sba.hpp File Reference

Declarations for sparse bundle adjustment related functions. More...

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "ros_resources.hpp"
#include "reconstruction.hpp"
#include "camera.hpp"
#include "geometry.hpp"
#include "tracks.hpp"
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <visualization_msgs/MarkerArray.h>
#include <sba/sba.h>
#include <sba/sba_file_io.h>
#include <sba/visualization.h>
#include <math.h>
#include "features.hpp"
#include <time.h>

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Functions
void	addPointsToSBA (SysSBA &sba, vector< Point3d > &cloud)
void	addProjectionsToSBA (SysSBA &sba, vector< Point2f > &loc, int idx)
void	addProjectionToSBA (SysSBA &sba, Point2f &loc, unsigned int trackNo, unsigned int camNo)
double	adjustFullSystem (vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, unsigned int min_index, unsigned int max_index, unsigned int its=1)
void	assignFullSystem (SysSBA &sba, vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, unsigned int start_index, unsigned int finish_index, bool dummy=false)
void	assignPartialSystem (SysSBA &sba, vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, vector< unsigned int > &indices, bool assignProjections=true)
void	assignSystem (SysSBA &sba, vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, vector< unsigned int > &camera_indices, vector< unsigned int > &track_indices)
void	copySys (const SysSBA &src, SysSBA &dst)
void	drawGraph2 (const SysSBA &sba, const ros::Publisher &camera_pub, const ros::Publisher &point_pub, const ros::Publisher &path_pub, int decimation=1, int bicolor=0, double scale=0.1)
int	estimatePoseBetweenCameras (cameraParameters &camData, vector< Point2f > &pts1, vector< Point2f > &pts2, Mat &C)
void	extractCameras (const SysSBA &sba, visualization_msgs::MarkerArray &cameraArray, visualization_msgs::Marker &marker_path)
void	extractPointCloud (const SysSBA &sba, pcl::PointCloud< pcl::PointXYZ > &point_cloud)
void	findCentroid (SysSBA &sba, Point3d &centroid, Point3d &stdDeviation)
void	findIntermediatePoses (vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, unsigned int image_idx_1, unsigned int image_idx_2, bool fixBothEnds=true)
void	findRelevantIndices (vector< featureTrack > &tracks, vector< unsigned int > &triangulated, vector< unsigned int > &untriangulated, unsigned int last_index, unsigned int new_index)
void	finishTracks (vector< featureTrack > &tracks, vector< Point2f > &pts, double retainProp=0.80, unsigned int maxOccurrences=0)
void	getActiveCameras (Mat *C, vector< unsigned int > &indices, unsigned int min_index, unsigned int max_index)
void	getActiveTracks (vector< featureTrack > &tracks, vector< unsigned int > &cameras, vector< unsigned int > &indices)
double	getFeatureMotion (vector< featureTrack > &tracks, vector< unsigned int > &indices, unsigned int idx_1, unsigned int idx_2)
void	initializeFrameCamera (frame_common::CamParams &cam_params, const Mat &newCamMat, int &maxx, int &maxy, const Size &cameraSize)
double	keyframeBundleAdjustment (cameraParameters &camData, vector< featureTrack > &tracks, keyframeStore &kf_store, Mat *cameras, unsigned int kfIndex, unsigned int iterations=100)
double	keyframeBundleAdjustment (cameraParameters &camData, vector< featureTrack > &tracks, Mat *cameras, vector< unsigned int > &indices, unsigned int iterations=100, bool allFree=false, bool allFixedExceptLast=false, unsigned fixed_cams=0)
void	optimizeFullSystem (vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, unsigned int last_index)
double	optimizeKeyframePair (vector< featureTrack > &tracks, cameraParameters &camData, int idx1, int idx2, Mat *cameras)
double	optimizeSubsystem (cameraParameters &camData, Mat *C, vector< unsigned int > &c_i, vector< featureTrack > &tracks, vector< unsigned int > &t_i, unsigned int iterations=100)
double	optimizeSystem (SysSBA &sba, double err=1e-4, int iterations=100)
	*
bool	reconstructFreshSubsequencePair (vector< featureTrack > &tracks, vector< Point3d > &ptCloud, vector< unsigned int > &triangulatedIndices, Mat &real_C0, Mat &real_C1, cameraParameters camData, int idx1, int idx2)
void	removePoorTracks (vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, unsigned int start_cam, unsigned int finish_cam)
void	renormalizeSBA (SysSBA &sba, Point3d &desiredCenter)
void	rescaleSBA (SysSBA &sba, unsigned int idx1, unsigned int idx2)
void	retrieveFullSystem (SysSBA &sys, Mat *C, vector< featureTrack > &tracks, unsigned int start_cam, unsigned int final_cam)
void	retrievePartialSystem (SysSBA &sys, Mat *C, vector< featureTrack > &tracks, vector< unsigned int > &indices)
void	retrieveSystem (SysSBA &sba, vector< featureTrack > &tracks, cameraParameters &camData, Mat *cameras, vector< unsigned int > &camera_indices, vector< unsigned int > &track_indices)
void	subselectPoints (const vector< Point2f > &src1, vector< Point2f > &dst1, const vector< Point2f > &src2, vector< Point2f > &dst2)
double	testKeyframePair (vector< featureTrack > &tracks, cameraParameters &camData, double *scorecard[], int idx1, int idx2, double *scores, Mat &pose, bool evaluate=false, bool debug=false)
double	twoViewBundleAdjustment (cameraParameters cam_data, Mat &cam1, Mat &cam2, vector< Point3d > &cloud, vector< Point2f > &pts1, vector< Point2f > &pts2, int iterations=10)

