reconstruction.hpp File Reference

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

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "ros_resources.hpp"
#include "camera.hpp"
#include "geometry.hpp"
#include "tracks.hpp"
#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	CLUSTER_MEAN_MODE   1
#define	DEFAULT_MEAN_MAX_DIST   0.20
#define	DEFAULT_MEAN_MODE   0
#define	DEFAULT_NEAR_RADIUS   0.3
#define	EPSILON   0.00001
#define	MAX_REPROJECTION_DISPARITY   20.0
#define	POSITION_LIMIT   1000
Functions
void	addBlankCamera (SysSBA &sys, cameraParameters &cameraData, bool isFixed=false)
void	addFixedCamera (SysSBA &sys, cameraParameters &cameraData, const cv::Mat &C)
void	addNewCamera (SysSBA &sys, cameraParameters &cameraData, const cv::Mat &C)
unsigned int	addNewPoints (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)
void	addNewPoints (SysSBA &sys, const vector< cv::Point3d > &pc)
int	addToTracks (SysSBA &sys, int im1, vector< cv::Point2f > &pts1, int im2, vector< cv::Point2f > &pts2)
void	assignIntrinsicsToP0 (cv::Mat &P0, const cv::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< cv::Point2f > &points1, vector< cv::Point2f > &points2, cv::Mat &mat, cv::Mat &mask, int distMethod=SAMPSON_DISTANCE)
double	calcSampsonDistance (cv::Point2f &pt1, cv::Point2f &pt2, cv::Mat &F)
double	calcSampsonError (vector< cv::Point2f > &points1, vector< cv::Point2f > &points2, cv::Mat &H, cv::Mat &Hmask)
void	combineTransforms (cv::Mat &CN, const cv::Mat &C0, const cv::Mat &C1)
void	compileTransform (cv::Mat &c, const cv::Mat &R, const cv::Mat &t)
void	constrainDodgyPoints (SysSBA &sys)
void	convertPoint3dToMat (const cv::Point3d &src, cv::Mat &dst)
void	convertProjectionMatCVToEigen (const cv::Mat &mat, Eigen::Matrix< double, 3, 4 > m)
void	convertProjectionMatEigenToCV (const Eigen::Matrix< double, 3, 4 > m, cv::Mat &mat)
void	convertVec4dToMat (const Vector4d &vec4, cv::Mat &mat)
int	countActiveTriangulatedTracks (vector< unsigned int > &indices, vector< featureTrack > &tracks)
int	countTriangulatedTracks (const vector< featureTrack > &tracks)
void	decomposeTransform (const cv::Mat &c, cv::Mat &R, cv::Mat &t)
Quaterniond	defaultQuaternion ()
double	dotProduct (const cv::Mat &vec1, const cv::Mat &vec2)
double	dotProduct (const Quaterniond &q1, const Quaterniond &q2)
void	estimateNewPose (vector< featureTrack > &tracks, cv::Mat &K, int idx, cv::Mat &pose)
bool	estimatePoseFromKnownPoints (cv::Mat &dst, cameraParameters camData, vector< featureTrack > &tracks, unsigned int index, const cv::Mat &guide, unsigned minAppearances=1, unsigned int iterCount=100, double maxReprojErr=4.0, double inliersPercentage=0.9, double *reprojError=0, double *pnpInlierProp=0, bool debug=false)
void	ExtractPointCloud (vector< cv::Point3d > &cloud, vector< featureTrack > &trackVector)
void	filterNearPoints (vector< featureTrack > &featureTrackVector, double x, double y, double z, double limit=DEFAULT_NEAR_RADIUS)
void	filterToActivePoints (vector< featureTrack > &tracks, vector< cv::Point2f > &pts1, vector< cv::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 cv::Mat *CX, const cv::Mat &K, const vector< cv::Point2f > &pts1, const vector< cv::Point2f > &pts2, cv::Mat &C)
