Classes
struct	_RadiusPoint
struct	AtomPair
struct	AtomPairDist
struct	AtomPairLess
struct	AtomPairMin
class	Blender
class	BlenderAlpha
class	BlenderMultiband
class	BlenderNoBlend
class	BlenderSimple
class	BlurDetector
struct	Callback
class	CallbackEngine
class	Camera
class	CaptureEngine
class	Copier
struct	DCallback
class	drawable
class	Extrinsics
class	Features
struct	FitPair
class	FitterResult
struct	GCallback
class	GenericModelFitter
struct	Globber
class	GriddedDynamicDetectorAdaptor
class	HugeImage
class	ImageAtom
class	ImageMolecule
class	Images
class	ModelFitter
class	ModelFitterParams
class	MoleculeGlob
struct	MoleculePeeler
class	MoleculeProcessor
struct	PairGlobber
struct	PairNode
struct	PairNodeData
struct	PairPointsCSV
class	PriorTracker
class	Projector
class	SCopier
class	serializable
class	SparseProjector
struct	SVDFitR
struct	SVDRSolverParams
Typedefs
typedef std::set< AtomPair, AtomPairLess >	AtomPairSet
typedef std::vector< cv::KeyPoint >	KeypointVector
typedef std::vector< cv::DMatch >	MatchesVector
typedef void(*	MDoperator )(cv::InputArray, cv::InputArray, cv::OutputArray, double, int)
typedef float(*	PairBlendConfFPT )(float err_new, float err_prv)
	a typedef for easily swapping out the blending confidence function for PairNode. Want to allow low-confidence things to get drawn, but only if they don't overlap something else that has high confidence.
typedef float(*	PairMatchErrFPT )(const AtomPair &pair, const PairNodeData &node_data)
	a typedef for easily swapping out the error function for PairNode.
typedef GenericModelFitter < SVDFitR, SVDRSolverParams >	SVDFitter
Functions
void	alphaCompose (Mat &rgb1, const Mat &alpha, const Mat &one_minus_alpha, Mat &rgb_dest)
float	angularDist (const Extrinsics &ext1, const Extrinsics &ext2)
float	calcError (const Point3f &p1, const Point3f &p2, const Mat &R, const Mat &K)
float	calcError (const std::vector< Point3f > &pts1, const std::vector< Point3f > &pts2, const std::vector< uchar > &mask, const cv::Mat &R, const cv::Mat &K, int norm_type)
float	calcError (const cv::Point3f &p1, const cv::Point3f &p2, const cv::Mat &R, const cv::Mat &K)
float	calcError (const std::vector< cv::Point3f > &pts1, const std::vector< cv::Point3f > &pts2, const std::vector< uchar > &mask, const cv::Mat &R, const cv::Mat &K, int norm_type=cv::NORM_L1)
float	calcReprojectonError (const vector< Point2f > &pts1, const vector< Point2f > &pts2, const std::vector< uchar > &mask, const cv::Mat &R, const cv::Mat &_K, int norm_type)
float	calcReprojectonError (const std::vector< cv::Point2f > &pts1, const std::vector< cv::Point2f > &pts2, const std::vector< uchar > &mask, const cv::Mat &R, const cv::Mat &K, int norm_type=cv::NORM_L1)
bool	compareRealToIndexPair (const std::pair< double, int > &lhs, const std::pair< double, int > &rhs)
	helper to sort a vector of distance index pairs
void	convertRTtoG (const cv::Mat &R, const cv::Mat &T, cv::Mat &G)
	concatenate 3x3 R and 3x1 T into a 4x4 G matrix
cv::Mat	createHomogSphrCoords (const cv::Size &sphere_size, float theta_range=2 *CV_PI, float phi_range=CV_PI)
void	DijkstraWay (ImageMolecule &mol)
void	divideImageByDoubleWeights (const cv::Mat &img, const cv::Mat &weights, cv::Mat &output, std::vector< cv::Mat > *cache_channels=0)
void	divideImageByFloatWeights (const cv::Mat &img, const cv::Mat &weights, cv::Mat &output, std::vector< cv::Mat > *cache_channels=0)
void	drawMatchesRelative (const Features &train, const Features &query, const std::vector< cv::DMatch > &matches, Mat &img, const vector< unsigned char > &mask)