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Detailed Description

Declarations for sparse bundle adjustment related functions.

Definition in file sba.hpp.

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Function Documentation

void addPointsToSBA	(	SysSBA &	sba,
		vector< Point3d > &	cloud
	)

Definition at line 2002 of file sba.cpp.

void addProjectionsToSBA	(	SysSBA &	sba,
		vector< Point2f > &	loc,
		int	idx
	)

Definition at line 2034 of file sba.cpp.

void addProjectionToSBA	(	SysSBA &	sba,
		Point2f &	loc,
		unsigned int	trackNo,
		unsigned int	camNo
	)

Definition at line 2026 of file sba.cpp.

double adjustFullSystem	(	vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		unsigned int	min_index,
		unsigned int	max_index,
		unsigned int	its = 1
	)

Definition at line 1145 of file sba.cpp.

void assignFullSystem	(	SysSBA &	sba,
		vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		unsigned int	start_index,
		unsigned int	finish_index,
		bool	dummy = false
	)

Definition at line 1237 of file sba.cpp.

void assignPartialSystem	(	SysSBA &	sba,
		vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		vector< unsigned int > &	indices,
		bool	assignProjections = true
	)

Definition at line 1083 of file sba.cpp.

void assignSystem	(	SysSBA &	sba,
		vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		vector< unsigned int > &	camera_indices,
		vector< unsigned int > &	track_indices
	)

Definition at line 1191 of file sba.cpp.

void copySys	(	const SysSBA &	src,
		SysSBA &	dst
	)

Definition at line 295 of file sba.cpp.

void drawGraph2	(	const SysSBA &	sba,
		const ros::Publisher &	camera_pub,
		const ros::Publisher &	point_pub,
		const ros::Publisher &	path_pub,
		int	decimation = 1,
		int	bicolor = 0,
		double	scale = 0.1
	)

Definition at line 2163 of file sba.cpp.

int estimatePoseBetweenCameras	(	cameraParameters &	camData,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		Mat &	C
	)

Definition at line 1504 of file sba.cpp.

void extractCameras	(	const SysSBA &	sba,
		visualization_msgs::MarkerArray &	cameraArray,
		visualization_msgs::Marker &	marker_path
	)

Definition at line 2072 of file sba.cpp.

void extractPointCloud	(	const SysSBA &	sba,
		pcl::PointCloud< pcl::PointXYZ > &	point_cloud
	)

Definition at line 2060 of file sba.cpp.

void findCentroid	(	SysSBA &	sba,
		Point3d &	centroid,
		Point3d &	stdDeviation
	)

Definition at line 397 of file sba.cpp.

void findIntermediatePoses	(	vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		unsigned int	image_idx_1,
		unsigned int	image_idx_2,
		bool	fixBothEnds = true
	)

Definition at line 43 of file sba.cpp.

void findRelevantIndices	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	triangulated,
		vector< unsigned int > &	untriangulated,
		unsigned int	last_index,
		unsigned int	new_index
	)

Definition at line 7 of file sba.cpp.

void finishTracks	(	vector< featureTrack > &	tracks,
		vector< Point2f > &	pts,
		double	retainProp = 0.80,
		unsigned int	maxOccurrences = 0
	)

Definition at line 2467 of file sba.cpp.

void getActiveCameras	(	Mat *	C,
		vector< unsigned int > &	indices,
		unsigned int	min_index,
		unsigned int	max_index
	)

Definition at line 878 of file sba.cpp.