bool	findBestReconstruction (const cv::Mat &P0, cv::Mat &P1, cv::Mat &R, cv::Mat &t, const cv::SVD &svd, const cv::Mat &K, const vector< cv::Point2f > &pts1, const vector< cv::Point2f > &pts2, bool useDefault=false)
void	findCentroid (vector< featureTrack > &tracks, cv::Point3d &centroid, cv::Point3d &stdDeviation)
void	findCentroidAndSpread (vector< featureTrack > &tracks, cv::Point3d &centroid, cv::Point3d &deviations)
bool	findClusterMean (const vector< cv::Point3d > &estimatedLocations, cv::Point3d &pt3d, int mode=DEFAULT_MEAN_MODE, int minEstimates=3, double maxStandardDev=0.1)
void	findFeaturesForPoints (vector< featureTrack > &tracks, vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, vector< cv::Point3d > &pts3d, int idx1, int idx2)
void	findFourTransformations (cv::Mat *C, const cv::Mat &E, const cv::Mat &K, const vector< cv::Point2f > &pts1, const vector< cv::Point2f > &pts2)
void	findP1Matrix (cv::Mat &P1, const cv::Mat &R, const cv::Mat &t)
void	findTriangulatableTracks (vector< featureTrack > &tracks, vector< unsigned int > &indices, vector< unsigned int > &cameras, unsigned int min_length=10)
void	findTriangulatableTracks3 (vector< featureTrack > &tracks, vector< unsigned int > &indices, int latest_index=-1, unsigned int min_length=10)
void	getActive3dPoints (vector< featureTrack > &tracks, vector< unsigned int > &indices, vector< cv::Point3d > &cloud)
void	getActiveTracks (vector< unsigned int > &indices, vector< featureTrack > &tracks, int idx1, int idx2)
void	getCorrespondingPoints (vector< featureTrack > &tracks, const vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, int idx0, int idx1)
double	getDistanceInUnits (const cv::Mat &t)
void	getIndicesForTriangulation (vector< unsigned int > &dst, vector< unsigned int > &src, vector< unsigned int > &already_triangulated)
void	getPoints3dFromTracks (vector< featureTrack > &tracks, vector< cv::Point3d > &cloud, int idx1=-1, int idx2=-1)
void	getPointsFromTracks (vector< featureTrack > &tracks, vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, int idx1, int idx2)
double	getQuaternionAngle (const Quaterniond &q1, const Quaterniond &q2)
double	getRotationInDegrees (const cv::Mat &R)
void	getTranslationBetweenCameras (cv::Mat &C1, cv::Mat &C2, double *translations)
void	getTriangulatedFullSpanPoints (vector< featureTrack > &tracks, vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, int idx1, int idx2, vector< cv::Point3f > &points3)
void	getWandZ (cv::Mat &W, cv::Mat &Winv, cv::Mat &Z)
void	initializeP0 (cv::Mat &P)
int	initialTrackTriangulation (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, double minSeparation=0.2, double maxSeparation=1.0, int minEstimates=3, double maxStandardDev=0.1, double maxReprojectionDisparity=MAX_REPROJECTION_DISPARITY)
int	initialTrackTriangulationDummy (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, geometry_msgs::PoseStamped *keyframePoses, unsigned int keyframeCount, double minSeparation=0.2, double maxSeparation=1.0, int minEstimates=3, double maxStandardDev=0.1, bool handedness=false, int xCode=0)
void	IterativeLinearLSTriangulation (cv::Mat &dst, const cv::Point3d &u1, const cv::Mat &P1, const cv::Point3d &u2, const cv::Mat &P2)