void	drawMatchesRelative (const Features &train, const Features &query, const std::vector< cv::DMatch > &matches, cv::Mat &img, const std::vector< unsigned char > &mask=std::vector< unsigned char >())
cv::Mat	getRv (const cv::Mat &R)
int	getUID ()
void	initAlphaMat (const Size &sz, Mat &alpha, int feather_width)
void	initAlphaMat (const cv::Size &sz, cv::Mat &alpha, int feather_width)
void	KeyPointsToPoints (const KeypointVector &keypts, std::vector< cv::Point2f > &pts)
void	matches2points (const KeypointVector &train, const KeypointVector &query, const MatchesVector &matches, std::vector< cv::Point2f > &pts_train, std::vector< cv::Point2f > &pts_query)
void	matches2points (const KeypointVector &train, const KeypointVector &query, const MatchesVector &matches, std::vector< cv::Point2f > &pts_train, std::vector< Point2f > &pts_query)
void	mdImageByDoubleWeights (const cv::Mat &img, const cv::Mat &weights, cv::Mat &output, MDoperator md, std::vector< cv::Mat > *cache_channels)
void	mdImageByFloatWeights (const cv::Mat &img, const cv::Mat &weights, cv::Mat &output, MDoperator md, std::vector< cv::Mat > *cache_channels)
void	multiplyImageByDoubleWeights (const cv::Mat &img, const cv::Mat &weights, cv::Mat &output, std::vector< cv::Mat > *cache_channels=0)
void	multiplyImageByFloatWeights (const cv::Mat &img, const cv::Mat &weights, cv::Mat &output, std::vector< cv::Mat > *cache_channels=0)
std::ostream &	operator<< (std::ostream &out, const PairNode &node)
std::ostream &	operator<< (std::ostream &out, const AtomPair &pair)
bool	operator== (const cv::Point2f &pt1, _RadiusPoint< cv::Point2f > pt2)
bool	operator== (const cv::Point3f &pt1, _RadiusPoint< cv::Point3f > pt2)
float	PairConfExpLaw (float err_new, float err_prv)
float	PairConfInvLaw (float err_new, float err_prv)
float	PairErrorAvoidCompassChain (const AtomPair &pair, const PairNodeData &node_data)
float	PairErrorInliers (const AtomPair &pair, const PairNodeData &node_data)
float	PairErrorSimple (const AtomPair &pair, const PairNodeData &node_data)
void	point2fto3dMat (const cv::Point2f &p1, const cv::Mat &Kinv, cv::Mat &p13d)
cv::Mat	point2fto3dMat (const cv::Point2f &p1, const cv::Mat &Kinv)
cv::Point3f	point2fTo3f (const cv::Point2f &p1, const cv::Mat &Kinverse)
cv::Point2f	point3fTo2f (const cv::Point3f &p1, const cv::Mat &K)
template<typename Inserter , typename Begin , typename End >
void	points2fto3f (Begin begin, End end, Inserter it, const cv::Mat &Kinverse)
template<typename Inserter , typename Begin , typename End >
void	points3fto2f (Begin begin, End end, Inserter it, const cv::Mat &K)
void	PointsToKeyPoints (const std::vector< cv::Point2f > &keypts, KeypointVector &pts)
cv::Mat	pt2f_to_3d (const cv::Point2f &p1, const cv::Mat &K)
template<typename T >
_RadiusPoint< T >	RadiusPoint (float r, const T &pt2)
void	rescaleFloatImage1 (cv::Mat &img)
void	rescaleFloatImage1_clip (cv::Mat &img)
void	rescaleFloatImage1_shiftMin_divideMax (cv::Mat &img)
void	rescaleFloatImage256 (cv::Mat &img)
void	rescaleFloatImage256_clip (cv::Mat &img)
template<typename CSVSavable >
void	saveMatCsv (const CSVSavable &mat, const std::string &name, bool append)
	allows each output of cv::Mat in cv::Matlab forcv::Mat to std::cout use like
float	scorematch (const std::vector< cv::DMatch > &matches)
void	sharpen_backwards_heat_equation (const cv::Mat &src, cv::Mat &dst, float alpha=.02)
cv::Mat	skewsym (const cv::Mat &x)
void	sparsifyMatches (const ImageAtom &atom1, const ImageAtom &atom2, std::vector< cv::Point2f > &pts1, std::vector< cv::Point2f > &pts2, int iKeep=50)
void	sparsifyMatches (AtomPair &pair, int iKeep=50)
std::string	strip (const std::string &str, const std::string &what)
Variables
static const float	PI = 3.14159265f
static int	uid_gen = 0

