< cv::Point3f > &	points,
		const std::vector< cv::Point2f > &	points1,
		const std::vector< cv::Point2f > &	points2
	)

void pe::sba	(	const Mat &	intrinsics,
		Mat &	rvec,
		Mat &	tvec,
		vector< Point3f > &	points,
		const vector< Point2f > &	points1,
		const vector< Point2f > &	points2
	)

Definition at line 1098 of file planarSFM.cpp.

void pe::selectDecomposition	(	vector< HomographyDecomposition > &	decompositions,
		const Mat &	H,
		const vector< Point2f > &	points1,
		const vector< Point2f > &	points2,
		const vector< Point2f > &	inliers1,
		const vector< Point2f > &	inliers2,
		const Mat &	intrinsics,
		const Mat &	intrinsics_inv
	)

Filters out decompositions

Parameters:

decompositions	A set of decompositions of a homography matrix
H	Homography patrix
points1	First set of points
points2	Second set of points
inliers1	First set of inliers
inliers2	Second set of inliers

Definition at line 606 of file planarSFM.cpp.

double pe::SFM	(	const cv::Mat &	intrinsics,
		const std::vector< cv::KeyPoint > &	set1,
		const std::vector< cv::KeyPoint > &	set2,
		const std::vector< int > &	indices,
		cv::Mat &	R,
		cv::Mat &	T,
		double	reprojectionError = 6.0
	)

double pe::SFM	(	const cv::Mat &	intrinsics,
		const std::vector< cv::Point2f > &	points1,
		const std::vector< cv::Point2f > &	points2,
		cv::Mat &	R,
		cv::Mat &	T,
		double	reprojectionError = 6.0
	)

double pe::SFM	(	const Mat &	intrinsics,
		const vector< KeyPoint > &	set1,
		const vector< KeyPoint > &	set2,
		const vector< int > &	indices,
		Mat &	R,
		Mat &	T,
		double	reprojectionError
	)

Definition at line 784 of file planarSFM.cpp.

double pe::SFM	(	const Mat &	intrinsics,
		const vector< Point2f > &	points1,
		const vector< Point2f > &	points2,
		Mat &	R,
		Mat &	T,
		double	reprojectionError
	)

Definition at line 793 of file planarSFM.cpp.

double pe::SFMwithSBA	(	const cv::Mat &	intrinsics,
		const std::vector< cv::KeyPoint > &	points1,
		const std::vector< cv::KeyPoint > &	points2,
		const std::vector< int > &	indices,
		cv::Mat &	rvec,
		cv::Mat &	T,
		double	reprojectionError
	)

double pe::SFMwithSBA	(	const cv::Mat &	intrinsics,
		std::vector< cv::Point2f > &	points1,
		std::vector< cv::Point2f > &	points2,
		cv::Mat &	rvec,
		cv::Mat &	T,
		double	reprojectionError
	)

double pe::SFMwithSBA	(	const Mat &	intrinsics,
		const vector< KeyPoint > &	set1,
		const vector< KeyPoint > &	set2,
		const vector< int > &	indices,
		Mat &	rvec,
		Mat &	T,
		double	reprojectionError
	)

Definition at line 671 of file planarSFM.cpp.

double pe::SFMwithSBA	(	const Mat &	intrinsics,
		vector< Point2f > &	points1,
		vector< Point2f > &	points2,
		Mat &	rvec,
		Mat &	T,
		double	reprojectionError
	)

Definition at line 721 of file planarSFM.cpp.

void pe::test

(

)

Definition at line 23 of file simulated.cpp.

void pe::testReprojectPoints

(

)

Definition at line 189 of file simulated.cpp.

template<class T >

void pe::vectorSubset	(	const std::vector< T > &	src,
		const std::vector< int > &	indices,
		std::vector< T > &	dst
	)

Definition at line 147 of file planarSFM.h.