void	LinearLSTriangulation (cv::Mat &dst, const cv::Point3d &u1, const cv::Mat &P1, const cv::Point3d &u2, const cv::Mat &P2)
void	obtainAppropriateBaseTransformation (cv::Mat &C0, vector< featureTrack > &tracks)
bool	pointIsInFront (const cv::Mat &C, const cv::Point3d &pt)
int	pointsInFront (const cv::Mat &C1, const cv::Mat &C2, const vector< cv::Point3d > &pts)
int	pointsInFront (const cv::Mat &C1, const cv::Mat &K, const vector< cv::Point2f > &pts1, const vector< cv::Point2f > &pts2)
void	printSystemSummary (SysSBA &sys)
unsigned int	putativelyTriangulateNewTracks (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)
float	ReciprocalSqrt (float x)
void	reconstructSubsequence (vector< featureTrack > &tracks, vector< cv::Point3d > &ptCloud, int idx1, int idx2)
void	reduceActiveToTriangulated (vector< featureTrack > &tracks, vector< unsigned int > &indices, vector< unsigned int > &untriangulated)
void	reduceVectorsToTrackedPoints (const vector< cv::Point2f > &points1, vector< cv::Point2f > &trackedPoints1, const vector< cv::Point2f > &points2, vector< cv::Point2f > &trackedPoints2, vector< uchar > &statusVec)
void	removeShortTracks (vector< featureTrack > &tracks, int idx1, int idx2)
void	retrieveAllCameras (cv::Mat *allCameraPoses, const SysSBA &sys)
void	retrieveAllPoints (vector< cv::Point3d > &pts, const SysSBA &sys)
double	retrieveCameraPose (const SysSBA &sys, unsigned int idx, geometry_msgs::Pose &pose)
void	retrieveCameraPose (const SysSBA &sys, unsigned int idx, cv::Mat &camera)
void	reverseTranslation (cv::Mat &C)
void	summarizeTransformation (const cv::Mat &C, char *summary)
void	transfer3dPoint (const cv::Point3d &src, cv::Point3d &dst, const cv::Mat &C)
void	transfer3DPoints (const vector< cv::Point3d > &src, vector< cv::Point3d > &dst, const cv::Mat &C)
void	Triangulate (const cv::Point2f &pt1, const cv::Point2f &pt2, const cv::Mat &K, const cv::Mat &Kinv, const cv::Mat &P1, const cv::Mat &P2, cv::Point3d &xyzPoint, bool debug=false)
void	Triangulate_1 (const cv::Point2d &pt1, const cv::Point2d &pt2, const cv::Mat &K, const cv::Mat &Kinv, const cv::Mat &P1, const cv::Mat &P2, cv::Point3d &xyzPoint, bool iterate=true)
int	TriangulateNewTracks (vector< featureTrack > &trackVector, const int index1, const int index2, const cv::Mat &K, const cv::Mat &K_inv, const cv::Mat &P0, const cv::Mat &P1, bool initializeOnFocalPlane=false)
void	TriangulatePoints (const vector< cv::Point2f > &pt_set1, const vector< cv::Point2f > &pt_set2, const cv::Mat &K, const cv::Mat &Kinv, const cv::Mat &P, const cv::Mat &P1, vector< cv::Point3d > &pointcloud, vector< cv::Point2f > &correspImg1Pt)
void	triangulateTracks (vector< featureTrack > &tracks, vector< unsigned int > &indices, cameraParameters &cameraData, cv::Mat *cameras, unsigned int earliest_index, unsigned int latest_index)
void	updateCameraNode (SysSBA &sys, cv::Mat R, cv::Mat t, int img1, int img2)
void	updateCameraNode_2 (SysSBA &sys, const cv::Mat &R, const cv::Mat &t, int image_index)
void	updateCameraNode_2 (SysSBA &sys, const cv::Mat &C, 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< cv::Point3d > &cloud)

