sfm_utils.cpp File Reference

Implementations for sfm_utils.h. More...

#include "sfm_utils.h"

Include dependency graph for sfm_utils.cpp:

Go to the source code of this file.

Typedefs
typedef ALIGNED< pair< int, Vector3d > >::vector	IdxPoint3dVec
Functions
void	computeScale (const Points3dSTL &points1, const Points3dSTL &points2, double &low, double &mid, double &hi)
	Compute scale multiplier from triangulated points in edges sharing a vertex.
double	computeScale (const Points3dSTL &points1, const Points3dSTL &points2)
	Compute scale multiplier from triangulated points in edges sharing a vertex.
void	computeStructure (const SE3 &T_c1c2, const ImageMatchVec &matches_c1c2, Points3dSTL &triangulated_points_c1)
void	computeStructure (const Sophus::SE3 &T_c1c2, const ImageMatch &match_c1c2, Vector3d &triangulated_point_c1)
	compute 3D coordinate of specified point wrt. first camera (c1).
void	computeStructure (const SE3 &T_c1c2, const ImageMatchVec &matches_c1c2, const IdxPoint3dVec &idx_points3d_c1, Points3dSTL &points3d_c1, SE3 &scaled_T_c1c2)
	compute 3D coordinates of specified points.
void	computeStructure0 (const SE3 &T_c1c2, const ImageMatchVec &matches_c1c2, VectorXd &depths_c1)
void	computeStructure0ForcePositiveDepths (const SE3 &T_c1c2, const ImageMatchVec &matches_c1c2, VectorXd &depths_c1)
void	computeStructureForcePositiveDepth (const Sophus::SE3 &T_c1c2, const ImageMatch &match_c1c2, Vector3d &triangulated_point_c1)
	compute 3D coordinate of specified point wrt. first camera (c1).
void	computeStructureForcePositiveDepths (const SE3 &T_c1c2, const ImageMatchVec &matches_c1c2, Points3dSTL &triangulated_points_c1)
ALIGNED< SE3 >::vector	extractRtFromE (const Matrix3d &E)
bool	extractTransformFromE (const ImageMatchVec &image_matches, const Matrix3d &E, SE3 &res_tr)
	extract rigid body transform without scale from essential matrix.

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Detailed Description

Implementations for sfm_utils.h.

Author:

Jiri Divis

Definition in file sfm_utils.cpp.

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Typedef Documentation

typedef ALIGNED<pair<int, Vector3d> >::vector IdxPoint3dVec

Definition at line 123 of file sfm_utils.cpp.

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Function Documentation

void computeScale	(	const Points3dSTL &	points1,
		const Points3dSTL &	points2,
		double &	low,
		double &	mid,
		double &	hi
	)

Compute scale multiplier from triangulated points in edges sharing a vertex.

See also:

computeScale(points1, points2)

Parameters:

low	one bellow the median.
mid	median
one	above the median

Definition at line 147 of file sfm_utils.cpp.

double computeScale	(	const Points3dSTL &	points1,
		const Points3dSTL &	points2
	)

Compute scale multiplier from triangulated points in edges sharing a vertex.

Given corresponding 3D points compute median ratio of distance of point1 from origin to distance of points2 from origin.

Definition at line 164 of file sfm_utils.cpp.

void computeStructure	(	const SE3 &	T_c1c2,
		const ImageMatchVec &	matches_c1c2,
		Points3dSTL &	triangulated_points_c1
	)

Definition at line 80 of file sfm_utils.cpp.

void computeStructure	(	const Sophus::SE3 &	T_c1c2,
		const ImageMatch &	match_c1c2,
		Vector3d &	triangulated_point_c1
	)

compute 3D coordinate of specified point wrt. first camera (c1).

Parameters:

T_c1c2	rigid body transform between cameras.
match_c1c2	feature match. triangulated point corresponding to the matches.

Definition at line 105 of file sfm_utils.cpp.

void computeStructure	(	const SE3 &	T_c1c2,
		const ImageMatchVec &	matches_c1c2,
		const IdxPoint3dVec &	idx_points3d_c1,
		Points3dSTL &	points3d_c1,
		SE3 &	scaled_T_c1c2
	)

compute 3D coordinates of specified points.

Computes 3D coordinates wrt. first camera (c1) frame with correct scale. The scale is recovered from previously triangulated points corresponding to some of the current matches.

Parameters:

T_c1c2	rigid body transform between cameras (scale unknown).
matches_c1c2	feature matches.
idx_points3d_c1	rays corresppnding to matches wrt. to c1 with given indexes to matches_c1c2 (in order to select which points to triangulate.
points3d_c1	triangulation of selected points.
scaled_T_c1c2	T_c1c2 with correct scale.

Definition at line 127 of file sfm_utils.cpp.

void computeStructure0	(	const SE3 &	T_c1c2,
		const ImageMatchVec &	matches_c1c2,
		VectorXd &	depths_c1
	)

Definition at line 52 of file sfm_utils.cpp.

void computeStructure0ForcePositiveDepths	(	const SE3 &	T_c1c2,
		const ImageMatchVec &	matches_c1c2,
		VectorXd &	depths_c1
	)

Definition at line 69 of file sfm_utils.cpp.

void computeStructureForcePositiveDepth	(	const Sophus::SE3 &	T_c1c2,
		const ImageMatch &	match_c1c2,
		Vector3d &	triangulated_point_c1
	)

compute 3D coordinate of specified point wrt. first camera (c1).

Parameters:

T_c1c2	rigid body transform between cameras.
match_c1c2	feature match. triangulated point corresponding to the matches.

Definition at line 114 of file sfm_utils.cpp.

void computeStructureForcePositiveDepths	(	const SE3 &	T_c1c2,
		const ImageMatchVec &	matches_c1c2,
		Points3dSTL &	triangulated_points_c1
	)

Definition at line 93 of file sfm_utils.cpp.

ALIGNED<SE3>::vector extractRtFromE

(

const Matrix3d &

E

)

Definition at line 171 of file sfm_utils.cpp.

bool extractTransformFromE	(	const ImageMatchVec &	image_matches,
		const Matrix3d &	E,
		SE3 &	res_tr
	)

extract rigid body transform without scale from essential matrix.

This is computed using the data points (rays) from which the essential matrix was estimated. This currently works only on cameras vith single projection center.

Definition at line 204 of file sfm_utils.cpp.