Typedef Documentation

typedef std::set<AtomPair, AtomPairLess> pano::AtomPairSet

Definition at line 261 of file ModelFitter.h.

typedef std::vector<cv::KeyPoint> pano::KeypointVector

store list of key points from 'feature detection'

Definition at line 48 of file feature_utils.h.

typedef std::vector<cv::DMatch> pano::MatchesVector

store list of 'match points' and 'match scores' between two sets of keypoints

Definition at line 52 of file feature_utils.h.

typedef void(* pano::MDoperator)(cv::InputArray, cv::InputArray, cv::OutputArray, double, int)

Definition at line 80 of file panoutils.h.

typedef float(* pano::PairBlendConfFPT)(float err_new, float err_prv)

a typedef for easily swapping out the blending confidence function for PairNode. Want to allow low-confidence things to get drawn, but only if they don't overlap something else that has high confidence.

Definition at line 41 of file PairNode.h.

typedef float(* pano::PairMatchErrFPT)(const AtomPair &pair, const PairNodeData &node_data)

a typedef for easily swapping out the error function for PairNode.

Definition at line 35 of file PairNode.h.

typedef GenericModelFitter<SVDFitR, SVDRSolverParams> pano::SVDFitter

Definition at line 467 of file ModelFitter.h.

Function Documentation

void pano::alphaCompose	(	Mat &	rgb1,
		const Mat &	alpha,
		const Mat &	one_minus_alpha,
		Mat &	rgb_dest
	)

Definition at line 105 of file Blender.cpp.

float pano::angularDist	(	const Extrinsics &	ext1,
		const Extrinsics &	ext2
	)		`[inline]`

Definition at line 91 of file Extrinsics.h.

float pano::calcError	(	const Point3f &	p1,
		const Point3f &	p2,
		const Mat &	R,
		const Mat &	K
	)

Definition at line 228 of file ModelFitter.cpp.

float pano::calcError	(	const std::vector< Point3f > &	pts1,
		const std::vector< Point3f > &	pts2,
		const std::vector< uchar > &	mask,
		const cv::Mat &	R,
		const cv::Mat &	K,
		int	norm_type
	)

Definition at line 240 of file ModelFitter.cpp.

float pano::calcError	(	const cv::Point3f &	p1,
		const cv::Point3f &	p2,
		const cv::Mat &	R,
		const cv::Mat &	K
	)

gets the L2 norm between the p1 and p2 given an R takes {p2} = R * p1 return norm(p2 , {p2})

float pano::calcError	(	const std::vector< cv::Point3f > &	pts1,
		const std::vector< cv::Point3f > &	pts2,
		const std::vector< uchar > &	mask,
		const cv::Mat &	R,
		const cv::Mat &	K,
		int	norm_type = `cv::NORM_L1`
	)

float pano::calcReprojectonError	(	const vector< Point2f > &	pts1,
		const vector< Point2f > &	pts2,
		const std::vector< uchar > &	mask,
		const cv::Mat &	R,
		const cv::Mat &	_K,
		int	norm_type
	)