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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 22 of file reconstruction.hpp.

#define CLUSTER_MEAN_MODE   1

Definition at line 34 of file reconstruction.hpp.

#define DEFAULT_MEAN_MAX_DIST   0.20

Definition at line 32 of file reconstruction.hpp.

#define DEFAULT_MEAN_MODE   0

Definition at line 33 of file reconstruction.hpp.

#define DEFAULT_NEAR_RADIUS   0.3

Definition at line 25 of file reconstruction.hpp.

#define EPSILON   0.00001

Definition at line 37 of file reconstruction.hpp.

#define MAX_REPROJECTION_DISPARITY   20.0

Definition at line 35 of file reconstruction.hpp.

#define POSITION_LIMIT   1000

Definition at line 31 of file reconstruction.hpp.

---

Function Documentation

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

Definition at line 2873 of file reconstruction.cpp.

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

Definition at line 2543 of file reconstruction.cpp.

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

Definition at line 2548 of file reconstruction.cpp.

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

Definition at line 1608 of file reconstruction.cpp.

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

Definition at line 2733 of file reconstruction.cpp.

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

Definition at line 2749 of file reconstruction.cpp.

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

Definition at line 2476 of file reconstruction.cpp.

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

Definition at line 2638 of file reconstruction.cpp.

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

Definition at line 2404 of file reconstruction.cpp.

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

Definition at line 2468 of file reconstruction.cpp.

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

Definition at line 2338 of file reconstruction.cpp.

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

Definition at line 2435 of file reconstruction.cpp.

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

Definition at line 2413 of file reconstruction.cpp.

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

Definition at line 2505 of file reconstruction.cpp.

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

void constrainDodgyPoints

(

SysSBA &

sys

)

Definition at line 3183 of file reconstruction.cpp.

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

Definition at line 2273 of file reconstruction.cpp.

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

Definition at line 2992 of file reconstruction.cpp.

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

Definition at line 3011 of file reconstruction.cpp.

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

Definition at line 2553 of file reconstruction.cpp.

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

Definition at line 109 of file reconstruction.cpp.

int countTriangulatedTracks

(

const vector< featureTrack > &

tracks

)

Definition at line 94 of file reconstruction.cpp.

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

Definition at line 393 of file geometry.cpp.

Quaterniond defaultQuaternion

(

)

Definition at line 2918 of file reconstruction.cpp.

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

Definition at line 2511 of file reconstruction.cpp.

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

Definition at line 2497 of file reconstruction.cpp.

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

Definition at line 2688 of file reconstruction.cpp.

bool estimatePoseFromKnownPoints	(	cv::Mat &	dst,
		cameraParameters	camData,
		vector< featureTrack > &	tracks,
		unsigned int	index,
		const cv::Mat &	guide,
		unsigned	minAppearances = 1,
		unsigned int	iterCount = 100,
		double	maxReprojErr = 4.0,
		double	inliersPercentage = 0.9,
		double *	reprojError = 0,
		double *	pnpInlierProp = 0,
		bool	debug = false
	)

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

Definition at line 3268 of file reconstruction.cpp.

void filterNearPoints	(	vector< featureTrack > &	featureTrackVector,
		double	x,
		double	y,
		double	z,
		double	limit = DEFAULT_NEAR_RADIUS
	)

Definition at line 916 of file reconstruction.cpp.

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

Definition at line 275 of file reconstruction.cpp.

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

Definition at line 320 of file reconstruction.cpp.

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

Definition at line 22 of file reconstruction.cpp.

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

Definition at line 3299 of file reconstruction.cpp.

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

Definition at line 3903 of file reconstruction.cpp.

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

Definition at line 1917 of file reconstruction.cpp.

bool findClusterMean	(	const vector< cv::Point3d > &	estimatedLocations,
		cv::Point3d &	pt3d,
		int	mode = DEFAULT_MEAN_MODE,
		int	minEstimates = 3,
		double	maxStandardDev = 0.1
	)

Definition at line 1198 of file reconstruction.cpp.

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

Definition at line 53 of file reconstruction.cpp.

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

Definition at line 2011 of file reconstruction.cpp.

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

Definition at line 3774 of file reconstruction.cpp.

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

Definition at line 654 of file reconstruction.cpp.

void findTriangulatableTracks3	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		int	latest_index = -1,
		unsigned int	min_length = 10
	)

Definition at line 692 of file reconstruction.cpp.

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

Definition at line 310 of file reconstruction.cpp.

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

Definition at line 361 of file reconstruction.cpp.

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

Definition at line 545 of file reconstruction.cpp.

double getDistanceInUnits

(

const cv::Mat &

t

)

Definition at line 2530 of file reconstruction.cpp.

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

Definition at line 125 of file reconstruction.cpp.

void getPoints3dFromTracks	(	vector< featureTrack > &	tracks,
		vector< cv::Point3d > &	cloud,
		int	idx1 = -1,
		int	idx2 = -1
	)

Definition at line 1967 of file reconstruction.cpp.

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

Definition at line 1840 of file reconstruction.cpp.

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

Definition at line 2487 of file reconstruction.cpp.

double getRotationInDegrees

(

const cv::Mat &

R

)

Definition at line 2520 of file reconstruction.cpp.

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

Definition at line 720 of file reconstruction.cpp.

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

Definition at line 616 of file reconstruction.cpp.