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

Definition at line 886 of file sba.cpp.

double getFeatureMotion	(	vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices,
		unsigned int	idx_1,
		unsigned int	idx_2
	)

Definition at line 163 of file sba.cpp.

void initializeFrameCamera	(	frame_common::CamParams &	cam_params,
		const Mat &	newCamMat,
		int &	maxx,
		int &	maxy,
		const Size &	cameraSize
	)

Definition at line 2150 of file sba.cpp.

double keyframeBundleAdjustment	(	cameraParameters &	camData,
		vector< featureTrack > &	tracks,
		keyframeStore &	kf_store,
		Mat *	cameras,
		unsigned int	kfIndex,
		unsigned int	iterations = 100
	)

Definition at line 613 of file sba.cpp.

double keyframeBundleAdjustment	(	cameraParameters &	camData,
		vector< featureTrack > &	tracks,
		Mat *	cameras,
		vector< unsigned int > &	indices,
		unsigned int	iterations = 100,
		bool	allFree = false,
		bool	allFixedExceptLast = false,
		unsigned	fixed_cams = 0
	)

void optimizeFullSystem	(	vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		unsigned int	last_index
	)

Definition at line 422 of file sba.cpp.

double optimizeKeyframePair	(	vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		int	idx1,
		int	idx2,
		Mat *	cameras
	)

Definition at line 1051 of file sba.cpp.

double optimizeSubsystem	(	cameraParameters &	camData,
		Mat *	C,
		vector< unsigned int > &	c_i,
		vector< featureTrack > &	tracks,
		vector< unsigned int > &	t_i,
		unsigned int	iterations = 100
	)

Definition at line 957 of file sba.cpp.

double optimizeSystem	(	SysSBA &	sba,
		double	err,
		int	iterations
	)

*

* *

Definition at line 1930 of file sba.cpp.

bool reconstructFreshSubsequencePair	(	vector< featureTrack > &	tracks,
		vector< Point3d > &	ptCloud,
		vector< unsigned int > &	triangulatedIndices,
		Mat &	real_C0,
		Mat &	real_C1,
		cameraParameters	camData,
		int	idx1,
		int	idx2
	)

Definition at line 1307 of file sba.cpp.

void removePoorTracks	(	vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		unsigned int	start_cam,
		unsigned int	finish_cam
	)

Definition at line 231 of file sba.cpp.

void renormalizeSBA	(	SysSBA &	sba,
		Point3d &	desiredCenter
	)

Definition at line 334 of file sba.cpp.

void rescaleSBA	(	SysSBA &	sba,
		unsigned int	idx1,
		unsigned int	idx2
	)

Definition at line 310 of file sba.cpp.

void retrieveFullSystem	(	SysSBA &	sys,
		Mat *	C,
		vector< featureTrack > &	tracks,
		unsigned int	start_cam,
		unsigned int	final_cam
	)

Definition at line 923 of file sba.cpp.

void retrievePartialSystem	(	SysSBA &	sys,
		Mat *	C,
		vector< featureTrack > &	tracks,
		vector< unsigned int > &	indices
	)

Definition at line 843 of file sba.cpp.

void retrieveSystem	(	SysSBA &	sba,
		vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		Mat *	cameras,
		vector< unsigned int > &	camera_indices,
		vector< unsigned int > &	track_indices
	)

Definition at line 1178 of file sba.cpp.

void subselectPoints	(	const vector< Point2f > &	src1,
		vector< Point2f > &	dst1,
		const vector< Point2f > &	src2,
		vector< Point2f > &	dst2
	)

Definition at line 1409 of file sba.cpp.

double testKeyframePair	(	vector< featureTrack > &	tracks,
		cameraParameters &	camData,
		double *	scorecard[],
		int	idx1,
		int	idx2,
		double *	scores,
		Mat &	pose,
		bool	evaluate = false,
		bool	debug = false
	)

Definition at line 1520 of file sba.cpp.

double twoViewBundleAdjustment	(	cameraParameters	cam_data,
		Mat &	cam1,
		Mat &	cam2,
		vector< Point3d > &	cloud,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		int	iterations = 10
	)

Definition at line 1976 of file sba.cpp.