Definition at line 262 of file ModelFitter.cpp.

float pano::calcReprojectonError	(	const std::vector< cv::Point2f > &	pts1,
		const std::vector< cv::Point2f > &	pts2,
		const std::vector< uchar > &	mask,
		const cv::Mat &	R,
		const cv::Mat &	K,
		int	norm_type = `cv::NORM_L1`
	)

lift p1 to 3d, rotate points by R, reproject by K, compare to p2. also takes the mask for doing this for only a subset.

bool pano::compareRealToIndexPair	(	const std::pair< double, int > &	lhs,
		const std::pair< double, int > &	rhs
	)		`[inline]`

helper to sort a vector of distance index pairs

Definition at line 38 of file panoutils.h.

void pano::convertRTtoG	(	const cv::Mat &	R,
		const cv::Mat &	T,
		cv::Mat &	G
	)

concatenate 3x3 R and 3x1 T into a 4x4 G matrix

Definition at line 296 of file ModelFitter.cpp.

cv::Mat pano::createHomogSphrCoords	(	const cv::Size &	sphere_size,
		float	theta_range = `2 * CV_PI`,
		float	phi_range = `CV_PI`
	)

Definition at line 188 of file Projector.cpp.

void pano::DijkstraWay ( ImageMolecule & mol )

Definition at line 108 of file MoleculeProcessor.cpp.

void pano::divideImageByDoubleWeights	(	const cv::Mat &	img,
		const cv::Mat &	weights,
		cv::Mat &	output,
		std::vector< cv::Mat > *	cache_channels = `0`
	)		`[inline]`

Definition at line 100 of file panoutils.h.

void pano::divideImageByFloatWeights	(	const cv::Mat &	img,
		const cv::Mat &	weights,
		cv::Mat &	output,
		std::vector< cv::Mat > *	cache_channels = `0`
	)		`[inline]`

Definition at line 92 of file panoutils.h.

void pano::drawMatchesRelative	(	const Features &	train,
		const Features &	query,
		const std::vector< cv::DMatch > &	matches,
		Mat &	img,
		const vector< unsigned char > &	mask
	)

Definition at line 49 of file Features.cpp.

void pano::drawMatchesRelative	(	const Features &	train,
		const Features &	query,
		const std::vector< cv::DMatch > &	matches,
		cv::Mat &	img,
		const std::vector< unsigned char > &	mask = `std::vector< unsigned char >()`
	)

cv::Mat pano::getRv ( const cv::Mat & R ) [inline]

return the effect of R on a unit vector on z axis

Definition at line 29 of file panoutils.h.

int pano::getUID ( )

Definition at line 16 of file ImageAtom.cpp.

void pano::initAlphaMat	(	const Size &	sz,
		Mat &	alpha,
		int	feather_width
	)

Definition at line 31 of file Blender.cpp.

void pano::initAlphaMat	(	const cv::Size &	sz,
		cv::Mat &	alpha,
		int	feather_width
	)

void pano::KeyPointsToPoints	(	const KeypointVector &	keypts,
		std::vector< cv::Point2f > &	pts
	)

convert from a vector of 'keypoints' with N-d data to 2d xy points

Definition at line 46 of file feature_utils.cpp.

void pano::matches2points	(	const KeypointVector &	train,
		const KeypointVector &	query,
		const MatchesVector &	matches,
		std::vector< cv::Point2f > &	pts_train,
		std::vector< cv::Point2f > &	pts_query
	)

convert from a vector of 'match points' with N-d data to 2d xy points

void pano::matches2points	(	const KeypointVector &	train,
		const KeypointVector &	query,
		const MatchesVector &	matches,
		std::vector< cv::Point2f > &	pts_train,
		std::vector< Point2f > &	pts_query
	)

Definition at line 66 of file feature_utils.cpp.

void pano::mdImageByDoubleWeights	(	const cv::Mat &	img,
		const cv::Mat &	weights,
		cv::Mat &	output,
		MDoperator	md,
		std::vector< cv::Mat > *	cache_channels
	)

