#include "node.h"
#include "features.h"
#include "transformation_estimation_euclidean.h"
#include "transformation_estimation.h"
#include <cmath>
#include "scoped_timer.h"
#include <Eigen/Geometry>
#include <pcl/common/transformation_from_correspondences.h>
#include <fstream>
#include "misc.h"
#include "misc2.h"
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/impl/voxel_grid.hpp>
#include <opencv/highgui.h>
#include <string>
#include <iostream>

Include dependency graph for node.cpp:

Functions
void	copy_filter_cloud (const Eigen::Vector3f &center, float radius, const Node old_node, Node clone)
void	copy_filter_features (const Eigen::Vector3f &center, float radius, const Node old_node, Node clone)
bool	isNearer (const cv::DMatch &m1, const cv::DMatch &m2)
static void	keepStrongestMatches (int n, std::vector< cv::DMatch > *matches)
void	pairwiseObservationLikelihood (const Node newer_node, const Node older_node, MatchingResult &mr)
void	removeDepthless (std::vector< cv::KeyPoint > &feature_locations_2d, const cv::Mat &depth)
std::vector< cv::DMatch >	sample_matches (unsigned int sample_size, std::vector< cv::DMatch > &matches_with_depth)
	Randomly choose <sample_size> of the matches.
std::vector< cv::DMatch >	sample_matches_prefer_by_distance (unsigned int sample_size, std::vector< cv::DMatch > &matches_with_depth)
	Randomly choose <sample_size> of the matches.
void	squareroot_descriptor_space (cv::Mat &descriptors)
	Compute the RootSIFT from SIFT according to Arandjelovic and Zisserman.

Function Documentation

void copy_filter_cloud	(	const Eigen::Vector3f &	center,
		float	radius,
		const Node *	old_node,
		Node *	clone
	)

Definition at line 1581 of file node.cpp.

void copy_filter_features	(	const Eigen::Vector3f &	center,
		float	radius,
		const Node *	old_node,
		Node *	clone
	)

Definition at line 1594 of file node.cpp.

bool isNearer	(	const cv::DMatch &	m1,
		const cv::DMatch &	m2
	)

Definition at line 514 of file node.cpp.

static void keepStrongestMatches	(	int	n,
		std::vector< cv::DMatch > *	matches
	)		`[static]`

Definition at line 518 of file node.cpp.

void pairwiseObservationLikelihood	(	const Node *	newer_node,
		const Node *	older_node,
		MatchingResult &	mr
	)

Definition at line 1518 of file node.cpp.

void removeDepthless	(	std::vector< cv::KeyPoint > &	feature_locations_2d,
		const cv::Mat &	depth
	)

Definition at line 66 of file node.cpp.

std::vector<cv::DMatch> sample_matches	(	unsigned int	sample_size,
		std::vector< cv::DMatch > &	matches_with_depth
	)

Randomly choose <sample_size> of the matches.

Definition at line 1048 of file node.cpp.

std::vector<cv::DMatch> sample_matches_prefer_by_distance	(	unsigned int	sample_size,
		std::vector< cv::DMatch > &	matches_with_depth
	)

Randomly choose <sample_size> of the matches.

Definition at line 1022 of file node.cpp.

void squareroot_descriptor_space ( cv::Mat & descriptors )

Compute the RootSIFT from SIFT according to Arandjelovic and Zisserman.

Definition at line 1555 of file node.cpp.

Functions

Function Documentation