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

Definition at line 3739 of file reconstruction.cpp.

void initializeP0

(

cv::Mat &

P

)

Definition at line 3548 of file reconstruction.cpp.

int initialTrackTriangulation	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		cameraParameters &	cameraData,
		geometry_msgs::PoseStamped *	keyframePoses,
		unsigned int	keyframeCount,
		double	minSeparation = 0.2,
		double	maxSeparation = 1.0,
		int	minEstimates = 3,
		double	maxStandardDev = 0.1,
		double	maxReprojectionDisparity = MAX_REPROJECTION_DISPARITY
	)

Definition at line 932 of file reconstruction.cpp.

int initialTrackTriangulationDummy	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		cameraParameters &	cameraData,
		geometry_msgs::PoseStamped *	keyframePoses,
		unsigned int	keyframeCount,
		double	minSeparation = 0.2,
		double	maxSeparation = 1.0,
		int	minEstimates = 3,
		double	maxStandardDev = 0.1,
		bool	handedness = false,
		int	xCode = 0
	)

Definition at line 730 of file reconstruction.cpp.

void IterativeLinearLSTriangulation	(	cv::Mat &	dst,
		const cv::Point3d &	u1,
		const cv::Mat &	P1,
		const cv::Point3d &	u2,
		const cv::Mat &	P2
	)

Definition at line 3665 of file reconstruction.cpp.

void LinearLSTriangulation	(	cv::Mat &	dst,
		const cv::Point3d &	u1,
		const cv::Mat &	P1,
		const cv::Point3d &	u2,
		const cv::Mat &	P2
	)

Definition at line 3564 of file reconstruction.cpp.

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

Definition at line 1883 of file reconstruction.cpp.

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

Definition at line 2136 of file reconstruction.cpp.

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

Definition at line 2154 of file reconstruction.cpp.

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

Definition at line 2195 of file reconstruction.cpp.

void printSystemSummary

(

SysSBA &

sys

)

Definition at line 2913 of file reconstruction.cpp.

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

Definition at line 1725 of file reconstruction.cpp.

float ReciprocalSqrt

(

float

x

)

Definition at line 3035 of file reconstruction.cpp.

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

Definition at line 154 of file reconstruction.cpp.

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

Definition at line 261 of file reconstruction.cpp.

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

Definition at line 3281 of file reconstruction.cpp.

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

Definition at line 158 of file reconstruction.cpp.

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

Definition at line 2619 of file reconstruction.cpp.

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

Definition at line 2575 of file reconstruction.cpp.

double retrieveCameraPose	(	const SysSBA &	sys,
		unsigned int	idx,
		geometry_msgs::Pose &	pose
	)

Definition at line 2597 of file reconstruction.cpp.

void retrieveCameraPose	(	const SysSBA &	sys,
		unsigned int	idx,
		cv::Mat &	camera
	)

Definition at line 2588 of file reconstruction.cpp.

void reverseTranslation

(

cv::Mat &

C

)

Definition at line 43 of file reconstruction.cpp.

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

Definition at line 7 of file reconstruction.cpp.

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

Definition at line 2283 of file reconstruction.cpp.

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

Definition at line 2304 of file reconstruction.cpp.

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

Definition at line 3801 of file reconstruction.cpp.

void Triangulate_1	(	const cv::Point2d &	pt1,
		const cv::Point2d &	pt2,
		const cv::Mat &	K,
		const cv::Mat &	Kinv,
		const cv::Mat &	P1,
		const cv::Mat &	P2,
		cv::Point3d &	xyzPoint,
		bool	iterate = true
	)

Definition at line 3610 of file reconstruction.cpp.

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

Definition at line 3202 of file reconstruction.cpp.

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

Definition at line 3879 of file reconstruction.cpp.

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

Definition at line 1355 of file reconstruction.cpp.

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

Definition at line 3048 of file reconstruction.cpp.

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

Definition at line 2959 of file reconstruction.cpp.

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

Definition at line 2924 of file reconstruction.cpp.

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

Definition at line 177 of file reconstruction.cpp.

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

Definition at line 2562 of file reconstruction.cpp.

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

Definition at line 241 of file reconstruction.cpp.