Definition at line 30 of file panoutils.cpp.

void pano::mdImageByFloatWeights	(	const cv::Mat &	img,
		const cv::Mat &	weights,
		cv::Mat &	output,
		MDoperator	md,
		std::vector< cv::Mat > *	cache_channels
	)

Definition at line 6 of file panoutils.cpp.

void pano::multiplyImageByDoubleWeights	(	const cv::Mat &	img,
		const cv::Mat &	weights,
		cv::Mat &	output,
		std::vector< cv::Mat > *	cache_channels = `0`
	)		`[inline]`

Definition at line 96 of file panoutils.h.

void pano::multiplyImageByFloatWeights	(	const cv::Mat &	img,
		const cv::Mat &	weights,
		cv::Mat &	output,
		std::vector< cv::Mat > *	cache_channels = `0`
	)		`[inline]`

Definition at line 88 of file panoutils.h.

std::ostream & pano::operator<<	(	std::ostream &	out,
		const PairNode &	node
	)

encapsulate dumping node meta-data along with the pair of atoms it contains

Definition at line 725 of file MoleculeProcessor.cpp.

std::ostream & pano::operator<<	(	std::ostream &	out,
		const AtomPair &	pair
	)

encapsulate dumping pair-only, less meta-data than a PairNode

Definition at line 756 of file MoleculeProcessor.cpp.

bool pano::operator==	(	const cv::Point2f &	pt1,
		_RadiusPoint< cv::Point2f >	pt2
	)		`[inline]`

Definition at line 39 of file feature_utils.h.

bool pano::operator==	(	const cv::Point3f &	pt1,
		_RadiusPoint< cv::Point3f >	pt2
	)		`[inline]`

Definition at line 42 of file feature_utils.h.

float pano::PairConfExpLaw	(	float	err_new,
		float	err_prv
	)		`[inline]`

exponential decrease of blender confidence with match error

Definition at line 45 of file PairNode.h.

float pano::PairConfInvLaw	(	float	err_new,
		float	err_prv
	)		`[inline]`

1/x decrease of blender confidence with match error m-code: E = logspace(-1,3,500); gam0 = beta0 * C0; CofE = gam0 ./ (E+eps0) + alpha; loglog(E,CofE)

Definition at line 61 of file PairNode.h.

float pano::PairErrorAvoidCompassChain	(	const AtomPair &	pair,
		const PairNodeData &	node_data
	)		`[inline]`

example of error function that is use something regarding the entire graph, which would not be available to the modelfitter + fitter_result

Returns:: result.error + increasing_function_of( depth_in_tree )

Definition at line 86 of file PairNode.h.

float pano::PairErrorInliers	(	const AtomPair &	pair,
		const PairNodeData &	node_data
	)		`[inline]`

Return inliers-weighted error. Assumes things about how Modelfitter Error relates to inliers, when ModelFitter is a generic class. Makes sense for SVD as it stands.

Returns:: result.err + 1/result.inliers

Definition at line 74 of file PairNode.h.

float pano::PairErrorSimple	(	const AtomPair &	pair,
		const PairNodeData &	node_data
	)		`[inline]`

Definition at line 78 of file PairNode.h.

void pano::point2fto3dMat	(	const cv::Point2f &	p1,
		const cv::Mat &	Kinv,
		cv::Mat &	p13d
	)		`[inline]`

Definition at line 380 of file ModelFitter.h.

cv::Mat pano::point2fto3dMat	(	const cv::Point2f &	p1,
		const cv::Mat &	Kinv
	)		`[inline]`

Definition at line 386 of file ModelFitter.h.

cv::Point3f pano::point2fTo3f	(	const cv::Point2f &	p1,
		const cv::Mat &	Kinverse
	)		`[inline]`

Definition at line 399 of file ModelFitter.h.

cv::Point2f pano::point3fTo2f	(	const cv::Point3f &	p1,
		const cv::Mat &	K
	)		`[inline]`

