#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <math.h>
#include <iostream>
#include <iomanip>
#include "motion_estimation.hpp"
#include "absolute_orientation_horn.hpp"
#include "depth_source.hpp"
#include "refine_motion_estimate.hpp"
#include "tictoc.hpp"
#include "internal_utils.hpp"
#include "sad.hpp"
#include "visual_odometry.hpp"
#include "refine_feature_match.hpp"
#include "stereo_depth.hpp"

Include dependency graph for motion_estimation.cpp:

Namespaces
namespace	fovis
	quick and dirty profiling tool. inspired by the matlab tic/toc command
Defines
#define	dbg(...) fprintf(stderr, __VA_ARGS__)
#define	dump(var) (std::cerr<<" "#var<<" =[\n"<< std::setprecision (12)<<var<<"]"<<std::endl)
#define	USE_BIDIRECTIONAL_REFINEMENT
#define	USE_HORN_ABSOLUTE_ORIENTATION
#define	USE_ROBUST_STEREO_COMPATIBILITY
Functions
static bool	fovis::consistencyCompare (const FeatureMatch &ca, const FeatureMatch &cb)
static bool	fovis::robustStereoCompatibility (const Eigen::Vector3d &C1, const Eigen::Vector3d &C2, const Eigen::Vector3d &P1, const Eigen::Vector3d &P2, double baseline, double focal_length, double De)
static double	fovis::robustStereoCompatibility_computeDL (double L, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, double t, double f, double De)
static double	fovis::sqr (double x)
Variables
const char *	fovis::MotionEstimateStatusCodeStrings []

Define Documentation

#define dbg ( ... ) fprintf(stderr, __VA_ARGS__)

Definition at line 26 of file motion_estimation.cpp.

#define dump ( var ) (std::cerr<<" "#var<<" =[\n"<< std::setprecision (12)<<var<<"]"<<std::endl)

Definition at line 27 of file motion_estimation.cpp.

#define USE_BIDIRECTIONAL_REFINEMENT

Definition at line 24 of file motion_estimation.cpp.

#define USE_HORN_ABSOLUTE_ORIENTATION

Definition at line 22 of file motion_estimation.cpp.

#define USE_ROBUST_STEREO_COMPATIBILITY

Definition at line 23 of file motion_estimation.cpp.

Namespaces

Defines

Functions

Variables

Define Documentation