Definition at line 407 of file ModelFitter.h.

template<typename Inserter , typename Begin , typename End >

void pano::points2fto3f	(	Begin	begin,
		End	end,
		Inserter	it,
		const cv::Mat &	Kinverse
	)

Definition at line 416 of file ModelFitter.h.

template<typename Inserter , typename Begin , typename End >

void pano::points3fto2f	(	Begin	begin,
		End	end,
		Inserter	it,
		const cv::Mat &	K
	)

Definition at line 427 of file ModelFitter.h.

void pano::PointsToKeyPoints	(	const std::vector< cv::Point2f > &	keypts,
		KeypointVector &	pts
	)

Definition at line 56 of file feature_utils.cpp.

cv::Mat pano::pt2f_to_3d	(	const cv::Point2f &	p1,
		const cv::Mat &	K
	)		`[inline]`

'lift' 2d to 3d points via K and assumption of being on unit sphere

Definition at line 394 of file ModelFitter.h.

template<typename T >

_RadiusPoint<T> pano::RadiusPoint	(	float	r,
		const T &	pt2
	)

Definition at line 35 of file feature_utils.h.

void pano::rescaleFloatImage1 ( cv::Mat & img ) [inline]

Definition at line 143 of file panoutils.h.

void pano::rescaleFloatImage1_clip ( cv::Mat & img ) [inline]

Definition at line 164 of file panoutils.h.

void pano::rescaleFloatImage1_shiftMin_divideMax ( cv::Mat & img ) [inline]

Definition at line 126 of file panoutils.h.

void pano::rescaleFloatImage256 ( cv::Mat & img ) [inline]

Definition at line 105 of file panoutils.h.

void pano::rescaleFloatImage256_clip ( cv::Mat & img ) [inline]

Definition at line 195 of file panoutils.h.

template<typename CSVSavable >

void pano::saveMatCsv	(	const CSVSavable &	mat,
		const std::string &	name,
		bool	append
	)

allows each output of cv::Mat in cv::Matlab forcv::Mat to std::cout use like

// std::cout << mycv::Mat;
//

write a cv::Matrix in csv forcv::Mat for cv::Matlab. This means that the rows are seperated by newlines and the columns by commas .... 331.413896619595,0,122.365880226491 0,249.320451610369,122.146722131871 0,0,1

Parameters:

out	output stream to write to
cv::Mat	write a cv::Mat to a csvSaves a cv::Mat csv file for using in Matlab
Mat	The Mat.
name	The name.
append	true to append.

Definition at line 73 of file panoutils.h.

float pano::scorematch ( const std::vector< cv::DMatch > & matches ) [inline]

Definition at line 67 of file feature_utils.h.

void pano::sharpen_backwards_heat_equation	(	const cv::Mat &	src,
		cv::Mat &	dst,
		float	alpha = `.02`
	)

apply 'unknown blur' deblurring. for efficiency, write to the source back in it's format.

Definition at line 63 of file BlurDetector.cpp.

cv::Mat pano::skewsym ( const cv::Mat & x ) [inline]

Definition at line 100 of file Extrinsics.h.

void pano::sparsifyMatches	(	const ImageAtom &	atom1,
		const ImageAtom &	atom2,
		std::vector< cv::Point2f > &	pts1,
		std::vector< cv::Point2f > &	pts2,
		int	iKeep = `50`
	)

keep only a subset of points, with lower reproject error via this fitter

void pano::sparsifyMatches	(	AtomPair &	pair,
		int	iKeep = `50`
	)

keep only a subset of points, with lower reproject error via this fitter

Definition at line 310 of file ModelFitter.cpp.

std::string pano::strip	(	const std::string &	str,
		const std::string &	what
	)

Definition at line 814 of file MoleculeProcessor.cpp.

Variable Documentation

const float pano::PI = 3.14159265f [static]

Definition at line 13 of file Projector.cpp.

int pano::uid_gen = 0 [static]

Definition at line 15 of file ImageAtom.cpp.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation