Namespaces
namespace	euclidean_resection

namespace	homography

namespace	internal

namespace	panography

namespace	resection

namespace	two_view

Classes
struct	ApplyNukeIntrinsicsCostFunction

class	Array3D
	3D array (row, column, channel). More...

class	ArrayND
	A multidimensional array class. More...

class	BaseArray

class	BrownCameraIntrinsics

struct	BruteRegionTracker

struct	BundleEvaluation

class	CameraIntrinsics

struct	DetectOptions

class	DivisionCameraIntrinsics

class	Dogleg

struct	EstimateFundamentalOptions

struct	EstimateHomographyOptions

struct	EuclideanCamera

struct	EuclideanPoint

class	EuclideanReconstruction

struct	Feature

class	Homography2DNormalizedParameterization

class	Homography3DNormalizedParameterization

class	HybridRegionTracker

class	IdGenerator

class	Image

struct	KltRegionTracker

class	LevenbergMarquardt

struct	Marker

class	NukeCameraIntrinsics

class	NumericJacobian

struct	NViewDataSet

struct	nViewDatasetConfigator

class	PackedIntrinsics

class	PolynomialCameraIntrinsics

class	ProgressUpdateCallback

struct	ProjectiveCamera

struct	ProjectivePoint

class	ProjectiveReconstruction

class	PyramidRegionTracker

class	RegionTracker

class	RetrackRegionTracker

class	scoped_array

class	scoped_ptr

struct	TrackRegionOptions

struct	TrackRegionResult

class	Tracks

struct	TrkltRegionTracker

class	Tuple

struct	TwoViewDataSet

struct	UnnormalizerI
	Use inverse for unnormalize. More...

struct	UnnormalizerT
	Use transpose for unnormalize. More...

Typedefs
template<class ElementType >
using	vector = std::vector<ElementType, Eigen::aligned_allocator<ElementType>>

typedef Array3D< unsigned char >	Array3Du

typedef Array3D< unsigned int >	Array3Dui

typedef Array3D< int >	Array3Di

typedef Array3D< float >	Array3Df

typedef Array3D< short >	Array3Ds

typedef Array3Du	ByteImage

typedef Array3Df	FloatImage

typedef Array3Di	IntImage

typedef Array3Ds	ShortImage

typedef Eigen::MatrixXd	Mat

typedef Eigen::VectorXd	Vec

typedef Eigen::MatrixXf	Matf

typedef Eigen::VectorXf	Vecf

typedef Eigen::Matrix< unsigned int, Eigen::Dynamic, Eigen::Dynamic >	Matu

typedef Eigen::Matrix< unsigned int, Eigen::Dynamic, 1 >	Vecu

typedef Eigen::Matrix< unsigned int, 2, 1 >	Vec2u

typedef Eigen::Matrix< double, 2, 2 >	Mat2

typedef Eigen::Matrix< double, 2, 3 >	Mat23

typedef Eigen::Matrix< double, 3, 3 >	Mat3

typedef Eigen::Matrix< double, 3, 4 >	Mat34

typedef Eigen::Matrix< double, 3, 5 >	Mat35

typedef Eigen::Matrix< double, 4, 1 >	Mat41

typedef Eigen::Matrix< double, 4, 3 >	Mat43

typedef Eigen::Matrix< double, 4, 4 >	Mat4

typedef Eigen::Matrix< double, 4, 6 >	Mat46

typedef Eigen::Matrix< float, 2, 2 >	Mat2f

typedef Eigen::Matrix< float, 2, 3 >	Mat23f

typedef Eigen::Matrix< float, 3, 3 >	Mat3f

typedef Eigen::Matrix< float, 3, 4 >	Mat34f

typedef Eigen::Matrix< float, 3, 5 >	Mat35f

typedef Eigen::Matrix< float, 4, 3 >	Mat43f

typedef Eigen::Matrix< float, 4, 4 >	Mat4f

typedef Eigen::Matrix< float, 4, 6 >	Mat46f

typedef Eigen::Matrix< double, 3, 3, Eigen::RowMajor >	RMat3

typedef Eigen::Matrix< double, 4, 4, Eigen::RowMajor >	RMat4

typedef Eigen::Matrix< double, 2, Eigen::Dynamic >	Mat2X

typedef Eigen::Matrix< double, 3, Eigen::Dynamic >	Mat3X

typedef Eigen::Matrix< double, 4, Eigen::Dynamic >	Mat4X

typedef Eigen::Matrix< double, Eigen::Dynamic, 2 >	MatX2

typedef Eigen::Matrix< double, Eigen::Dynamic, 3 >	MatX3

typedef Eigen::Matrix< double, Eigen::Dynamic, 4 >	MatX4

typedef Eigen::Matrix< double, Eigen::Dynamic, 5 >	MatX5

typedef Eigen::Matrix< double, Eigen::Dynamic, 6 >	MatX6

typedef Eigen::Matrix< double, Eigen::Dynamic, 7 >	MatX7

typedef Eigen::Matrix< double, Eigen::Dynamic, 8 >	MatX8

typedef Eigen::Matrix< double, Eigen::Dynamic, 9 >	MatX9

typedef Eigen::Matrix< double, Eigen::Dynamic, 15 >	MatX15

typedef Eigen::Matrix< double, Eigen::Dynamic, 16 >	MatX16

typedef Eigen::Vector2d	Vec2

typedef Eigen::Vector3d	Vec3

typedef Eigen::Vector4d	Vec4

typedef Eigen::Matrix< double, 5, 1 >	Vec5

typedef Eigen::Matrix< double, 6, 1 >	Vec6

typedef Eigen::Matrix< double, 7, 1 >	Vec7

typedef Eigen::Matrix< double, 8, 1 >	Vec8

typedef Eigen::Matrix< double, 9, 1 >	Vec9

typedef Eigen::Matrix< double, 10, 1 >	Vec10

typedef Eigen::Matrix< double, 11, 1 >	Vec11

typedef Eigen::Matrix< double, 12, 1 >	Vec12

typedef Eigen::Matrix< double, 13, 1 >	Vec13

typedef Eigen::Matrix< double, 14, 1 >	Vec14

typedef Eigen::Matrix< double, 15, 1 >	Vec15

typedef Eigen::Matrix< double, 16, 1 >	Vec16

typedef Eigen::Matrix< double, 17, 1 >	Vec17

typedef Eigen::Matrix< double, 18, 1 >	Vec18

typedef Eigen::Matrix< double, 19, 1 >	Vec19

typedef Eigen::Matrix< double, 20, 1 >	Vec20

typedef Eigen::Vector2f	Vec2f

typedef Eigen::Vector3f	Vec3f

typedef Eigen::Vector4f	Vec4f

typedef Eigen::VectorXi	VecXi

typedef Eigen::Vector2i	Vec2i

typedef Eigen::Vector3i	Vec3i

typedef Eigen::Vector4i	Vec4i

typedef Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	RMatf

typedef Eigen::NumTraits< double >	EigenDouble

typedef unsigned char	ubyte

Enumerations
enum	NumericJacobianMode { CENTRAL , FORWARD }

enum	BundleIntrinsics { BUNDLE_NO_INTRINSICS = 0 , BUNDLE_FOCAL_LENGTH = (1 << 0) , BUNDLE_PRINCIPAL_POINT = (1 << 1) , BUNDLE_RADIAL_K1 = (1 << 2) , BUNDLE_RADIAL_K2 = (1 << 3) , BUNDLE_RADIAL_K3 = (1 << 4) , BUNDLE_RADIAL_K4 = (1 << 5) , BUNDLE_RADIAL , BUNDLE_TANGENTIAL_P1 = (1 << 6) , BUNDLE_TANGENTIAL_P2 = (1 << 7) , BUNDLE_TANGENTIAL = (BUNDLE_TANGENTIAL_P1 \| BUNDLE_TANGENTIAL_P2) }

enum	BundleConstraints { BUNDLE_NO_CONSTRAINTS = 0 , BUNDLE_NO_TRANSLATION = 1 }

enum	DistortionModelType { DISTORTION_MODEL_POLYNOMIAL , DISTORTION_MODEL_DIVISION , DISTORTION_MODEL_NUKE , DISTORTION_MODEL_BROWN }

Functions
void *	aligned_malloc (int size, int alignment)

void	aligned_free (void *ptr)

void	FloatArrayToScaledByteArray (const Array3Df &float_array, Array3Du *byte_array, bool automatic_range_detection)

void	ByteArrayToScaledFloatArray (const Array3Du &byte_array, Array3Df *float_array)
	Convert a byte array into a float array by dividing values by 255.

void	SplitChannels (const Array3Df &input, Array3Df channel0, Array3Df channel1, Array3Df *channel2)

void	PrintArray (const Array3Df &array)

template<typename AArrayType , typename BArrayType , typename CArrayType >
void	MultiplyElements (const AArrayType &a, const BArrayType &b, CArrayType *c)

template<typename TA , typename TB , typename TC >
void	MultiplyElements (const ArrayND< TA, 3 > &a, const ArrayND< TB, 3 > &b, ArrayND< TC, 3 > *c)

template<typename TA , typename TB , typename TC >
void	MultiplyElements (const Array3D< TA > &a, const Array3D< TB > &b, Array3D< TC > *c)

void	ComputeGaussianKernel (double sigma, Vec kernel, Vec derivative)

template<int size, bool vertical>
void	FastConvolve (const Vec &kernel, int width, int height, const float src, int src_stride, int src_line_stride, float dst, int dst_stride)

template<bool vertical>
void	Convolve (const Array3Df &in, const Vec &kernel, Array3Df *out_pointer, int plane)

void	ConvolveHorizontal (const Array3Df &in, const Vec &kernel, Array3Df *out_pointer, int plane)

void	ConvolveVertical (const Array3Df &in, const Vec &kernel, Array3Df *out_pointer, int plane)

void	ConvolveGaussian (const Array3Df &in, double sigma, Array3Df *out_pointer)

void	ImageDerivatives (const Array3Df &in, double sigma, Array3Df gradient_x, Array3Df gradient_y)

void	BlurredImageAndDerivatives (const Array3Df &in, double sigma, Array3Df blurred_image, Array3Df gradient_x, Array3Df *gradient_y)

void	BlurredImageAndDerivativesChannels (const Array3Df &in, double sigma, Array3Df *blurred_and_gradxy)

void	BoxFilterHorizontal (const Array3Df &in, int window_size, Array3Df *out_pointer)

void	BoxFilterVertical (const Array3Df &in, int window_size, Array3Df *out_pointer)

void	BoxFilter (const Array3Df &in, int box_width, Array3Df *out)

void	LaplaceFilter (unsigned char src, unsigned char dst, int width, int height, int strength)

double	Gaussian (double x, double sigma)

double	Gaussian2D (double x, double y, double sigma)

double	GaussianDerivative (double x, double sigma)

double	GaussianInversePositive (double y, double sigma)

double	PearsonProductMomentCorrelation (const FloatImage &image_and_gradient1_sampled, const FloatImage &image_and_gradient2_sampled)

template<typename T >
T	RGB2GRAY (const T r, const T g, const T b)

template<class ImageIn , class ImageOut >
void	Rgb2Gray (const ImageIn &imaIn, ImageOut *imaOut)

template<class Image >
unsigned char *	FloatImageToUCharArray (const Image &image)

template<class Image , class Color >
void	safePutPixel (int yc, int xc, const Color &col, Image *pim)

template<class Image , class Color >
void	safePutPixel (int yc, int xc, const Color col, Image pim)

template<class Image , class Color >
void	DrawEllipse (int xc, int yc, int radiusA, int radiusB, const Color &col, Image *pim, double angle=0.0)

template<class Image , class Color >
void	DrawCircle (int x, int y, int radius, const Color &col, Image *pim)

template<class Image , class Color >
void	DrawLine (int xa, int ya, int xb, int yb, const Color &col, Image *pim)

template<typename T >
T	SampleNearest (const Array3D< T > &image, float y, float x, int v=0)
	Nearest neighbor interpolation.

void	LinearInitAxis (float x, int size, int x1, int x2, float *dx)

template<typename T >
T	SampleLinear (const Array3D< T > &image, float y, float x, int v=0)
	Linear interpolation.

template<typename T >
void	SampleLinear (const Array3D< T > &image, float y, float x, T *sample)

void	DownsampleChannelsBy2 (const Array3Df &in, Array3Df *out)

void	SamplePattern (const FloatImage &image, double x, double y, int half_width, int channels, FloatImage *sampled)

void	PreconditionerFromPoints (const Mat &points, Mat3 *T)

void	IsotropicPreconditionerFromPoints (const Mat &points, Mat3 *T)

void	ApplyTransformationToPoints (const Mat &points, const Mat3 &T, Mat *transformed_points)

void	NormalizePoints (const Mat &points, Mat normalized_points, Mat3 T)

void	NormalizeIsotropicPoints (const Mat &points, Mat normalized_points, Mat3 T)

static void	EliminateRow (const Mat34 &P, int row, Mat *X)

void	ProjectionsFromFundamental (const Mat3 &F, Mat34 P1, Mat34 P2)

void	FundamentalFromProjections (const Mat34 &P1, const Mat34 &P2, Mat3 *F)

static double	EightPointSolver (const Mat &x1, const Mat &x2, Mat3 *F)

void	EnforceFundamentalRank2Constraint (Mat3 *F)

double	NormalizedEightPointSolver (const Mat &x1, const Mat &x2, Mat3 *F)

double	FundamentalFrom7CorrespondencesLinear (const Mat &x1, const Mat &x2, std::vector< Mat3 > *F)

double	FundamentalFromCorrespondences7Point (const Mat &x1, const Mat &x2, std::vector< Mat3 > *F)

void	NormalizeFundamental (const Mat3 &F, Mat3 *F_normalized)

double	SampsonDistance (const Mat &F, const Vec2 &x1, const Vec2 &x2)

double	SymmetricEpipolarDistance (const Mat &F, const Vec2 &x1, const Vec2 &x2)

void	EssentialFromFundamental (const Mat3 &F, const Mat3 &K1, const Mat3 &K2, Mat3 *E)

void	FundamentalFromEssential (const Mat3 &E, const Mat3 &K1, const Mat3 &K2, Mat3 *F)

void	RelativeCameraMotion (const Mat3 &R1, const Vec3 &t1, const Mat3 &R2, const Vec3 &t2, Mat3 R, Vec3 t)

void	EssentialFromRt (const Mat3 &R1, const Vec3 &t1, const Mat3 &R2, const Vec3 &t2, Mat3 *E)

void	MotionFromEssential (const Mat3 &E, std::vector< Mat3 > Rs, std::vector< Vec3 > ts)

int	MotionFromEssentialChooseSolution (const std::vector< Mat3 > &Rs, const std::vector< Vec3 > &ts, const Mat3 &K1, const Vec2 &x1, const Mat3 &K2, const Vec2 &x2)

bool	MotionFromEssentialAndCorrespondence (const Mat3 &E, const Mat3 &K1, const Vec2 &x1, const Mat3 &K2, const Vec2 &x2, Mat3 R, Vec3 t)

void	FundamentalToEssential (const Mat3 &F, Mat3 *E)

bool	EstimateFundamentalFromCorrespondences (const Mat &x1, const Mat &x2, const EstimateFundamentalOptions &options, Mat3 *F)

static bool	Homography2DFromCorrespondencesLinearEuc (const Mat &x1, const Mat &x2, Mat3 *H, double expected_precision)

bool	Homography2DFromCorrespondencesLinear (const Mat &x1, const Mat &x2, Mat3 *H, double expected_precision)

bool	EstimateHomography2DFromCorrespondences (const Mat &x1, const Mat &x2, const EstimateHomographyOptions &options, Mat3 *H)

bool	Homography3DFromCorrespondencesLinear (const Mat &x1, const Mat &x2, Mat4 *H, double expected_precision)

double	SymmetricGeometricDistance (const Mat3 &H, const Vec2 &x1, const Vec2 &x2)

template<typename T >
void	NViewTriangulate (const Matrix< T, 2, Dynamic > &x, const vector< Matrix< T, 3, 4 > > &Ps, Matrix< T, 4, 1 > *X)

template<typename T >
void	NViewTriangulateAlgebraic (const Matrix< T, 2, Dynamic > &x, const vector< Matrix< T, 3, 4 > > &Ps, Matrix< T, 4, 1 > *X)

static bool	Build_Minimal2Point_PolynomialFactor (const Mat &x1, const Mat &x2, double *P)

void	F_FromCorrespondance_2points (const Mat &x1, const Mat &x2, vector< double > *fs)

void	GetR_FixedCameraCenter (const Mat &x1, const Mat &x2, const double focal, Mat3 *R)

void	P_From_KRt (const Mat3 &K, const Mat3 &R, const Vec3 &t, Mat34 *P)

void	KRt_From_P (const Mat34 &P, Mat3 Kp, Mat3 Rp, Vec3 *tp)

void	ProjectionShiftPrincipalPoint (const Mat34 &P, const Vec2 &principal_point, const Vec2 &principal_point_new, Mat34 *P_new)

void	ProjectionChangeAspectRatio (const Mat34 &P, const Vec2 &principal_point, double aspect_ratio, double aspect_ratio_new, Mat34 *P_new)

void	HomogeneousToEuclidean (const Mat &H, Mat *X)

void	HomogeneousToEuclidean (const Mat3X &h, Mat2X *e)

void	HomogeneousToEuclidean (const Mat4X &h, Mat3X *e)

void	HomogeneousToEuclidean (const Vec3 &H, Vec2 *X)

void	HomogeneousToEuclidean (const Vec4 &H, Vec3 *X)

void	EuclideanToHomogeneous (const Mat &X, Mat *H)

void	EuclideanToHomogeneous (const Vec2 &X, Vec3 *H)

void	EuclideanToHomogeneous (const Vec3 &X, Vec4 *H)

void	EuclideanToNormalizedCamera (const Mat2X &x, const Mat3 &K, Mat2X *n)

void	HomogeneousToNormalizedCamera (const Mat3X &x, const Mat3 &K, Mat2X *n)

double	Depth (const Mat3 &R, const Vec3 &t, const Vec3 &X)

double	Depth (const Mat3 &R, const Vec3 &t, const Vec4 &X)

Vec2	HomogeneousToEuclidean (const Vec3 &h)

Vec3	HomogeneousToEuclidean (const Vec4 &h)

Mat2X	HomogeneousToEuclidean (const Mat3X &h)

Mat3X	EuclideanToHomogeneous (const Mat2X &x)

void	EuclideanToHomogeneous (const Mat2X &x, Mat3X *h)

Mat4X	EuclideanToHomogeneous (const Mat3X &x)

void	EuclideanToHomogeneous (const Mat3X &x, Mat4X *h)

Vec3	EuclideanToHomogeneous (const Vec2 &x)

Vec4	EuclideanToHomogeneous (const Vec3 &x)

Vec2	Project (const Mat34 &P, const Vec3 &X)

void	Project (const Mat34 &P, const Vec4 &X, Vec3 *x)

void	Project (const Mat34 &P, const Vec4 &X, Vec2 *x)

void	Project (const Mat34 &P, const Vec3 &X, Vec3 *x)

void	Project (const Mat34 &P, const Vec3 &X, Vec2 *x)

void	Project (const Mat34 &P, const Mat4X &X, Mat2X *x)

Mat2X	Project (const Mat34 &P, const Mat4X &X)

void	Project (const Mat34 &P, const Mat3X &X, Mat2X *x)

void	Project (const Mat34 &P, const Mat3X &X, const Vecu &ids, Mat2X *x)

Mat2X	Project (const Mat34 &P, const Mat3X &X)

Mat2X	Project (const Mat34 &P, const Mat3X &X, const Vecu &ids)

bool	isInFrontOfCamera (const Mat34 &P, const Vec4 &X)

bool	isInFrontOfCamera (const Mat34 &P, const Vec3 &X)

Vec2	ImageToNormImageCoordinates (Mat3 &Kinverse, Vec2 &x)

double	RootMeanSquareError (const Mat2X &x_image, const Mat4X &X_world, const Mat34 &P)
	Estimates the root mean square error (2D)

double	RootMeanSquareError (const Mat2X &x_image, const Mat3X &X_world, const Mat3 &K, const Mat3 &R, const Vec3 &t)
	Estimates the root mean square error (2D)

TwoViewDataSet	TwoRealisticCameras (bool same_K)

NViewDataSet	NRealisticCamerasFull (int nviews, int npoints, const nViewDatasetConfigator config)

NViewDataSet	NRealisticCamerasSparse (int nviews, int npoints, float view_ratio, unsigned min_projections, const nViewDatasetConfigator config)

void	TriangulateDLT (const Mat34 &P1, const Vec2 &x1, const Mat34 &P2, const Vec2 &x2, Vec4 *X_homogeneous)

void	TriangulateDLT (const Mat34 &P1, const Vec2 &x1, const Mat34 &P2, const Vec2 &x2, Vec3 *X_euclidean)

template<typename Function , typename Jacobian >
bool	CheckJacobian (const Function &f, const typename Function::XMatrixType &x)

Mat3	RotationAroundX (double angle)

Mat3	RotationAroundY (double angle)

Mat3	RotationAroundZ (double angle)

Mat3	RotationRodrigues (const Vec3 &axis)

Mat3	LookAt (Vec3 center)

Mat3	CrossProductMatrix (const Vec3 &x)

void	MeanAndVarianceAlongRows (const Mat &A, Vec mean_pointer, Vec variance_pointer)

void	HorizontalStack (const Mat &left, const Mat &right, Mat *stacked)

void	MatrixColumn (const Mat &A, int i, Vec2 *v)

void	MatrixColumn (const Mat &A, int i, Vec3 *v)

void	MatrixColumn (const Mat &A, int i, Vec4 *v)

template<typename TMat , typename TVec >
void	SVD (TMat , Vec , Mat , Mat )

template<typename TMat , typename TVec >
double	Nullspace (TMat A, TVec nullspace)

template<typename TMat , typename TVec1 , typename TVec2 >
double	Nullspace2 (TMat A, TVec1 x1, TVec2 *x2)

template<class TA >
void	TransposeInPlace (TA *A)

template<typename TVec >
double	NormL1 (const TVec &x)

template<typename TVec >
double	NormL2 (const TVec &x)

template<typename TVec >
double	NormLInfinity (const TVec &x)

template<typename TVec >
double	DistanceL1 (const TVec &x, const TVec &y)

template<typename TVec >
double	DistanceL2 (const TVec &x, const TVec &y)

template<typename TVec >
double	DistanceLInfinity (const TVec &x, const TVec &y)

template<typename TVec >
double	NormalizeL1 (TVec *x)

template<typename TVec >
double	NormalizeL2 (TVec *x)

template<typename TVec >
double	NormalizeLInfinity (TVec *x)

template<typename T >
T	Square (T x)

template<typename TVec >
Mat	Diag (const TVec &x)

template<typename TMat >
double	FrobeniusNorm (const TMat &A)

template<typename TMat >
double	FrobeniusDistance (const TMat &A, const TMat &B)

Vec3	CrossProduct (const Vec3 &x, const Vec3 &y)

template<typename T , int RowsLeft, int RowsRight, int ColsLeft, int ColsRight>
Eigen::Matrix< T, ROWS, COLS >	HStack (const Eigen::Matrix< T, RowsLeft, ColsLeft > &left, const Eigen::Matrix< T, RowsRight, ColsRight > &right)

template<typename T , int RowsLeft, int RowsRight, int ColsLeft, int ColsRight>
Eigen::Matrix< T, COLS, ROWS >	VStack (const Eigen::Matrix< T, ColsLeft, RowsLeft > &top, const Eigen::Matrix< T, ColsRight, RowsRight > &bottom)

template<typename TTop , typename TBot , typename TStacked >
void	VerticalStack (const TTop &top, const TBot &bottom, TStacked *stacked)

template<typename TMat , typename TCols >
TMat	ExtractColumns (const TMat &A, const TCols &columns)

template<typename TMat , typename TDest >
void	reshape (const TMat &a, int rows, int cols, TDest *b)

bool	isnan (double i)

template<typename FloatType >
FloatType	ceil0 (const FloatType &value)

Mat3	SkewMat (const Vec3 &x)
	Returns the skew anti-symmetric matrix of a vector.

Mat23	SkewMatMinimal (const Vec2 &x)

Mat3	RotationFromEulerVector (Vec3 euler_vector)
	Returns the rotaiton matrix built from given vector of euler angles.

template<typename Real >
int	SolveCubicPolynomial (Real a, Real b, Real c, Real x0, Real x1, Real *x2)

template<typename Real >
int	SolveCubicPolynomial (const Real coeffs, Real solutions)

void	EuclideanBundle (const Tracks &tracks, EuclideanReconstruction *reconstruction)

void	EuclideanBundleCommonIntrinsics (const Tracks &tracks, const int bundle_intrinsics, const int bundle_constraints, EuclideanReconstruction reconstruction, CameraIntrinsics intrinsics, BundleEvaluation *evaluation)

void	ProjectiveBundle (const Tracks &, ProjectiveReconstruction *)

std::ostream &	operator<< (std::ostream &os, const CameraIntrinsics &intrinsics)
	A human-readable representation of the camera intrinsic parameters.

	TEST (PolynomialCameraIntrinsics2, ApplyOnFocalCenter)

	TEST (PolynomialCameraIntrinsics, InvertOnFocalCenter)

	TEST (PolynomialCameraIntrinsics, ApplyIntrinsics)

	TEST (PolynomialCameraIntrinsics, InvertIntrinsics)

	TEST (PolynomialCameraIntrinsics, ApplyIsInvertibleSimple)

	TEST (PolynomialCameraIntrinsics, IdentityDistortBuffer)

	TEST (PolynomialCameraIntrinsics, IdentityUndistortBuffer)

void	Detect (const FloatImage &image, const DetectOptions &options, vector< Feature > *detected_features)

std::ostream &	operator<< (std::ostream &os, const Feature &feature)

	TEST (Detect, FASTSinglePointTest)

	TEST (Detect, HarrisSinglePointTest)

	TEST (Detect, HarrisSingleTriangleTest)

void	InvertPolynomialDistortionModel (const double focal_length_x, const double focal_length_y, const double principal_point_x, const double principal_point_y, const double k1, const double k2, const double k3, const double p1, const double p2, const double image_x, const double image_y, double normalized_x, double normalized_y)

void	InvertDivisionDistortionModel (const double focal_length_x, const double focal_length_y, const double principal_point_x, const double principal_point_y, const double k1, const double k2, const double image_x, const double image_y, double normalized_x, double normalized_y)

void	InvertBrownDistortionModel (const double focal_length_x, const double focal_length_y, const double principal_point_x, const double principal_point_y, const double k1, const double k2, const double k3, const double k4, const double p1, const double p2, const double image_x, const double image_y, double normalized_x, double normalized_y)

void	ApplyNukeDistortionModel (const double focal_length_x, const double focal_length_y, const double principal_point_x, const double principal_point_y, const int image_width, const int image_height, const double k1, const double k2, const double normalized_x, const double normalized_y, double image_x, double image_y)

template<typename T >
void	ApplyPolynomialDistortionModel (const T &focal_length_x, const T &focal_length_y, const T &principal_point_x, const T &principal_point_y, const T &k1, const T &k2, const T &k3, const T &p1, const T &p2, const T &normalized_x, const T &normalized_y, T image_x, T image_y)

template<typename T >
void	ApplyDivisionDistortionModel (const T &focal_length_x, const T &focal_length_y, const T &principal_point_x, const T &principal_point_y, const T &k1, const T &k2, const T &normalized_x, const T &normalized_y, T image_x, T image_y)

template<typename T >
void	InvertNukeDistortionModel (const T &focal_length_x, const T &focal_length_y, const T &principal_point_x, const T &principal_point_y, const int image_width, const int image_height, const T &k1, const T &k2, const T &image_x, const T &image_y, T normalized_x, T normalized_y)

template<typename T >
void	ApplyBrownDistortionModel (const T &focal_length_x, const T &focal_length_y, const T &principal_point_x, const T &principal_point_y, const T &k1, const T &k2, const T &k3, const T &k4, const T &p1, const T &p2, const T &normalized_x, const T &normalized_y, T image_x, T image_y)

bool	EuclideanReconstructTwoFrames (const vector< Marker > &markers, EuclideanReconstruction *reconstruction)

bool	ProjectiveReconstructTwoFrames (const vector< Marker > &markers, ProjectiveReconstruction *reconstruction)

bool	EuclideanIntersect (const vector< Marker > &markers, EuclideanReconstruction *reconstruction)

bool	ProjectiveIntersect (const vector< Marker > &markers, ProjectiveReconstruction *reconstruction)

	TEST (Intersect, EuclideanIntersect)

void	SelectKeyframesBasedOnGRICAndVariance (const Tracks &_tracks, const CameraIntrinsics &intrinsics, vector< int > &keyframes)

	TEST (KeyframeSelection, SyntheticNeighborFrame)

	TEST (KeyframeSelection, FabrikEingangNeighborFrames)

	TEST (KeyframeSelection, FabrikEingangFarFrames)

	TEST (KeyframeSelection, CopterManualKeyFrames)

	TEST (KeyframeSelection, ElevatorManualKeyframesFrames)

	TEST (KeyframeSelection, ElevatorReconstructionVarianceTest)

void	ModalSolver (const Tracks &tracks, EuclideanReconstruction reconstruction, ProgressUpdateCallback update_callback)

	TEST (ModalSolver, SyntheticCubeSceneMotion)

static void	CompleteReconstructionLogProgress (ProgressUpdateCallback update_callback, double progress, const char step=NULL)

template<typename PipelineRoutines >
void	InternalCompleteReconstruction (const Tracks &tracks, typename PipelineRoutines::Reconstruction reconstruction, ProgressUpdateCallback update_callback=NULL)

template<typename PipelineRoutines >
double	InternalReprojectionError (const Tracks &image_tracks, const typename PipelineRoutines::Reconstruction &reconstruction, const CameraIntrinsics &intrinsics)

double	EuclideanReprojectionError (const Tracks &image_tracks, const EuclideanReconstruction &reconstruction, const CameraIntrinsics &intrinsics)

double	ProjectiveReprojectionError (const Tracks &image_tracks, const ProjectiveReconstruction &reconstruction, const CameraIntrinsics &intrinsics)

void	EuclideanCompleteReconstruction (const Tracks &tracks, EuclideanReconstruction reconstruction, ProgressUpdateCallback update_callback)

void	ProjectiveCompleteReconstruction (const Tracks &tracks, ProjectiveReconstruction *reconstruction)

void	InvertIntrinsicsForTracks (const Tracks &raw_tracks, const CameraIntrinsics &camera_intrinsics, Tracks *calibrated_tracks)

void	EuclideanScaleToUnity (EuclideanReconstruction *reconstruction)

bool	EuclideanResect (const vector< Marker > &markers, EuclideanReconstruction *reconstruction, bool final_pass)

bool	ProjectiveResect (const vector< Marker > &markers, ProjectiveReconstruction *reconstruction)

void	CoordinatesForMarkersInImage (const vector< Marker > &markers, int image, Mat *coordinates)

static void	ComputeTrackingEquation (const Array3Df &image_and_gradient1, const Array3Df &image_and_gradient2, double x1, double y1, double x2, double y2, int half_width, float gxx, float gxy, float gyy, float ex, float *ey)

static bool	RegionIsInBounds (const FloatImage &image1, double x, double y, int half_window_size)

static void	MakePyramid (const FloatImage &image, int num_levels, std::vector< FloatImage > *pyramid)

template<typename Warp >
void	TemplatedTrackRegion (const FloatImage &image1, const FloatImage &image2, const double x1, const double y1, const TrackRegionOptions &options, double x2, double y2, TrackRegionResult *result)

void	TrackRegion (const FloatImage &image1, const FloatImage &image2, const double x1, const double y1, const TrackRegionOptions &options, double x2, double y2, TrackRegionResult *result)

bool	SamplePlanarPatch (const FloatImage &image, const double xs, const double ys, int num_samples_x, int num_samples_y, FloatImage mask, FloatImage patch, double warped_position_x, double warped_position_y)

static void	ComputeTrackingEquation (const Array3Df &image_and_gradient1, const Array3Df &image_and_gradient2, double x1, double y1, double x2, double y2, int half_width, double lambda, Mat2f U, Vec2f e)

static bool	RegionIsInBounds (const FloatImage &image1, double x, double y, int half_window_size)

Typedef Documentation

◆ Array3Df

typedef Array3D<float> libmv::Array3Df

Definition at line 373 of file array_nd.h.

◆ Array3Di

typedef Array3D<int> libmv::Array3Di

Definition at line 372 of file array_nd.h.

◆ Array3Ds

typedef Array3D<short> libmv::Array3Ds

Definition at line 374 of file array_nd.h.

◆ Array3Du

typedef Array3D<unsigned char> libmv::Array3Du

Definition at line 370 of file array_nd.h.

◆ Array3Dui

typedef Array3D<unsigned int> libmv::Array3Dui

Definition at line 371 of file array_nd.h.

◆ ByteImage

typedef Array3Du libmv::ByteImage

Definition at line 30 of file libmv/libmv/image/image.h.

◆ EigenDouble

typedef Eigen::NumTraits<double> libmv::EigenDouble

Definition at line 138 of file numeric.h.

◆ FloatImage

typedef Array3Df libmv::FloatImage

Definition at line 31 of file libmv/libmv/image/image.h.

◆ IntImage

typedef Array3Di libmv::IntImage

Definition at line 34 of file libmv/libmv/image/image.h.

◆ Mat

typedef Eigen::MatrixXd libmv::Mat

Definition at line 60 of file numeric.h.

◆ Mat2

typedef Eigen::Matrix<double, 2, 2> libmv::Mat2

Definition at line 70 of file numeric.h.

◆ Mat23

typedef Eigen::Matrix<double, 2, 3> libmv::Mat23

Definition at line 71 of file numeric.h.

◆ Mat23f

typedef Eigen::Matrix<float, 2, 3> libmv::Mat23f

Definition at line 80 of file numeric.h.

◆ Mat2f

typedef Eigen::Matrix<float, 2, 2> libmv::Mat2f

Definition at line 79 of file numeric.h.

◆ Mat2X

typedef Eigen::Matrix<double, 2, Eigen::Dynamic> libmv::Mat2X

Definition at line 91 of file numeric.h.

◆ Mat3

typedef Eigen::Matrix<double, 3, 3> libmv::Mat3

Definition at line 72 of file numeric.h.

◆ Mat34

typedef Eigen::Matrix<double, 3, 4> libmv::Mat34

Definition at line 73 of file numeric.h.

◆ Mat34f

typedef Eigen::Matrix<float, 3, 4> libmv::Mat34f

Definition at line 82 of file numeric.h.

◆ Mat35

typedef Eigen::Matrix<double, 3, 5> libmv::Mat35

Definition at line 74 of file numeric.h.

◆ Mat35f

typedef Eigen::Matrix<float, 3, 5> libmv::Mat35f

Definition at line 83 of file numeric.h.

◆ Mat3f

typedef Eigen::Matrix<float, 3, 3> libmv::Mat3f

Definition at line 81 of file numeric.h.

◆ Mat3X

typedef Eigen::Matrix<double, 3, Eigen::Dynamic> libmv::Mat3X

Definition at line 92 of file numeric.h.

◆ Mat4

typedef Eigen::Matrix<double, 4, 4> libmv::Mat4

Definition at line 77 of file numeric.h.

◆ Mat41

typedef Eigen::Matrix<double, 4, 1> libmv::Mat41

Definition at line 75 of file numeric.h.

◆ Mat43

typedef Eigen::Matrix<double, 4, 3> libmv::Mat43

Definition at line 76 of file numeric.h.

◆ Mat43f

typedef Eigen::Matrix<float, 4, 3> libmv::Mat43f

Definition at line 84 of file numeric.h.

◆ Mat46

typedef Eigen::Matrix<double, 4, 6> libmv::Mat46

Definition at line 78 of file numeric.h.

◆ Mat46f

typedef Eigen::Matrix<float, 4, 6> libmv::Mat46f

Definition at line 86 of file numeric.h.

◆ Mat4f

typedef Eigen::Matrix<float, 4, 4> libmv::Mat4f

Definition at line 85 of file numeric.h.

◆ Mat4X

typedef Eigen::Matrix<double, 4, Eigen::Dynamic> libmv::Mat4X

Definition at line 93 of file numeric.h.

◆ Matf

typedef Eigen::MatrixXf libmv::Matf

Definition at line 63 of file numeric.h.

◆ Matu

typedef Eigen::Matrix<unsigned int, Eigen::Dynamic, Eigen::Dynamic> libmv::Matu

Definition at line 66 of file numeric.h.

◆ MatX15

typedef Eigen::Matrix<double, Eigen::Dynamic, 15> libmv::MatX15

Definition at line 102 of file numeric.h.

◆ MatX16

typedef Eigen::Matrix<double, Eigen::Dynamic, 16> libmv::MatX16

Definition at line 103 of file numeric.h.

◆ MatX2

typedef Eigen::Matrix<double, Eigen::Dynamic, 2> libmv::MatX2

Definition at line 94 of file numeric.h.

◆ MatX3

typedef Eigen::Matrix<double, Eigen::Dynamic, 3> libmv::MatX3

Definition at line 95 of file numeric.h.

◆ MatX4

typedef Eigen::Matrix<double, Eigen::Dynamic, 4> libmv::MatX4

Definition at line 96 of file numeric.h.

◆ MatX5

typedef Eigen::Matrix<double, Eigen::Dynamic, 5> libmv::MatX5

Definition at line 97 of file numeric.h.

◆ MatX6

typedef Eigen::Matrix<double, Eigen::Dynamic, 6> libmv::MatX6

Definition at line 98 of file numeric.h.

◆ MatX7

typedef Eigen::Matrix<double, Eigen::Dynamic, 7> libmv::MatX7

Definition at line 99 of file numeric.h.

◆ MatX8

typedef Eigen::Matrix<double, Eigen::Dynamic, 8> libmv::MatX8

Definition at line 100 of file numeric.h.

◆ MatX9

typedef Eigen::Matrix<double, Eigen::Dynamic, 9> libmv::MatX9

Definition at line 101 of file numeric.h.

◆ RMat3

typedef Eigen::Matrix<double, 3, 3, Eigen::RowMajor> libmv::RMat3

Definition at line 88 of file numeric.h.

◆ RMat4

typedef Eigen::Matrix<double, 4, 4, Eigen::RowMajor> libmv::RMat4

Definition at line 89 of file numeric.h.

◆ RMatf

typedef Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> libmv::RMatf

Definition at line 136 of file numeric.h.

◆ ShortImage

typedef Array3Ds libmv::ShortImage

Definition at line 35 of file libmv/libmv/image/image.h.

◆ ubyte

typedef unsigned char libmv::ubyte

Definition at line 36 of file detect.h.

◆ Vec

typedef Eigen::VectorXd libmv::Vec

Definition at line 61 of file numeric.h.

◆ Vec10

typedef Eigen::Matrix<double, 10, 1> libmv::Vec10

Definition at line 113 of file numeric.h.

◆ Vec11

typedef Eigen::Matrix<double, 11, 1> libmv::Vec11

Definition at line 114 of file numeric.h.

◆ Vec12

typedef Eigen::Matrix<double, 12, 1> libmv::Vec12

Definition at line 115 of file numeric.h.

◆ Vec13

typedef Eigen::Matrix<double, 13, 1> libmv::Vec13

Definition at line 116 of file numeric.h.

◆ Vec14

typedef Eigen::Matrix<double, 14, 1> libmv::Vec14

Definition at line 117 of file numeric.h.

◆ Vec15

typedef Eigen::Matrix<double, 15, 1> libmv::Vec15

Definition at line 118 of file numeric.h.

◆ Vec16

typedef Eigen::Matrix<double, 16, 1> libmv::Vec16

Definition at line 119 of file numeric.h.

◆ Vec17

typedef Eigen::Matrix<double, 17, 1> libmv::Vec17

Definition at line 120 of file numeric.h.

◆ Vec18

typedef Eigen::Matrix<double, 18, 1> libmv::Vec18

Definition at line 121 of file numeric.h.

◆ Vec19

typedef Eigen::Matrix<double, 19, 1> libmv::Vec19

Definition at line 122 of file numeric.h.

◆ Vec2

typedef Eigen::Vector2d libmv::Vec2

Definition at line 105 of file numeric.h.

◆ Vec20

typedef Eigen::Matrix<double, 20, 1> libmv::Vec20

Definition at line 123 of file numeric.h.

◆ Vec2f

typedef Eigen::Vector2f libmv::Vec2f

Definition at line 125 of file numeric.h.

◆ Vec2i

typedef Eigen::Vector2i libmv::Vec2i

Definition at line 131 of file numeric.h.

◆ Vec2u

typedef Eigen::Matrix<unsigned int, 2, 1> libmv::Vec2u

Definition at line 68 of file numeric.h.

◆ Vec3

typedef Eigen::Vector3d libmv::Vec3

Definition at line 106 of file numeric.h.

◆ Vec3f

typedef Eigen::Vector3f libmv::Vec3f

Definition at line 126 of file numeric.h.

◆ Vec3i

typedef Eigen::Vector3i libmv::Vec3i

Definition at line 132 of file numeric.h.

◆ Vec4

typedef Eigen::Vector4d libmv::Vec4

Definition at line 107 of file numeric.h.

◆ Vec4f

typedef Eigen::Vector4f libmv::Vec4f

Definition at line 127 of file numeric.h.

◆ Vec4i

typedef Eigen::Vector4i libmv::Vec4i

Definition at line 133 of file numeric.h.

◆ Vec5

typedef Eigen::Matrix<double, 5, 1> libmv::Vec5

Definition at line 108 of file numeric.h.

◆ Vec6

typedef Eigen::Matrix<double, 6, 1> libmv::Vec6

Definition at line 109 of file numeric.h.

◆ Vec7

typedef Eigen::Matrix<double, 7, 1> libmv::Vec7

Definition at line 110 of file numeric.h.

◆ Vec8

typedef Eigen::Matrix<double, 8, 1> libmv::Vec8

Definition at line 111 of file numeric.h.

◆ Vec9

typedef Eigen::Matrix<double, 9, 1> libmv::Vec9

Definition at line 112 of file numeric.h.

◆ Vecf

typedef Eigen::VectorXf libmv::Vecf

Definition at line 64 of file numeric.h.

◆ vector

template<class ElementType >

using libmv::vector = std::vector<ElementType, Eigen::aligned_allocator<ElementType>>

Definition at line 39 of file libmv/libmv/base/vector.h.

◆ Vecu

typedef Eigen::Matrix<unsigned int, Eigen::Dynamic, 1> libmv::Vecu

Definition at line 67 of file numeric.h.

◆ VecXi

typedef Eigen::VectorXi libmv::VecXi

Definition at line 129 of file numeric.h.

Enumeration Type Documentation

◆ BundleConstraints

enum libmv::BundleConstraints

Enumerator
BUNDLE_NO_CONSTRAINTS
BUNDLE_NO_TRANSLATION

Definition at line 116 of file bundle.h.

◆ BundleIntrinsics

enum libmv::BundleIntrinsics

Refine camera poses and 3D coordinates using bundle adjustment.

This routine adjusts all cameras positions, points, and the camera intrinsics (assumed common across all images) in *reconstruction. This assumes a full observation for reconstructed tracks; this implies that if there is a reconstructed 3D point (a bundle) for a track, then all markers for that track will be included in the minimization. tracks should contain markers used in the initial reconstruction.

The cameras, bundles, and intrinsics are refined in-place.

Constraints denotes which blocks to keep constant during bundling. For example it is useful to keep camera translations constant when bundling tripod motions.

If evaluaiton is not null, different evaluation statistics is filled in there, plus all the requested additional information (like jacobian) is also calculating there. Also see comments for BundleEvaluation.

Note: This assumes an outlier-free set of markers.

See also: EuclideanResect, EuclideanIntersect, EuclideanReconstructTwoFrames

Enumerator
BUNDLE_NO_INTRINSICS
BUNDLE_FOCAL_LENGTH
BUNDLE_PRINCIPAL_POINT
BUNDLE_RADIAL_K1
BUNDLE_RADIAL_K2
BUNDLE_RADIAL_K3
BUNDLE_RADIAL_K4
BUNDLE_RADIAL
BUNDLE_TANGENTIAL_P1
BUNDLE_TANGENTIAL_P2
BUNDLE_TANGENTIAL

Definition at line 99 of file bundle.h.

◆ DistortionModelType

enum libmv::DistortionModelType

Enumerator
DISTORTION_MODEL_POLYNOMIAL
DISTORTION_MODEL_DIVISION
DISTORTION_MODEL_NUKE
DISTORTION_MODEL_BROWN

Definition at line 28 of file distortion_models.h.

◆ NumericJacobianMode

enum libmv::NumericJacobianMode

Enumerator
CENTRAL
FORWARD

Definition at line 34 of file function_derivative.h.

Function Documentation

◆ aligned_free()

void libmv::aligned_free ( void * ptr )

Definition at line 63 of file aligned_malloc.cc.

References free(), and ptr.

Referenced by libmv::BruteRegionTracker::Track().

◆ aligned_malloc()

void * libmv::aligned_malloc	(	int	size,
		int	alignment )

Definition at line 45 of file aligned_malloc.cc.

References NULL, and result.

◆ ApplyBrownDistortionModel()

template<typename T >

void libmv::ApplyBrownDistortionModel	(	const T &	focal_length_x,
		const T &	focal_length_y,
		const T &	principal_point_x,
		const T &	principal_point_y,
		const T &	k1,
		const T &	k2,
		const T &	k3,
		const T &	k4,
		const T &	p1,
		const T &	p2,
		const T &	normalized_x,
		const T &	normalized_y,
		T *	image_x,
		T *	image_y )

inline

Definition at line 224 of file distortion_models.h.

References T, x, and y.

Referenced by libmv::BrownCameraIntrinsics::ApplyIntrinsics().

◆ ApplyDivisionDistortionModel()

template<typename T >

void libmv::ApplyDivisionDistortionModel	(	const T &	focal_length_x,
		const T &	focal_length_y,
		const T &	principal_point_x,
		const T &	principal_point_y,
		const T &	k1,
		const T &	k2,
		const T &	normalized_x,
		const T &	normalized_y,
		T *	image_x,
		T *	image_y )

inline

Definition at line 109 of file distortion_models.h.

References T, and y.

Referenced by libmv::DivisionCameraIntrinsics::ApplyIntrinsics().

◆ ApplyNukeDistortionModel()

void libmv::ApplyNukeDistortionModel	(	const double	focal_length_x,
		const double	focal_length_y,
		const double	principal_point_x,
		const double	principal_point_y,
		const int	image_width,
		const int	image_height,
		const double	k1,
		const double	k2,
		const double	normalized_x,
		const double	normalized_y,
		double *	image_x,
		double *	image_y )

Definition at line 380 of file distortion_models.cc.

References image(), image_height, image_width, and params.

Referenced by libmv::NukeCameraIntrinsics::ApplyIntrinsics().

◆ ApplyPolynomialDistortionModel()

template<typename T >

void libmv::ApplyPolynomialDistortionModel	(	const T &	focal_length_x,
		const T &	focal_length_y,
		const T &	principal_point_x,
		const T &	principal_point_y,
		const T &	k1,
		const T &	k2,
		const T &	k3,
		const T &	p1,
		const T &	p2,
		const T &	normalized_x,
		const T &	normalized_y,
		T *	image_x,
		T *	image_y )

inline

Definition at line 57 of file distortion_models.h.

References T, x, and y.

Referenced by libmv::PolynomialCameraIntrinsics::ApplyIntrinsics().

◆ ApplyTransformationToPoints()

void libmv::ApplyTransformationToPoints	(	const Mat &	points,
		const Mat3 &	T,
		Mat *	transformed_points )

Definition at line 71 of file conditioning.cc.

References EuclideanToHomogeneous(), and HomogeneousToEuclidean().

Referenced by FundamentalFromCorrespondences7Point(), NormalizedEightPointSolver(), NormalizeIsotropicPoints(), and NormalizePoints().

◆ BlurredImageAndDerivatives()

void libmv::BlurredImageAndDerivatives	(	const Array3Df &	in,
		double	sigma,
		Array3Df *	blurred_image,
		Array3Df *	gradient_x,
		Array3Df *	gradient_y )

Definition at line 208 of file convolve.cc.

References ComputeGaussianKernel(), ConvolveHorizontal(), and ConvolveVertical().

◆ BlurredImageAndDerivativesChannels()

void libmv::BlurredImageAndDerivativesChannels	(	const Array3Df &	in,
		double	sigma,
		Array3Df *	blurred_and_gradxy )

Definition at line 233 of file convolve.cc.

References ComputeGaussianKernel(), ConvolveHorizontal(), ConvolveVertical(), and libmv::Array3D< T >::Resize().

Referenced by TemplatedTrackRegion(), libmv::BruteRegionTracker::Track(), libmv::KltRegionTracker::Track(), and libmv::TrkltRegionTracker::Track().

◆ BoxFilter()

void libmv::BoxFilter	(	const Array3Df &	in,
		int	box_width,
		Array3Df *	out )

Definition at line 323 of file convolve.cc.

References BoxFilterHorizontal(), and BoxFilterVertical().

◆ BoxFilterHorizontal()

void libmv::BoxFilterHorizontal	(	const Array3Df &	in,
		int	window_size,
		Array3Df *	out_pointer )

Definition at line 255 of file convolve.cc.

References libmv::ArrayND< T, N >::ResizeLike(), and sum().

Referenced by BoxFilter().

◆ BoxFilterVertical()

void libmv::BoxFilterVertical	(	const Array3Df &	in,
		int	window_size,
		Array3Df *	out_pointer )

Definition at line 289 of file convolve.cc.

References libmv::ArrayND< T, N >::ResizeLike(), and sum().

Referenced by BoxFilter().

◆ Build_Minimal2Point_PolynomialFactor()

static bool libmv::Build_Minimal2Point_PolynomialFactor	(	const Mat &	x1,
		const Mat &	x2,
		double *	P )

static

Definition at line 26 of file panography.cc.

References P, and transpose().

Referenced by F_FromCorrespondance_2points().

◆ ByteArrayToScaledFloatArray()

void libmv::ByteArrayToScaledFloatArray	(	const Array3Du &	byte_array,
		Array3Df *	float_array )

Convert a byte array into a float array by dividing values by 255.

Definition at line 56 of file array_nd.cc.

References libmv::Array3D< T >::Depth(), libmv::Array3D< T >::Height(), libmv::ArrayND< T, N >::ResizeLike(), and libmv::Array3D< T >::Width().

◆ ceil0()

template<typename FloatType >

FloatType libmv::ceil0 ( const FloatType & value )

Ceil function that has the same behavior for positive and negative values

Definition at line 464 of file numeric.h.

References result.

◆ CheckJacobian()

template<typename Function , typename Jacobian >

bool libmv::CheckJacobian	(	const Function &	f,
		const typename Function::XMatrixType &	x )

Definition at line 96 of file function_derivative.h.

References LG.

◆ CompleteReconstructionLogProgress()

static void libmv::CompleteReconstructionLogProgress	(	ProgressUpdateCallback *	update_callback,
		double	progress,
		const char *	step = NULL )

static

Definition at line 126 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References libmv::ProgressUpdateCallback::invoke().

Referenced by InternalCompleteReconstruction().

◆ ComputeGaussianKernel()

void libmv::ComputeGaussianKernel	(	double	sigma,
		Vec *	kernel,
		Vec *	derivative )

Definition at line 32 of file convolve.cc.

References Gaussian(), GaussianDerivative(), GaussianInversePositive(), and NormalizeL1().

Referenced by BlurredImageAndDerivatives(), BlurredImageAndDerivativesChannels(), ConvolveGaussian(), and ImageDerivatives().

◆ ComputeTrackingEquation() [1/2]

static void libmv::ComputeTrackingEquation	(	const Array3Df &	image_and_gradient1,
		const Array3Df &	image_and_gradient2,
		double	x1,
		double	y1,
		double	x2,
		double	y2,
		int	half_width,
		double	lambda,
		Mat2f *	U,
		Vec2f *	e )

static

Definition at line 34 of file trklt_region_tracker.cc.

References A, B, C, D, e, I, R, SampleLinear(), V, and W.

◆ ComputeTrackingEquation() [2/2]

static void libmv::ComputeTrackingEquation	(	const Array3Df &	image_and_gradient1,
		const Array3Df &	image_and_gradient2,
		double	x1,
		double	y1,
		double	x2,
		double	y2,
		int	half_width,
		float *	gxx,
		float *	gxy,
		float *	gyy,
		float *	ex,
		float *	ey )

static

Definition at line 36 of file klt_region_tracker.cc.

References I, and SampleLinear().

Referenced by libmv::KltRegionTracker::Track(), and libmv::TrkltRegionTracker::Track().

◆ Convolve()

template<bool vertical>

void libmv::Convolve	(	const Array3Df &	in,
		const Vec &	kernel,
		Array3Df *	out_pointer,
		int	plane )

Definition at line 102 of file convolve.cc.

References libmv::ArrayND< T, N >::ResizeLike(), static_convolution, sum(), x, and y.

Referenced by ConvolveHorizontal(), and ConvolveVertical().

◆ ConvolveGaussian()

void libmv::ConvolveGaussian	(	const Array3Df &	in,
		double	sigma,
		Array3Df *	out_pointer )

Definition at line 182 of file convolve.cc.

References ComputeGaussianKernel(), ConvolveHorizontal(), and ConvolveVertical().

◆ ConvolveHorizontal()

void libmv::ConvolveHorizontal	(	const Array3Df &	in,
		const Vec &	kernel,
		Array3Df *	out_pointer,
		int	plane )

Definition at line 168 of file convolve.cc.

References Convolve().

Referenced by BlurredImageAndDerivatives(), BlurredImageAndDerivativesChannels(), ConvolveGaussian(), and ImageDerivatives().

◆ ConvolveVertical()

void libmv::ConvolveVertical	(	const Array3Df &	in,
		const Vec &	kernel,
		Array3Df *	out_pointer,
		int	plane )

Definition at line 175 of file convolve.cc.

References Convolve().

Referenced by BlurredImageAndDerivatives(), BlurredImageAndDerivativesChannels(), ConvolveGaussian(), and ImageDerivatives().

◆ CoordinatesForMarkersInImage()

void libmv::CoordinatesForMarkersInImage	(	const vector< Marker > &	markers,
		int	image,
		Mat *	coordinates )

Definition at line 174 of file libmv/simple_pipeline/tracks.cc.

References markers, libmv::Marker::x, and libmv::Marker::y.

Referenced by EuclideanReconstructTwoFrames(), ProjectiveReconstructTwoFrames(), and SelectKeyframesBasedOnGRICAndVariance().

◆ CrossProduct()

Vec3 libmv::CrossProduct	(	const Vec3 &	x,
		const Vec3 &	y )

inline

Definition at line 282 of file numeric.h.

◆ CrossProductMatrix()

Mat3 libmv::CrossProductMatrix ( const Vec3 & x )

Definition at line 80 of file numeric.cc.

References X, and x.

Referenced by EssentialFromRt(), ProjectionsFromFundamental(), RotationFromEulerVector(), and RotationRodrigues().

◆ Depth() [1/2]

double libmv::Depth	(	const Mat3 &	R,
		const Vec3 &	t,
		const Vec3 &	X )

Definition at line 229 of file projection.cc.

References R, and X.

Referenced by Depth(), and MotionFromEssentialChooseSolution().

◆ Depth() [2/2]

double libmv::Depth	(	const Mat3 &	R,
		const Vec3 &	t,
		const Vec4 &	X )

Definition at line 233 of file projection.cc.

References Depth(), R, and X.

◆ Detect()

void libmv::Detect	(	const FloatImage &	image,
		const DetectOptions &	options,
		vector< Feature > *	detected_features )

Definition at line 347 of file detect.cc.

References libmv::DetectOptions::FAST, libmv::DetectOptions::HARRIS, image(), LOG, libmv::DetectOptions::MORAVEC, options, and Rgb2Gray().

◆ Diag()

template<typename TVec >

Mat libmv::Diag ( const TVec & x )

inline

Definition at line 268 of file numeric.h.

◆ DistanceL1()

template<typename TVec >

double libmv::DistanceL1	(	const TVec &	x,
		const TVec &	y )

inline

Definition at line 207 of file numeric.h.

◆ DistanceL2()

template<typename TVec >

double libmv::DistanceL2	(	const TVec &	x,
		const TVec &	y )

inline

Definition at line 212 of file numeric.h.

◆ DistanceLInfinity()

template<typename TVec >

double libmv::DistanceLInfinity	(	const TVec &	x,
		const TVec &	y )

inline

Definition at line 216 of file numeric.h.

Referenced by TEST().

◆ DownsampleChannelsBy2()

void libmv::DownsampleChannelsBy2	(	const Array3Df &	in,
		Array3Df *	out )

inline

Definition at line 95 of file libmv/libmv/image/sample.h.

Referenced by MakePyramid().

◆ DrawCircle()

template<class Image , class Color >

void libmv::DrawCircle	(	int	x,
		int	y,
		int	radius,
		const Color &	col,
		Image *	pim )

Definition at line 147 of file image_drawing.h.

References col, and safePutPixel().

◆ DrawEllipse()

template<class Image , class Color >

void libmv::DrawEllipse	(	int	xc,
		int	yc,
		int	radiusA,
		int	radiusB,
		const Color &	col,
		Image *	pim,
		double	angle = 0.0 )

Definition at line 65 of file image_drawing.h.

References b, col, cos(), safePutPixel(), x, and y.

◆ DrawLine()

template<class Image , class Color >

void libmv::DrawLine	(	int	xa,
		int	ya,
		int	xb,
		int	yb,
		const Color &	col,
		Image *	pim )

Definition at line 185 of file image_drawing.h.

References col, int, N, safePutPixel(), x, and y.

Referenced by TEST(), and TEST().

◆ EightPointSolver()

static double libmv::EightPointSolver	(	const Mat &	x1,
		const Mat &	x2,
		Mat3 *	F )

static

Definition at line 74 of file fundamental.cc.

References A, DCHECK_EQ, DCHECK_GE, Map, and Nullspace().

Referenced by NormalizedEightPointSolver().

◆ EliminateRow()

static void libmv::EliminateRow	(	const Mat34 &	P,
		int	row,
		Mat *	X )

static

Definition at line 33 of file fundamental.cc.

References P, and X.

Referenced by FundamentalFromProjections().

◆ EnforceFundamentalRank2Constraint()

void libmv::EnforceFundamentalRank2Constraint ( Mat3 * F )

Fundamental matrix utility function:

Definition at line 101 of file fundamental.cc.

Referenced by NormalizedEightPointSolver().

◆ EssentialFromFundamental()

void libmv::EssentialFromFundamental	(	const Mat3 &	F,
		const Mat3 &	K1,
		const Mat3 &	K2,
		Mat3 *	E )

Definition at line 266 of file fundamental.cc.

◆ EssentialFromRt()

void libmv::EssentialFromRt	(	const Mat3 &	R1,
		const Vec3 &	t1,
		const Mat3 &	R2,
		const Vec3 &	t2,
		Mat3 *	E )

Definition at line 293 of file fundamental.cc.

References CrossProductMatrix(), R, and RelativeCameraMotion().

◆ EstimateFundamentalFromCorrespondences()

bool libmv::EstimateFundamentalFromCorrespondences	(	const Mat &	x1,
		const Mat &	x2,
		const EstimateFundamentalOptions &	options,
		Mat3 *	F )

Fundamental transformation estimation.

This function estimates the fundamental transformation from a list of 2D correspondences by doing algebraic estimation first followed with result refinement.

Definition at line 492 of file fundamental.cc.

References callback, F, LG, NormalizedEightPointSolver(), NULL, options, and VLOG.

Referenced by SelectKeyframesBasedOnGRICAndVariance().

◆ EstimateHomography2DFromCorrespondences()

bool libmv::EstimateHomography2DFromCorrespondences	(	const Mat &	x1,
		const Mat &	x2,
		const EstimateHomographyOptions &	options,
		Mat3 *	H )

2D Homography transformation estimation in the case that points are in euclidean coordinates.

2D homography transformation estimation.

This function estimates the homography transformation from a list of 2D correspondences by doing algebraic estimation first followed with result refinement.

Definition at line 260 of file libmv/multiview/homography.cc.

References callback, H, Homography2DFromCorrespondencesLinear(), LG, NULL, options, T1, T2, and VLOG.

Referenced by libmv_homography2DFromCorrespondencesEuc(), and SelectKeyframesBasedOnGRICAndVariance().

◆ EuclideanBundle()

void libmv::EuclideanBundle	(	const Tracks &	tracks,
		EuclideanReconstruction *	reconstruction )

Refine camera poses and 3D coordinates using bundle adjustment.

This routine adjusts all cameras and points in *reconstruction. This assumes a full observation for reconstructed tracks; this implies that if there is a reconstructed 3D point (a bundle) for a track, then all markers for that track will be included in the minimization. tracks should contain markers used in the initial reconstruction.

The cameras and bundles (3D points) are refined in-place.

Note: This assumes an outlier-free set of markers.; This assumes a calibrated reconstruction, e.g. the markers are already corrected for camera intrinsics and radial distortion.

See also: EuclideanResect, EuclideanIntersect, EuclideanReconstructTwoFrames

Definition at line 650 of file bundle.cc.

References BUNDLE_NO_CONSTRAINTS, BUNDLE_NO_INTRINSICS, EuclideanBundleCommonIntrinsics(), NULL, and reconstruction.

◆ EuclideanBundleCommonIntrinsics()

void libmv::EuclideanBundleCommonIntrinsics	(	const Tracks &	tracks,
		const int	bundle_intrinsics,
		const int	bundle_constraints,
		EuclideanReconstruction *	reconstruction,
		CameraIntrinsics *	intrinsics,
		BundleEvaluation *	evaluation )

Definition at line 661 of file bundle.cc.

Referenced by EuclideanBundle(), SelectKeyframesBasedOnGRICAndVariance(), and TEST().

◆ EuclideanCompleteReconstruction()

void libmv::EuclideanCompleteReconstruction	(	const Tracks &	tracks,
		EuclideanReconstruction *	reconstruction,
		ProgressUpdateCallback *	update_callback = NULL )

Estimate camera poses and scene 3D coordinates for all frames and tracks.

This method should be used once there is an initial reconstruction in place, for example by reconstructing from two frames that have a sufficient baseline and number of tracks in common. This function iteratively triangulates points that are visible by cameras that have their pose estimated, then resections (i.e. estimates the pose) of cameras that are not estimated yet that can see triangulated points. This process is repeated until all points and cameras are estimated. Periodically, bundle adjustment is run to ensure a quality reconstruction.

tracks should contain markers used in the reconstruction. reconstruction should contain at least some 3D points or some estimated cameras. The minimum number of cameras is two (with no 3D points) and the minimum number of 3D points (with no estimated cameras) is 5.

See also: EuclideanResect, EuclideanIntersect, EuclideanBundle

Definition at line 345 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References InternalCompleteReconstruction(), and reconstruction.

◆ EuclideanIntersect()

bool libmv::EuclideanIntersect	(	const vector< Marker > &	markers,
		EuclideanReconstruction *	reconstruction )

Estimate the 3D coordinates of a track by intersecting rays from images.

This takes a set of markers, where each marker is for the same track but different images, and reconstructs the 3D position of that track. Each of the frames for which there is a marker for that track must have a corresponding reconstructed camera in *reconstruction.

markers should contain all markers belonging to tracks visible in all frames. reconstruction should contain the cameras for all frames. The new points will be inserted in reconstruction.

Note: This assumes a calibrated reconstruction, e.g. the markers are already corrected for camera intrinsics and radial distortion.; This assumes an outlier-free set of markers.

See also: EuclideanResect

Definition at line 69 of file intersect.cc.

References libmv::ProjectiveReconstruction::CameraForImage(), e, libmv::Marker::image, libmv::ProjectiveCamera::image, libmv::ProjectiveReconstruction::InsertPoint(), K, LG, LOG, markers, NULL, NViewTriangulateAlgebraic(), P, P_From_KRt(), reconstruction, VLOG, libmv::Marker::weight, X, and x.

Referenced by SelectKeyframesBasedOnGRICAndVariance(), and TEST().

◆ EuclideanReconstructTwoFrames()

bool libmv::EuclideanReconstructTwoFrames	(	const vector< Marker > &	markers,
		EuclideanReconstruction *	reconstruction )

Initialize the reconstruction using two frames.

markers should contain all markers belonging to tracks visible in both frames. The pose estimation of the camera for these frames will be inserted into *reconstruction.

Note: The two frames need to have both enough parallax and enough common tracks for accurate reconstruction. At least 8 tracks are suggested.; The origin of the coordinate system is defined to be the camera of the first keyframe.; This assumes a calibrated reconstruction, e.g. the markers are already corrected for camera intrinsics and radial distortion.; This assumes an outlier-free set of markers.

See also: EuclideanResect, EuclideanIntersect, EuclideanBundle

Definition at line 54 of file initialize_reconstruction.cc.

References CoordinatesForMarkersInImage(), F, FundamentalToEssential(), libmv::ProjectiveReconstruction::InsertCamera(), K, LG, markers, MotionFromEssentialAndCorrespondence(), NormalizedEightPointSolver(), R, and reconstruction.

◆ EuclideanReprojectionError()

double libmv::EuclideanReprojectionError	(	const Tracks &	image_tracks,
		const EuclideanReconstruction &	reconstruction,
		const CameraIntrinsics &	intrinsics )

Definition at line 330 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References InternalReprojectionError(), and reconstruction.

◆ EuclideanResect()

bool libmv::EuclideanResect	(	const vector< Marker > &	markers,
		EuclideanReconstruction *	reconstruction,
		bool	final_pass )

Estimate the Euclidean pose of a camera from 2D to 3D correspondences.

This takes a set of markers visible in one frame (which is the one to resection), such that the markers are also reconstructed in 3D in the reconstruction object, and solves for the pose and orientation of the camera for that frame.

markers should contain markers belonging to tracks visible in the one frame to be resectioned. Each of the tracks associated with the markers must have a corresponding reconstructed 3D position in the *reconstruction object.

*reconstruction should contain the 3D points associated with the tracks for the markers present in markers.

Note: This assumes a calibrated reconstruction, e.g. the markers are already corrected for camera intrinsics and radial distortion.; This assumes an outlier-free set of markers.

Returns: True if the resection was successful, false otherwise.

See also: EuclideanIntersect, EuclideanReconstructTwoFrames

Definition at line 94 of file resect.cc.

References libmv::euclidean_resection::EuclideanResection(), libmv::ProjectiveReconstruction::InsertCamera(), KRt_From_P(), LG, markers, P, params, libmv::ProjectiveReconstruction::PointForTrack(), R, reconstruction, libmv::resection::Resection(), libmv::euclidean_resection::RESECTION_EPNP, RotationFromEulerVector(), transpose(), and libmv::ProjectivePoint::X.

◆ EuclideanScaleToUnity()

void libmv::EuclideanScaleToUnity ( EuclideanReconstruction * reconstruction )

Scale euclidean reconstruction in a way variance of camera centers equals to one.

Definition at line 26 of file reconstruction_scale.cc.

References libmv::ProjectiveReconstruction::AllCameras(), libmv::ProjectiveReconstruction::AllPoints(), libmv::ProjectiveReconstruction::CameraForImage(), distance(), LG, libmv::ProjectiveReconstruction::PointForTrack(), reconstruction, sqrt(), and libmv::ProjectivePoint::X.

◆ EuclideanToHomogeneous() [1/9]

void libmv::EuclideanToHomogeneous	(	const Mat &	X,
		Mat *	H )

Definition at line 200 of file projection.cc.

References H, and X.

Referenced by ApplyTransformationToPoints(), EuclideanToNormalizedCamera(), ImageToNormImageCoordinates(), libmv::homography::homography2D::AlgebraicError::Residuals(), libmv::homography::homography2D::AsymmetricError::Residuals(), libmv::homography::homography2D::AsymmetricError::Residuals(), and libmv::panography::kernel::TwoPointSolver::Solve().

◆ EuclideanToHomogeneous() [2/9]

Mat3X libmv::EuclideanToHomogeneous ( const Mat2X & x )

inline

Definition at line 67 of file libmv/libmv/multiview/projection.h.

References x.

◆ EuclideanToHomogeneous() [3/9]

void libmv::EuclideanToHomogeneous	(	const Mat2X &	x,
		Mat3X *	h )

inline

Definition at line 73 of file libmv/libmv/multiview/projection.h.

References x.

◆ EuclideanToHomogeneous() [4/9]

Mat4X libmv::EuclideanToHomogeneous ( const Mat3X & x )

inline

Definition at line 78 of file libmv/libmv/multiview/projection.h.

References x.

◆ EuclideanToHomogeneous() [5/9]

void libmv::EuclideanToHomogeneous	(	const Mat3X &	x,
		Mat4X *	h )

inline

Definition at line 84 of file libmv/libmv/multiview/projection.h.

References x.

◆ EuclideanToHomogeneous() [6/9]

Vec3 libmv::EuclideanToHomogeneous ( const Vec2 & x )

inline

Definition at line 91 of file libmv/libmv/multiview/projection.h.

References x.

◆ EuclideanToHomogeneous() [7/9]

void libmv::EuclideanToHomogeneous	(	const Vec2 &	X,
		Vec3 *	H )

Definition at line 208 of file projection.cc.

References H, and X.

◆ EuclideanToHomogeneous() [8/9]

Vec4 libmv::EuclideanToHomogeneous ( const Vec3 & x )

inline

Definition at line 94 of file libmv/libmv/multiview/projection.h.

References x.

◆ EuclideanToHomogeneous() [9/9]

void libmv::EuclideanToHomogeneous	(	const Vec3 &	X,
		Vec4 *	H )

Definition at line 212 of file projection.cc.

References H, and X.

◆ EuclideanToNormalizedCamera()

void libmv::EuclideanToNormalizedCamera	(	const Mat2X &	x,
		const Mat3 &	K,
		Mat2X *	n )

Definition at line 217 of file projection.cc.

References EuclideanToHomogeneous(), HomogeneousToEuclidean(), and K.

Referenced by libmv::euclidean_resection::EuclideanResection().

◆ ExtractColumns()

template<typename TMat , typename TCols >

TMat libmv::ExtractColumns	(	const TMat &	A,
		const TCols &	columns )

Definition at line 434 of file numeric.h.

Referenced by libmv::two_view::kernel::Kernel< SolverArg, ErrorArg, ModelArg >::Fit().

◆ F_FromCorrespondance_2points()

void libmv::F_FromCorrespondance_2points	(	const Mat &	x1,
		const Mat &	x2,
		vector< double > *	fs )

Definition at line 73 of file panography.cc.

References Build_Minimal2Point_PolynomialFactor(), P, SolveCubicPolynomial(), and sqrt().

Referenced by libmv::panography::kernel::TwoPointSolver::Solve().

◆ FastConvolve()

template<int size, bool vertical>

void libmv::FastConvolve	(	const Vec &	kernel,
		int	width,
		int	height,
		const float *	src,
		int	src_stride,
		int	src_line_stride,
		float *	dst,
		int	dst_stride )

Definition at line 67 of file convolve.cc.

References size(), sum(), x, and y.

◆ FloatArrayToScaledByteArray()

void libmv::FloatArrayToScaledByteArray	(	const Array3Df &	float_array,
		Array3Du *	byte_array,
		bool	automatic_range_detection = false )

Convert a float array into a byte array by scaling values by 255* (max-min). where max and min are automatically detected (if automatic_range_detection = true)

Note: and TODO this automatic detection only works when the image contains at least one pixel of both bounds.

Definition at line 27 of file array_nd.cc.

References libmv::Array3D< T >::Depth(), libmv::Array3D< T >::Height(), libmv::ArrayND< T, N >::ResizeLike(), and libmv::Array3D< T >::Width().

◆ FloatImageToUCharArray()

template<class Image >

unsigned char * libmv::FloatImageToUCharArray ( const Image & image )

Definition at line 64 of file image_converter.h.

References image(), and x.

◆ FrobeniusDistance()

template<typename TMat >

double libmv::FrobeniusDistance	(	const TMat &	A,
		const TMat &	B )

inline

Definition at line 278 of file numeric.h.

References B, and FrobeniusNorm().

◆ FrobeniusNorm()

template<typename TMat >

double libmv::FrobeniusNorm ( const TMat & A )

inline

Definition at line 273 of file numeric.h.

References sqrt().

Referenced by FrobeniusDistance(), and NormalizeFundamental().

◆ FundamentalFrom7CorrespondencesLinear()

double libmv::FundamentalFrom7CorrespondencesLinear	(	const Mat &	x1,
		const Mat &	x2,
		std::vector< Mat3 > *	F )

7 points (minimal case, points coordinates must be normalized before):

Definition at line 136 of file fundamental.cc.

References A, b, DCHECK_EQ, e, l, Map, Nullspace2(), P, and SolveCubicPolynomial().

Referenced by FundamentalFromCorrespondences7Point().

◆ FundamentalFromCorrespondences7Point()

double libmv::FundamentalFromCorrespondences7Point	(	const Mat &	x1,
		const Mat &	x2,
		std::vector< Mat3 > *	F )

7 points (points coordinates must be in image space):

Definition at line 206 of file fundamental.cc.

References ApplyTransformationToPoints(), DCHECK_EQ, DCHECK_GE, FundamentalFrom7CorrespondencesLinear(), PreconditionerFromPoints(), T1, and T2.

◆ FundamentalFromEssential()

void libmv::FundamentalFromEssential	(	const Mat3 &	E,
		const Mat3 &	K1,
		const Mat3 &	K2,
		Mat3 *	F )

Definition at line 275 of file fundamental.cc.

◆ FundamentalFromProjections()

void libmv::FundamentalFromProjections	(	const Mat34 &	P1,
		const Mat34 &	P2,
		Mat3 *	F )

Definition at line 54 of file fundamental.cc.

References EliminateRow(), VerticalStack(), X, XY, and Y.

Referenced by libmv::NViewDataSet::F(), and TwoRealisticCameras().

◆ FundamentalToEssential()

void libmv::FundamentalToEssential	(	const Mat3 &	F,
		Mat3 *	E )

Find closest essential matrix E to fundamental F

Definition at line 393 of file fundamental.cc.

References b, and LG.

Referenced by EuclideanReconstructTwoFrames(), and SelectKeyframesBasedOnGRICAndVariance().

◆ Gaussian()

double libmv::Gaussian	(	double	x,
		double	sigma )

inline

Definition at line 32 of file convolve.h.

References exp(), M_PI, and sqrt().

Referenced by ComputeGaussianKernel(), and GaussianDerivative().

◆ Gaussian2D()

double libmv::Gaussian2D	(	double	x,
		double	y,
		double	sigma )

inline

Definition at line 37 of file convolve.h.

References exp(), and M_PI.

◆ GaussianDerivative()

double libmv::GaussianDerivative	(	double	x,
		double	sigma )

inline

Definition at line 41 of file convolve.h.

References Gaussian().

Referenced by ComputeGaussianKernel().

◆ GaussianInversePositive()

double libmv::GaussianInversePositive	(	double	y,
		double	sigma )

inline

Definition at line 45 of file convolve.h.

References log(), M_PI, and sqrt().

Referenced by ComputeGaussianKernel().

◆ GetR_FixedCameraCenter()

void libmv::GetR_FixedCameraCenter	(	const Mat &	x1,
		const Mat &	x2,
		const double	focal,
		Mat3 *	R )

Definition at line 99 of file panography.cc.

References determinant(), K, and normalized().

Referenced by ModalSolver(), and libmv::panography::kernel::TwoPointSolver::Solve().

◆ HomogeneousToEuclidean() [1/8]

void libmv::HomogeneousToEuclidean	(	const Mat &	H,
		Mat *	X )

Definition at line 166 of file projection.cc.

References H, and X.

Referenced by ApplyTransformationToPoints(), EuclideanToNormalizedCamera(), HomogeneousToNormalizedCamera(), ImageToNormImageCoordinates(), libmv::homography::homography2D::AsymmetricError::Residuals(), libmv::homography::homography2D::AsymmetricError::Residuals(), and TriangulateDLT().

◆ HomogeneousToEuclidean() [2/8]

Mat2X libmv::HomogeneousToEuclidean ( const Mat3X & h )

inline

Definition at line 59 of file libmv/libmv/multiview/projection.h.

References e.

◆ HomogeneousToEuclidean() [3/8]

void libmv::HomogeneousToEuclidean	(	const Mat3X &	h,
		Mat2X *	e )

Definition at line 178 of file projection.cc.

References e.

◆ HomogeneousToEuclidean() [4/8]

void libmv::HomogeneousToEuclidean	(	const Mat4X &	h,
		Mat3X *	e )

Definition at line 183 of file projection.cc.

References e.

◆ HomogeneousToEuclidean() [5/8]

Vec2 libmv::HomogeneousToEuclidean ( const Vec3 & h )

inline

Definition at line 53 of file libmv/libmv/multiview/projection.h.

◆ HomogeneousToEuclidean() [6/8]

void libmv::HomogeneousToEuclidean	(	const Vec3 &	H,
		Vec2 *	X )

Definition at line 190 of file projection.cc.

References H, w(), and X.

◆ HomogeneousToEuclidean() [7/8]

Vec3 libmv::HomogeneousToEuclidean ( const Vec4 & h )

inline

Definition at line 56 of file libmv/libmv/multiview/projection.h.

◆ HomogeneousToEuclidean() [8/8]

void libmv::HomogeneousToEuclidean	(	const Vec4 &	H,
		Vec3 *	X )

Definition at line 195 of file projection.cc.

References H, w(), and X.

◆ HomogeneousToNormalizedCamera()

void libmv::HomogeneousToNormalizedCamera	(	const Mat3X &	x,
		const Mat3 &	K,
		Mat2X *	n )

Definition at line 224 of file projection.cc.

References HomogeneousToEuclidean(), K, and x.

Referenced by libmv::euclidean_resection::EuclideanResection().

◆ Homography2DFromCorrespondencesLinear()

bool libmv::Homography2DFromCorrespondencesLinear	(	const Mat &	x1,
		const Mat &	x2,
		Mat3 *	H,
		double	expected_precision )

2D Homography transformation estimation in the case that points are in homogeneous coordinates.

| 0 -x3 x2| |a b c| |y1| -x3*d+x2*g -x3*e+x2*h -x3*f+x2*1 |y1| (-x3*d+x2*g)*y1 (-x3*e+x2*h)*y2 (-x3*f+x2*1)*y3 |0| | x3 0 -x1| * |d e f| * |y2| = x3*a-x1*g x3*b-x1*h x3*c-x1*1 * |y2| = (x3*a-x1*g)*y1 (x3*b-x1*h)*y2 (x3*c-x1*1)*y3 = |0| |-x2 x1 0| |g h 1| |y3| -x2*a+x1*d -x2*b+x1*e -x2*c+x1*f |y3| (-x2*a+x1*d)*y1 (-x2*b+x1*e)*y2 (-x2*c+x1*f)*y3 |0| X = |a b c d e f g h|^t

2D homography transformation estimation.

This function estimates the homography transformation from a list of 2D correspondences which represents either:

3D points on a plane, with a general moving camera.
3D points with a rotating camera (pure rotation).
3D points + different planar projections

Parameters

x1	The first 2xN or 3xN matrix of euclidean or homogeneous points.
x2	The second 2xN or 3xN matrix of euclidean or homogeneous points.
H	The 3x3 homography transformation matrix (8 dof) such that x2 = H * x1 with \|a b c\| H = \|d e f\| \|g h 1\|
expected_precision	The expected precision in order for instance to accept almost homography matrices.

Returns: True if the transformation estimation has succeeded.

Note: There must be at least 4 non-colinear points.

Definition at line 103 of file libmv/multiview/homography.cc.

References b, H, Homography2DFromCorrespondencesLinearEuc(), L, libmv::Homography2DNormalizedParameterization< T >::To(), and w().

Referenced by EstimateHomography2DFromCorrespondences().

◆ Homography2DFromCorrespondencesLinearEuc()

static bool libmv::Homography2DFromCorrespondencesLinearEuc	(	const Mat &	x1,
		const Mat &	x2,
		Mat3 *	H,
		double	expected_precision )

static

2D Homography transformation estimation in the case that points are in euclidean coordinates.

x = H y x and y vector must have the same direction, we could write crossproduct(|x|, * H * |y| ) = |0|

| 0 -1 x2| |a b c| |y1| |0| | 1 0 -x1| * |d e f| * |y2| = |0| |-x2 x1 0| |g h 1| |1 | |0|

That gives :

(-d+x2*g)*y1 + (-e+x2*h)*y2 + -f+x2 |0| (a-x1*g)*y1 + (b-x1*h)*y2 + c-x1 = |0| (-x2*a+x1*d)*y1 + (-x2*b+x1*e)*y2 + -x2*c+x1*f |0|

Definition at line 46 of file libmv/multiview/homography.cc.

References b, H, L, and libmv::Homography2DNormalizedParameterization< T >::To().

Referenced by Homography2DFromCorrespondencesLinear().

◆ Homography3DFromCorrespondencesLinear()

bool libmv::Homography3DFromCorrespondencesLinear	(	const Mat &	x1,
		const Mat &	x2,
		Mat4 *	H,
		double	expected_precision )

x2 ~ A * x1 x2^t * Hi * A *x1 = 0 H1 = H2 = H3 = | 0 0 0 1| |-x2w| |0 0 0 0| | 0 | | 0 0 1 0| |-x2z| | 0 0 0 0| -> | 0 | |0 0 1 0| -> |-x2z| | 0 0 0 0| -> | 0 | | 0 0 0 0| | 0 | |0-1 0 0| | x2y| |-1 0 0 0| | x2x| |-1 0 0 0| | x2x| |0 0 0 0| | 0 | | 0 0 0 0| | 0 | H4 = H5 = H6 = |0 0 0 0| | 0 | | 0 1 0 0| |-x2y| |0 0 0 0| | 0 | |0 0 0 1| -> |-x2w| |-1 0 0 0| -> | x2x| |0 0 0 0| -> | 0 | |0 0 0 0| | 0 | | 0 0 0 0| | 0 | |0 0 0 1| |-x2w| |0-1 0 0| | x2y| | 0 0 0 0| | 0 | |0 0-1 0| | x2z| |a b c d| A = |e f g h| |i j k l| |m n o 1|

x2^t * H1 * A *x1 = (-x2w*a +x2x*m )*x1x + (-x2w*b +x2x*n )*x1y + (-x2w*c +x2x*o )*x1z + (-x2w*d +x2x*1 )*x1w = 0 x2^t * H2 * A *x1 = (-x2z*e +x2y*i )*x1x + (-x2z*f +x2y*j )*x1y + (-x2z*g +x2y*k )*x1z + (-x2z*h +x2y*l )*x1w = 0 x2^t * H3 * A *x1 = (-x2z*a +x2x*i )*x1x + (-x2z*b +x2x*j )*x1y + (-x2z*c +x2x*k )*x1z + (-x2z*d +x2x*l )*x1w = 0 x2^t * H4 * A *x1 = (-x2w*e +x2y*m )*x1x + (-x2w*f +x2y*n )*x1y + (-x2w*g +x2y*o )*x1z + (-x2w*h +x2y*1 )*x1w = 0 x2^t * H5 * A *x1 = (-x2y*a +x2x*e )*x1x + (-x2y*b +x2x*f )*x1y + (-x2y*c +x2x*g )*x1z + (-x2y*d +x2x*h )*x1w = 0 x2^t * H6 * A *x1 = (-x2w*i +x2z*m )*x1x + (-x2w*j +x2z*n )*x1y + (-x2w*k +x2z*o )*x1z + (-x2w*l +x2z*1 )*x1w = 0

X = |a b c d e f g h i j k l m n o|^t

3D Homography transformation estimation.

This function can be used in order to estimate the homography transformation from a list of 3D correspondences.

Parameters

[in]	x1	The first 4xN matrix of homogeneous points
[in]	x2	The second 4xN matrix of homogeneous points
[out]	H	The 4x4 homography transformation matrix (15 dof) such that x2 = H * x1 with \|a b c d\| H = \|e f g h\| \|i j k l\| \|m n o 1\|
[in]	expected_precision	The expected precision in order for instance to accept almost homography matrices.

Returns: true if the transformation estimation has succeeded

Note: Need at least 5 non coplanar points; Points coordinates must be in homogeneous coordinates

Definition at line 362 of file libmv/multiview/homography.cc.

References b, H, L, libmv::Homography3DNormalizedParameterization< T >::To(), w(), and z().

◆ HorizontalStack()

void libmv::HorizontalStack	(	const Mat &	left,
		const Mat &	right,
		Mat *	stacked )

Definition at line 116 of file numeric.cc.

References left.

◆ HStack()

template<typename T , int RowsLeft, int RowsRight, int ColsLeft, int ColsRight>

Eigen::Matrix< T, ROWS, COLS > libmv::HStack	(	const Eigen::Matrix< T, RowsLeft, ColsLeft > &	left,
		const Eigen::Matrix< T, RowsRight, ColsRight > &	right )

Definition at line 378 of file numeric.h.

References left.

Referenced by libmv::NViewDataSet::P().

◆ ImageDerivatives()

void libmv::ImageDerivatives	(	const Array3Df &	in,
		double	sigma,
		Array3Df *	gradient_x,
		Array3Df *	gradient_y )

Definition at line 191 of file convolve.cc.

References ComputeGaussianKernel(), ConvolveHorizontal(), and ConvolveVertical().

◆ ImageToNormImageCoordinates()

Vec2 libmv::ImageToNormImageCoordinates	(	Mat3 &	Kinverse,
		Vec2 &	x )

inline

Transforms a 2D point from pixel image coordinates to a 2D point in normalized image coordinates.

Definition at line 204 of file libmv/libmv/multiview/projection.h.

References EuclideanToHomogeneous(), and HomogeneousToEuclidean().

◆ InternalCompleteReconstruction()

template<typename PipelineRoutines >

void libmv::InternalCompleteReconstruction	(	const Tracks &	tracks,
		typename PipelineRoutines::Reconstruction *	reconstruction,
		ProgressUpdateCallback *	update_callback = NULL )

Definition at line 151 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References libmv::ProjectiveReconstruction::CameraForImage(), CompleteReconstructionLogProgress(), image(), LG, libmv::ProjectiveReconstruction::PointForTrack(), and reconstruction.

Referenced by EuclideanCompleteReconstruction(), and ProjectiveCompleteReconstruction().

◆ InternalReprojectionError()

template<typename PipelineRoutines >

double libmv::InternalReprojectionError	(	const Tracks &	image_tracks,
		const typename PipelineRoutines::Reconstruction &	reconstruction,
		const CameraIntrinsics &	intrinsics )

Definition at line 276 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References libmv::Tracks::AllMarkers(), libmv::ProjectiveReconstruction::CameraForImage(), LG, markers, N, libmv::ProjectiveReconstruction::PointForTrack(), reconstruction, sqrt(), VLOG, libmv::Marker::x, and libmv::Marker::y.

Referenced by EuclideanReprojectionError(), and ProjectiveReprojectionError().

◆ InvertBrownDistortionModel()

void libmv::InvertBrownDistortionModel	(	const double	focal_length_x,
		const double	focal_length_y,
		const double	principal_point_x,
		const double	principal_point_y,
		const double	k1,
		const double	k2,
		const double	k3,
		const double	k4,
		const double	p1,
		const double	p2,
		const double	image_x,
		const double	image_y,
		double *	normalized_x,
		double *	normalized_y )

Definition at line 278 of file distortion_models.cc.

References normalized(), and params.

Referenced by libmv::BrownCameraIntrinsics::InvertIntrinsics().

◆ InvertDivisionDistortionModel()

void libmv::InvertDivisionDistortionModel	(	const double	focal_length_x,
		const double	focal_length_y,
		const double	principal_point_x,
		const double	principal_point_y,
		const double	k1,
		const double	k2,
		const double	image_x,
		const double	image_y,
		double *	normalized_x,
		double *	normalized_y )

Definition at line 240 of file distortion_models.cc.

References normalized(), and params.

Referenced by libmv::DivisionCameraIntrinsics::InvertIntrinsics().

◆ InvertIntrinsicsForTracks()

void libmv::InvertIntrinsicsForTracks	(	const Tracks &	raw_tracks,
		const CameraIntrinsics &	camera_intrinsics,
		Tracks *	calibrated_tracks )

Definition at line 358 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References libmv::Tracks::AllMarkers(), libmv::CameraIntrinsics::InvertIntrinsics(), and markers.

◆ InvertNukeDistortionModel()

template<typename T >

void libmv::InvertNukeDistortionModel	(	const T &	focal_length_x,
		const T &	focal_length_y,
		const T &	principal_point_x,
		const T &	principal_point_y,
		const int	image_width,
		const int	image_height,
		const T &	k1,
		const T &	k2,
		const T &	image_x,
		const T &	image_y,
		T *	normalized_x,
		T *	normalized_y )

Definition at line 138 of file distortion_models.h.

References image_height, image_width, and T.

Referenced by libmv::NukeCameraIntrinsics::InvertIntrinsics(), and libmv::ApplyNukeIntrinsicsCostFunction::operator()().

◆ InvertPolynomialDistortionModel()

void libmv::InvertPolynomialDistortionModel	(	const double	focal_length_x,
		const double	focal_length_y,
		const double	principal_point_x,
		const double	principal_point_y,
		const double	k1,
		const double	k2,
		const double	k3,
		const double	p1,
		const double	p2,
		const double	image_x,
		const double	image_y,
		double *	normalized_x,
		double *	normalized_y )

Definition at line 197 of file distortion_models.cc.

References normalized(), and params.

Referenced by libmv::PolynomialCameraIntrinsics::InvertIntrinsics().

◆ isInFrontOfCamera() [1/2]

bool libmv::isInFrontOfCamera	(	const Mat34 &	P,
		const Vec3 &	X )

inline

Definition at line 193 of file libmv/libmv/multiview/projection.h.

References isInFrontOfCamera(), P, and X.

◆ isInFrontOfCamera() [2/2]

bool libmv::isInFrontOfCamera	(	const Mat34 &	P,
		const Vec4 &	X )

inline

Returns true if the homogenious 3D point X is in front of the camera P.

Definition at line 183 of file libmv/libmv/multiview/projection.h.

References P, and X.

Referenced by isInFrontOfCamera().

◆ isnan()

bool libmv::isnan ( double i )

inline

Definition at line 453 of file numeric.h.

◆ IsotropicPreconditionerFromPoints()

void libmv::IsotropicPreconditionerFromPoints	(	const Mat &	points,
		Mat3 *	T )

Definition at line 50 of file conditioning.cc.

References e, MeanAndVarianceAlongRows(), and sqrt().

Referenced by NormalizeIsotropicPoints().

◆ KRt_From_P()

void libmv::KRt_From_P	(	const Mat34 &	P,
		Mat3 *	Kp,
		Mat3 *	Rp,
		Vec3 *	tp )

Definition at line 32 of file projection.cc.

References K, l, P, R, and sqrt().

Referenced by EuclideanResect().

◆ LaplaceFilter()

void libmv::LaplaceFilter	(	unsigned char *	src,
		unsigned char *	dst,
		int	width,
		int	height,
		int	strength )

Convolve src into dst with the discrete laplacian operator.

src and dst should be width x height images. strength is an interpolation coefficient (0-256) between original image and the laplacian.

Note: Make sure the search region is filtered with the same strength as the pattern.

Definition at line 329 of file convolve.cc.

References l, and x.

◆ LinearInitAxis()

void libmv::LinearInitAxis	(	float	x,
		int	size,
		int *	x1,
		int *	x2,
		float *	dx )

inline

Definition at line 36 of file libmv/libmv/image/sample.h.

References x.

Referenced by SampleLinear(), and SampleLinear().

◆ LookAt()

Mat3 libmv::LookAt ( Vec3 center )

Definition at line 69 of file numeric.cc.

References R.

Referenced by NRealisticCamerasFull(), and NRealisticCamerasSparse().

◆ MakePyramid()

static void libmv::MakePyramid	(	const FloatImage &	image,
		int	num_levels,
		std::vector< FloatImage > *	pyramid )

static

Definition at line 32 of file pyramid_region_tracker.cc.

References DownsampleChannelsBy2(), and image().

Referenced by libmv::PyramidRegionTracker::Track().

◆ MatrixColumn() [1/3]

void libmv::MatrixColumn	(	const Mat &	A,
		int	i,
		Vec2 *	v )

Definition at line 127 of file numeric.cc.

References A, and v.

Referenced by TEST().

◆ MatrixColumn() [2/3]

void libmv::MatrixColumn	(	const Mat &	A,
		int	i,
		Vec3 *	v )

Definition at line 131 of file numeric.cc.

References A, and v.

◆ MatrixColumn() [3/3]

void libmv::MatrixColumn	(	const Mat &	A,
		int	i,
		Vec4 *	v )

Definition at line 135 of file numeric.cc.

References A, and v.

◆ MeanAndVarianceAlongRows()

void libmv::MeanAndVarianceAlongRows	(	const Mat &	A,
		Vec *	mean_pointer,
		Vec *	variance_pointer )

Definition at line 90 of file numeric.cc.

References A, Square, and x.

Referenced by IsotropicPreconditionerFromPoints(), PreconditionerFromPoints(), and libmv::euclidean_resection::SelectControlPoints().

◆ ModalSolver()

void libmv::ModalSolver	(	const Tracks &	tracks,
		EuclideanReconstruction *	reconstruction,
		ProgressUpdateCallback *	update_callback = NULL )

This solver solves such camera motion as tripod rotation, reconstructing only camera motion itself. Bundles are not reconstructing properly, they're just getting projected onto sphere.

Markers from tracks object would be used for recosntruction, and algorithm assumes thir's positions are undistorted already and they're in nnormalized space.

Reconstructed cameras and projected bundles would be added to reconstruction object.

Definition at line 106 of file modal_solver.cc.

References e, GetR_FixedCameraCenter(), image(), libmv::Marker::image, libmv::ProjectiveReconstruction::InsertCamera(), libmv::ProjectiveReconstruction::InsertPoint(), LG, NULL, libmv::ProjectiveReconstruction::PointForTrack(), R, reconstruction, libmv::Marker::track, libmv::Marker::weight, X, libmv::Marker::x, and libmv::Marker::y.

Referenced by TEST().

◆ MotionFromEssential()

void libmv::MotionFromEssential	(	const Mat3 &	E,
		std::vector< Mat3 > *	Rs,
		std::vector< Vec3 > *	ts )

Definition at line 303 of file fundamental.cc.

References W.

Referenced by MotionFromEssentialAndCorrespondence().

◆ MotionFromEssentialAndCorrespondence()

bool libmv::MotionFromEssentialAndCorrespondence	(	const Mat3 &	E,
		const Mat3 &	K1,
		const Vec2 &	x1,
		const Mat3 &	K2,
		const Vec2 &	x2,
		Mat3 *	R,
		Vec3 *	t )

Definition at line 373 of file fundamental.cc.

References MotionFromEssential(), MotionFromEssentialChooseSolution(), and R.

Referenced by EuclideanReconstructTwoFrames(), and SelectKeyframesBasedOnGRICAndVariance().

◆ MotionFromEssentialChooseSolution()

int libmv::MotionFromEssentialChooseSolution	(	const std::vector< Mat3 > &	Rs,
		const std::vector< Vec3 > &	ts,
		const Mat3 &	K1,
		const Vec2 &	x1,
		const Mat3 &	K2,
		const Vec2 &	x2 )

Choose one of the four possible motion solutions from an essential matrix.

Decides the right solution by checking that the triangulation of a match x1–x2 lies in front of the cameras. See HZ 9.6 pag 259 (9.6.3 Geometrical interpretation of the 4 solutions)

Returns: index of the right solution or -1 if no solution.

Definition at line 342 of file fundamental.cc.

References DCHECK_EQ, Depth(), P_From_KRt(), TriangulateDLT(), and X.

Referenced by MotionFromEssentialAndCorrespondence().

◆ MultiplyElements() [1/3]

template<typename AArrayType , typename BArrayType , typename CArrayType >

void libmv::MultiplyElements	(	const AArrayType &	a,
		const BArrayType &	b,
		CArrayType *	c )

Definition at line 398 of file array_nd.h.

References b.

◆ MultiplyElements() [2/3]

template<typename TA , typename TB , typename TC >

void libmv::MultiplyElements	(	const Array3D< TA > &	a,
		const Array3D< TB > &	b,
		Array3D< TC > *	c )

Definition at line 452 of file array_nd.h.

References b, and libmv::ArrayND< T, N >::ResizeLike().

◆ MultiplyElements() [3/3]

template<typename TA , typename TB , typename TC >

void libmv::MultiplyElements	(	const ArrayND< TA, 3 > &	a,
		const ArrayND< TB, 3 > &	b,
		ArrayND< TC, 3 > *	c )

Definition at line 434 of file array_nd.h.

References b, and libmv::ArrayND< T, N >::ResizeLike().

◆ NormalizedEightPointSolver()

double libmv::NormalizedEightPointSolver	(	const Mat &	x1,
		const Mat &	x2,
		Mat3 *	F )

8 points (points coordinates must be in image space):

Definition at line 109 of file fundamental.cc.

References ApplyTransformationToPoints(), DCHECK_EQ, DCHECK_GE, EightPointSolver(), EnforceFundamentalRank2Constraint(), PreconditionerFromPoints(), T1, and T2.

Referenced by EstimateFundamentalFromCorrespondences(), EuclideanReconstructTwoFrames(), and ProjectiveReconstructTwoFrames().

◆ NormalizeFundamental()

void libmv::NormalizeFundamental	(	const Mat3 &	F,
		Mat3 *	F_normalized )

Definition at line 234 of file fundamental.cc.

References FrobeniusNorm().

◆ NormalizeIsotropicPoints()

void libmv::NormalizeIsotropicPoints	(	const Mat &	points,
		Mat *	normalized_points,
		Mat3 *	T )

Definition at line 87 of file conditioning.cc.

References ApplyTransformationToPoints(), and IsotropicPreconditionerFromPoints().

Referenced by libmv::two_view::kernel::IsotropicNormalizedSolver< Solver, Unnormalizer >::Solve().

◆ NormalizeL1()

template<typename TVec >

double libmv::NormalizeL1 ( TVec * x )

inline

Definition at line 223 of file numeric.h.

References norm(), and NormL1().

Referenced by ComputeGaussianKernel().

◆ NormalizeL2()

template<typename TVec >

double libmv::NormalizeL2 ( TVec * x )

inline

Definition at line 232 of file numeric.h.

References norm(), and NormL2().

◆ NormalizeLInfinity()

template<typename TVec >

double libmv::NormalizeLInfinity ( TVec * x )

inline

Definition at line 241 of file numeric.h.

References norm(), and NormLInfinity().

◆ NormalizePoints()

void libmv::NormalizePoints	(	const Mat &	points,
		Mat *	normalized_points,
		Mat3 *	T )

Definition at line 82 of file conditioning.cc.

References ApplyTransformationToPoints(), and PreconditionerFromPoints().

Referenced by libmv::two_view::kernel::NormalizedSolver< Solver, Unnormalizer >::Solve().

◆ NormL1()

template<typename TVec >

double libmv::NormL1 ( const TVec & x )

inline

Definition at line 192 of file numeric.h.

Referenced by NormalizeL1().

◆ NormL2()

template<typename TVec >

double libmv::NormL2 ( const TVec & x )

inline

Definition at line 197 of file numeric.h.

Referenced by NormalizeL2().

◆ NormLInfinity()

template<typename TVec >

double libmv::NormLInfinity ( const TVec & x )

inline

Definition at line 202 of file numeric.h.

Referenced by NormalizeLInfinity().

◆ NRealisticCamerasFull()

NViewDataSet libmv::NRealisticCamerasFull	(	int	nviews,
		int	npoints,
		const nViewDatasetConfigator	config )

◆ NRealisticCamerasSparse()

NViewDataSet libmv::NRealisticCamerasSparse	(	int	nviews,
		int	npoints,
		float	view_ratio,
		unsigned	min_projections,
		const nViewDatasetConfigator	config )

◆ Nullspace()

template<typename TMat , typename TVec >

double libmv::Nullspace	(	TMat *	A,
		TVec *	nullspace )

Definition at line 158 of file numeric.h.

Referenced by EightPointSolver(), NViewTriangulate(), NViewTriangulateAlgebraic(), ProjectionsFromFundamental(), libmv::resection::Resection(), and TriangulateDLT().

◆ Nullspace2()

template<typename TMat , typename TVec1 , typename TVec2 >

double libmv::Nullspace2	(	TMat *	A,
		TVec1 *	x1,
		TVec2 *	x2 )

Definition at line 174 of file numeric.h.

Referenced by FundamentalFrom7CorrespondencesLinear().

◆ NViewTriangulate()

template<typename T >

void libmv::NViewTriangulate	(	const Matrix< T, 2, Dynamic > &	x,
		const vector< Matrix< T, 3, 4 > > &	Ps,
		Matrix< T, 4, 1 > *	X )

Definition at line 38 of file nviewtriangulation.h.

References Nullspace(), X, and x.

◆ NViewTriangulateAlgebraic()

template<typename T >

void libmv::NViewTriangulateAlgebraic	(	const Matrix< T, 2, Dynamic > &	x,
		const vector< Matrix< T, 3, 4 > > &	Ps,
		Matrix< T, 4, 1 > *	X )

Definition at line 64 of file nviewtriangulation.h.

References Nullspace(), SkewMatMinimal(), and X.

Referenced by EuclideanIntersect(), and ProjectiveIntersect().

◆ operator<<() [1/2]

std::ostream & libmv::operator<<	(	std::ostream &	os,
		const CameraIntrinsics &	intrinsics )

A human-readable representation of the camera intrinsic parameters.

Definition at line 457 of file libmv/simple_pipeline/camera_intrinsics.cc.

◆ operator<<() [2/2]

std::ostream & libmv::operator<<	(	std::ostream &	os,
		const Feature &	feature )

Definition at line 371 of file detect.cc.

References libmv::Feature::score, libmv::Feature::size, libmv::Feature::x, and libmv::Feature::y.

◆ P_From_KRt()

void libmv::P_From_KRt	(	const Mat3 &	K,
		const Mat3 &	R,
		const Vec3 &	t,
		Mat34 *	P )

Definition at line 26 of file projection.cc.

References K, P, and R.

Referenced by EuclideanIntersect(), MotionFromEssentialChooseSolution(), RootMeanSquareError(), TEST(), and TwoRealisticCameras().

◆ PearsonProductMomentCorrelation()

double libmv::PearsonProductMomentCorrelation	(	const FloatImage &	image_and_gradient1_sampled,
		const FloatImage &	image_and_gradient2_sampled )

inline

Definition at line 29 of file correlation.h.

References libmv::Array3D< T >::Height(), LG, N, sqrt(), libmv::Array3D< T >::Width(), x, and y.

Referenced by libmv::BruteRegionTracker::Track().

◆ PreconditionerFromPoints()

void libmv::PreconditionerFromPoints	(	const Mat &	points,
		Mat3 *	T )

Definition at line 27 of file conditioning.cc.

References e, MeanAndVarianceAlongRows(), and sqrt().

Referenced by FundamentalFromCorrespondences7Point(), NormalizedEightPointSolver(), and NormalizePoints().

◆ PrintArray()

void libmv::PrintArray ( const Array3Df & array )

Definition at line 85 of file array_nd.cc.

References printf.

◆ Project() [1/11]

Mat2X libmv::Project	(	const Mat34 &	P,
		const Mat3X &	X )

inline

Definition at line 164 of file libmv/libmv/multiview/projection.h.

References P, Project(), X, and x.

◆ Project() [2/11]

Mat2X libmv::Project	(	const Mat34 &	P,
		const Mat3X &	X,
		const Vecu &	ids )

inline

Definition at line 170 of file libmv/libmv/multiview/projection.h.

References P, Project(), X, and x.

◆ Project() [3/11]

void libmv::Project	(	const Mat34 &	P,
		const Mat3X &	X,
		const Vecu &	ids,
		Mat2X *	x )

inline

Definition at line 153 of file libmv/libmv/multiview/projection.h.

References P, and X.

◆ Project() [4/11]

void libmv::Project	(	const Mat34 &	P,
		const Mat3X &	X,
		Mat2X *	x )

inline

Definition at line 143 of file libmv/libmv/multiview/projection.h.

References P, and X.

◆ Project() [5/11]

Mat2X libmv::Project	(	const Mat34 &	P,
		const Mat4X &	X )

inline

Definition at line 137 of file libmv/libmv/multiview/projection.h.

References P, Project(), X, and x.

◆ Project() [6/11]

void libmv::Project	(	const Mat34 &	P,
		const Mat4X &	X,
		Mat2X *	x )

inline

Definition at line 129 of file libmv/libmv/multiview/projection.h.

References P, and X.

◆ Project() [7/11]

Vec2 libmv::Project	(	const Mat34 &	P,
		const Vec3 &	X )

inline

Definition at line 101 of file libmv/libmv/multiview/projection.h.

References P, and X.

Referenced by NRealisticCamerasFull(), NRealisticCamerasSparse(), Project(), Project(), Project(), Project(), Project(), libmv::NViewDataSet::Reproject(), RootMeanSquareError(), RootMeanSquareError(), TEST(), and TwoRealisticCameras().

◆ Project() [8/11]

void libmv::Project	(	const Mat34 &	P,
		const Vec3 &	X,
		Vec2 *	x )

inline

Definition at line 123 of file libmv/libmv/multiview/projection.h.

References P, Project(), and X.

◆ Project() [9/11]

void libmv::Project	(	const Mat34 &	P,
		const Vec3 &	X,
		Vec3 *	x )

inline

Definition at line 117 of file libmv/libmv/multiview/projection.h.

References P, Project(), and X.

◆ Project() [10/11]

void libmv::Project	(	const Mat34 &	P,
		const Vec4 &	X,
		Vec2 *	x )

inline

Definition at line 112 of file libmv/libmv/multiview/projection.h.

References P, and X.

◆ Project() [11/11]

void libmv::Project	(	const Mat34 &	P,
		const Vec4 &	X,
		Vec3 *	x )

inline

Definition at line 108 of file libmv/libmv/multiview/projection.h.

References P, and X.

◆ ProjectionChangeAspectRatio()

void libmv::ProjectionChangeAspectRatio	(	const Mat34 &	P,
		const Vec2 &	principal_point,
		double	aspect_ratio,
		double	aspect_ratio_new,
		Mat34 *	P_new )

Definition at line 148 of file projection.cc.

References P, ProjectionShiftPrincipalPoint(), and T.

◆ ProjectionsFromFundamental()

void libmv::ProjectionsFromFundamental	(	const Mat3 &	F,
		Mat34 *	P1,
		Mat34 *	P2 )

Definition at line 45 of file fundamental.cc.

References CrossProductMatrix(), F, and Nullspace().

Referenced by ProjectiveReconstructTwoFrames().

◆ ProjectionShiftPrincipalPoint()

void libmv::ProjectionShiftPrincipalPoint	(	const Mat34 &	P,
		const Vec2 &	principal_point,
		const Vec2 &	principal_point_new,
		Mat34 *	P_new )

Definition at line 135 of file projection.cc.

References P, and T.

Referenced by ProjectionChangeAspectRatio().

◆ ProjectiveBundle()

void libmv::ProjectiveBundle	(	const Tracks &	tracks,
		ProjectiveReconstruction *	reconstruction )

Refine camera poses and 3D coordinates using bundle adjustment.

This routine adjusts all cameras and points in *reconstruction. This assumes a full observation for reconstructed tracks; this implies that if there is a reconstructed 3D point (a bundle) for a track, then all markers for that track will be included in the minimization. tracks should contain markers used in the initial reconstruction.

The cameras and bundles (homogeneous 3D points) are refined in-place.

Note: This assumes an outlier-free set of markers.; This assumes that radial distortion is already corrected for, but does not assume that that other intrinsics are.

See also: ProjectiveResect, ProjectiveIntersect, ProjectiveReconstructTwoFrames

Definition at line 852 of file bundle.cc.

◆ ProjectiveCompleteReconstruction()

void libmv::ProjectiveCompleteReconstruction	(	const Tracks &	tracks,
		ProjectiveReconstruction *	reconstruction )

Estimate camera matrices and homogeneous 3D coordinates for all frames and tracks.

This method should be used once there is an initial reconstruction in place, for example by reconstructing from two frames that have a sufficient baseline and number of tracks in common. This function iteratively triangulates points that are visible by cameras that have their pose estimated, then resections (i.e. estimates the pose) of cameras that are not estimated yet that can see triangulated points. This process is repeated until all points and cameras are estimated. Periodically, bundle adjustment is run to ensure a quality reconstruction.

tracks should contain markers used in the reconstruction. reconstruction should contain at least some 3D points or some estimated cameras. The minimum number of cameras is two (with no 3D points) and the minimum number of 3D points (with no estimated cameras) is 5.

See also: ProjectiveResect, ProjectiveIntersect, ProjectiveBundle

Definition at line 352 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References InternalCompleteReconstruction(), and reconstruction.

◆ ProjectiveIntersect()

bool libmv::ProjectiveIntersect	(	const vector< Marker > &	markers,
		ProjectiveReconstruction *	reconstruction )

Estimate the homogeneous coordinates of a track by intersecting rays.

This takes a set of markers, where each marker is for the same track but different images, and reconstructs the homogeneous 3D position of that track. Each of the frames for which there is a marker for that track must have a corresponding reconstructed camera in *reconstruction.

markers should contain all markers belonging to tracks visible in all frames. reconstruction should contain the cameras for all frames. The new points will be inserted in reconstruction.

Note: This assumes that radial distortion is already corrected for, but does not assume that e.g. focal length and principal point are accounted for.; This assumes an outlier-free set of markers.

See also: Resect

Definition at line 203 of file intersect.cc.

References libmv::ProjectiveReconstruction::CameraForImage(), libmv::ProjectiveReconstruction::InsertPoint(), LG, LOG, markers, NViewTriangulateAlgebraic(), libmv::ProjectiveCamera::P, params, reconstruction, X, and x.

◆ ProjectiveReconstructTwoFrames()

bool libmv::ProjectiveReconstructTwoFrames	(	const vector< Marker > &	markers,
		ProjectiveReconstruction *	reconstruction )

Initialize the reconstruction using two frames.

markers should contain all markers belonging to tracks visible in both frames. An estimate of the projection matrices for the two frames will get added to the reconstruction.

Note: The two frames need to have both enough parallax and enough common tracks for accurate reconstruction. At least 8 tracks are suggested.; The origin of the coordinate system is defined to be the camera of the first keyframe.; This assumes the markers are already corrected for radial distortion.; This assumes an outlier-free set of markers.

See also: ProjectiveResect, ProjectiveIntersect, ProjectiveBundle

Definition at line 142 of file initialize_reconstruction.cc.

References CoordinatesForMarkersInImage(), F, libmv::ProjectiveReconstruction::InsertCamera(), LG, Map, markers, NormalizedEightPointSolver(), params, ProjectionsFromFundamental(), and reconstruction.

◆ ProjectiveReprojectionError()

double libmv::ProjectiveReprojectionError	(	const Tracks &	image_tracks,
		const ProjectiveReconstruction &	reconstruction,
		const CameraIntrinsics &	intrinsics )

Definition at line 337 of file intern/libmv/libmv/simple_pipeline/pipeline.cc.

References InternalReprojectionError(), and reconstruction.

◆ ProjectiveResect()

bool libmv::ProjectiveResect	(	const vector< Marker > &	markers,
		ProjectiveReconstruction *	reconstruction )

Estimate the projective pose of a camera from 2D to 3D correspondences.

This takes a set of markers visible in one frame (which is the one to resection), such that the markers are also reconstructed in a projective frame in the reconstruction object, and solves for the projective matrix of the camera for that frame.

markers should contain markers belonging to tracks visible in the one frame to be resectioned. Each of the tracks associated with the markers must have a corresponding reconstructed homogeneous 3D position in the *reconstruction object.

*reconstruction should contain the homogeneous 3D points associated with the tracks for the markers present in markers.

Note: This assumes radial distortion has already been corrected, but otherwise works for uncalibrated sequences.; This assumes an outlier-free set of markers.

Returns: True if the resection was successful, false otherwise.

See also: ProjectiveIntersect, ProjectiveReconstructTwoFrames

Definition at line 225 of file resect.cc.

References libmv::ProjectiveReconstruction::InsertCamera(), LG, Map, markers, P, params, libmv::ProjectiveReconstruction::PointForTrack(), reconstruction, libmv::resection::Resection(), and libmv::ProjectivePoint::X.

◆ RegionIsInBounds() [1/2]

static bool libmv::RegionIsInBounds	(	const FloatImage &	image1,
		double	x,
		double	y,
		int	half_window_size )

static

Definition at line 69 of file klt_region_tracker.cc.

References ceil(), libmv::Array3D< T >::cols(), floor(), and libmv::Array3D< T >::rows().

Referenced by libmv::BruteRegionTracker::Track(), libmv::KltRegionTracker::Track(), and libmv::TrkltRegionTracker::Track().

◆ RegionIsInBounds() [2/2]

static bool libmv::RegionIsInBounds	(	const FloatImage &	image1,
		double	x,
		double	y,
		int	half_window_size )

static

Definition at line 86 of file trklt_region_tracker.cc.

References ceil(), libmv::Array3D< T >::cols(), floor(), and libmv::Array3D< T >::rows().

◆ RelativeCameraMotion()

void libmv::RelativeCameraMotion	(	const Mat3 &	R1,
		const Vec3 &	t1,
		const Mat3 &	R2,
		const Vec3 &	t2,
		Mat3 *	R,
		Vec3 *	t )

Compute the relative camera motion between two cameras.

Given the motion parameters of two cameras, computes the motion parameters of the second one assuming the first one to be at the origin. If T1 and T2 are the camera motions, the computed relative motion is T = T2 T1^{-1}

Definition at line 282 of file fundamental.cc.

References R.

Referenced by EssentialFromRt().

◆ reshape()

template<typename TMat , typename TDest >

void libmv::reshape	(	const TMat &	a,
		int	rows,
		int	cols,
		TDest *	b )

Definition at line 443 of file numeric.h.

References b.

Referenced by libmv::resection::Resection().

◆ RGB2GRAY()

template<typename T >

T libmv::RGB2GRAY	(	const T	r,
		const T	g,
		const T	b )

inline

Definition at line 32 of file image_converter.h.

References b.

Referenced by Rgb2Gray().

◆ Rgb2Gray()

template<class ImageIn , class ImageOut >

void libmv::Rgb2Gray	(	const ImageIn &	imaIn,
		ImageOut *	imaOut )

Definition at line 46 of file image_converter.h.

References RGB2GRAY().

Referenced by Detect().

◆ RootMeanSquareError() [1/2]

double libmv::RootMeanSquareError	(	const Mat2X &	x_image,
		const Mat3X &	X_world,
		const Mat3 &	K,
		const Mat3 &	R,
		const Vec3 &	t )

inline

Estimates the root mean square error (2D)

Definition at line 219 of file libmv/libmv/multiview/projection.h.

References K, P, P_From_KRt(), Project(), and R.

◆ RootMeanSquareError() [2/2]

double libmv::RootMeanSquareError	(	const Mat2X &	x_image,
		const Mat4X &	X_world,
		const Mat34 &	P )

inline

Estimates the root mean square error (2D)

Definition at line 210 of file libmv/libmv/multiview/projection.h.

References P, and Project().

Referenced by libmv::euclidean_resection::EuclideanResectionEPnP().

◆ RotationAroundX()

Mat3 libmv::RotationAroundX ( double angle )

Definition at line 25 of file numeric.cc.

References R.

Referenced by TEST(), and TwoRealisticCameras().

◆ RotationAroundY()

Mat3 libmv::RotationAroundY ( double angle )

Definition at line 37 of file numeric.cc.

References R.

◆ RotationAroundZ()

Mat3 libmv::RotationAroundZ ( double angle )

Definition at line 49 of file numeric.cc.

References R.

Referenced by TEST(), and TwoRealisticCameras().

◆ RotationFromEulerVector()

Mat3 libmv::RotationFromEulerVector ( Vec3 euler_vector )

inline

Returns the rotaiton matrix built from given vector of euler angles.

Definition at line 484 of file numeric.h.

References cos(), CrossProductMatrix(), and w().

Referenced by EuclideanResect().

◆ RotationRodrigues()

Mat3 libmv::RotationRodrigues ( const Vec3 & axis )

Definition at line 61 of file numeric.cc.

References cos(), CrossProductMatrix(), W, and w().

◆ safePutPixel() [1/2]

template<class Image , class Color >

void libmv::safePutPixel	(	int	yc,
		int	xc,
		const Color &	col,
		Image *	pim )

inline

Put the pixel in the image to the given color only if the point (xc,yc) is inside the image.

Definition at line 37 of file image_drawing.h.

References col.

Referenced by DrawCircle(), DrawEllipse(), and DrawLine().

◆ safePutPixel() [2/2]

template<class Image , class Color >

void libmv::safePutPixel	(	int	yc,
		int	xc,
		const Color *	col,
		Image *	pim )

inline

Put the pixel in the image to the given color only if the point (xc,yc) is inside the image. This function support multi-channel color

Note: The color pointer col must have size as the image depth

Definition at line 49 of file image_drawing.h.

References col.

◆ SampleLinear() [1/2]

template<typename T >

T libmv::SampleLinear	(	const Array3D< T > &	image,
		float	y,
		float	x,
		int	v = 0 )

inline

Linear interpolation.

Definition at line 55 of file libmv/libmv/image/sample.h.

References image(), LinearInitAxis(), T, and v.

Referenced by ComputeTrackingEquation(), ComputeTrackingEquation(), SamplePattern(), and SamplePlanarPatch().

◆ SampleLinear() [2/2]

template<typename T >

void libmv::SampleLinear	(	const Array3D< T > &	image,
		float	y,
		float	x,
		T *	sample )

inline

Linear interpolation, of all channels. The sample is assumed to have the same size as the number of channels in image.

Definition at line 74 of file libmv/libmv/image/sample.h.

References image(), LinearInitAxis(), sample, and T.

◆ SampleNearest()

template<typename T >

T libmv::SampleNearest	(	const Array3D< T > &	image,
		float	y,
		float	x,
		int	v = 0 )

inline

Nearest neighbor interpolation.

Definition at line 30 of file libmv/libmv/image/sample.h.

References image(), int, and v.

◆ SamplePattern()

void libmv::SamplePattern	(	const FloatImage &	image,
		double	x,
		double	y,
		int	half_width,
		int	channels,
		FloatImage *	sampled )

inline

Definition at line 119 of file libmv/libmv/image/sample.h.

References channels(), libmv::Array3D< T >::Resize(), and SampleLinear().

Referenced by libmv::BruteRegionTracker::Track().

◆ SamplePlanarPatch()

bool libmv::SamplePlanarPatch	(	const FloatImage &	image,
		const double *	xs,
		const double *	ys,
		int	num_samples_x,
		int	num_samples_y,
		FloatImage *	mask,
		FloatImage *	patch,
		double *	warped_position_x,
		double *	warped_position_y )

Definition at line 1564 of file libmv/tracking/track_region.cc.

References LG, libmv::Array3D< T >::Resize(), and SampleLinear().

Referenced by libmv_samplePlanarPatchByte().

◆ SampsonDistance()

double libmv::SampsonDistance	(	const Mat &	F,
		const Vec2 &	x1,
		const Vec2 &	x2 )

Approximate squared reprojection errror.

See page 287 of HZ equation 11.9. This avoids triangulating the point, relying only on the entries in F.

Definition at line 241 of file fundamental.cc.

References Square, x, and y.

◆ SelectKeyframesBasedOnGRICAndVariance()

void libmv::SelectKeyframesBasedOnGRICAndVariance	(	const Tracks &	_tracks,
		const CameraIntrinsics &	intrinsics,
		vector< int > &	keyframes )

Definition at line 130 of file keyframe_selection.cc.

References A, BUNDLE_NO_CONSTRAINTS, BUNDLE_NO_INTRINSICS, CoordinatesForMarkersInImage(), double(), e, EstimateFundamentalFromCorrespondences(), EstimateHomography2DFromCorrespondences(), EuclideanBundleCommonIntrinsics(), EuclideanIntersect(), libmv::BundleEvaluation::evaluate_jacobian, F, FundamentalToEssential(), H, I, libmv::ProjectiveReconstruction::InsertCamera(), K, LG, libmv::Tracks::MarkersForTracksInBothImages(), libmv::Tracks::MarkersInBothImages(), libmv::Tracks::MaxImage(), MotionFromEssentialAndCorrespondence(), N, libmv::CameraIntrinsics::NormalizedToImageSpace(), libmv::ProjectiveReconstruction::PointForTrack(), R, reconstruction, Square, SymmetricEpipolarDistance(), and SymmetricGeometricDistance().

Referenced by TEST(), TEST(), TEST(), TEST(), TEST(), and TEST().

◆ SkewMat()

Mat3 libmv::SkewMat ( const Vec3 & x )

inline

Returns the skew anti-symmetric matrix of a vector.

Definition at line 470 of file numeric.h.

References x.

Referenced by libmv::homography::homography2D::AlgebraicError::Residuals().

◆ SkewMatMinimal()

Mat23 libmv::SkewMatMinimal ( const Vec2 & x )

inline

Returns the skew anti-symmetric matrix of a vector with only the first two (independent) lines

Definition at line 477 of file numeric.h.

References x.

Referenced by NViewTriangulateAlgebraic().

◆ SolveCubicPolynomial() [1/2]

template<typename Real >

int libmv::SolveCubicPolynomial	(	const Real *	coeffs,
		Real *	solutions )

Definition at line 108 of file poly.h.

References b, and SolveCubicPolynomial().

◆ SolveCubicPolynomial() [2/2]

template<typename Real >

int libmv::SolveCubicPolynomial	(	Real	a,
		Real	b,
		Real	c,
		Real *	x0,
		Real *	x1,
		Real *	x2 )

Definition at line 40 of file poly.h.

References A, B, b, cos(), fabs(), M_PI, norm(), pow(), R, and sqrt().

Referenced by F_FromCorrespondance_2points(), FundamentalFrom7CorrespondencesLinear(), and SolveCubicPolynomial().

◆ SplitChannels()

void libmv::SplitChannels	(	const Array3Df &	input,
		Array3Df *	channel0,
		Array3Df *	channel1,
		Array3Df *	channel2 )

Definition at line 68 of file array_nd.cc.

References libmv::Array3D< T >::Resize().

◆ Square()

template<typename T >

T libmv::Square ( T x )

inline

Definition at line 249 of file numeric.h.

References x.

◆ SVD()

template<typename TMat , typename TVec >

void libmv::SVD	(	TMat *	,
		Vec *	,
		Mat *	,
		Mat *	)

inline

Definition at line 149 of file numeric.h.

◆ SymmetricEpipolarDistance()

double libmv::SymmetricEpipolarDistance	(	const Mat &	F,
		const Vec2 &	x1,
		const Vec2 &	x2 )

Calculates the sum of the distances from the points to the epipolar lines.

See page 288 of HZ equation 11.10.

Definition at line 253 of file fundamental.cc.

References Square, x, and y.

Referenced by SelectKeyframesBasedOnGRICAndVariance().

◆ SymmetricGeometricDistance()

double libmv::SymmetricGeometricDistance	(	const Mat3 &	H,
		const Vec2 &	x1,
		const Vec2 &	x2 )

Calculate symmetric geometric cost:

D(H * x1, x2)^2 + D(H^-1 * x2, x1)

Definition at line 448 of file libmv/multiview/homography.cc.

References H, x, and y.

Referenced by SelectKeyframesBasedOnGRICAndVariance().

◆ TemplatedTrackRegion()

template<typename Warp >

void libmv::TemplatedTrackRegion	(	const FloatImage &	image1,
		const FloatImage &	image2,
		const double *	x1,
		const double *	y1,
		const TrackRegionOptions &	options,
		double *	x2,
		double *	y2,
		TrackRegionResult *	result )

◆ TEST() [1/18]

libmv::TEST	(	Detect	,
		FASTSinglePointTest	)

Definition at line 141 of file detect_test.cc.

References libmv::DetectOptions::FAST, and options.

◆ TEST() [2/18]

libmv::TEST	(	Detect	,
		HarrisSinglePointTest	)

Definition at line 203 of file detect_test.cc.

References libmv::DetectOptions::HARRIS, and options.

◆ TEST() [3/18]

libmv::TEST	(	Detect	,
		HarrisSingleTriangleTest	)

Definition at line 216 of file detect_test.cc.

References e, libmv::DetectOptions::HARRIS, and options.

◆ TEST() [4/18]

libmv::TEST	(	Intersect	,
		EuclideanIntersect	)

Definition at line 32 of file intersect_test.cc.

References b, DistanceLInfinity(), e, EuclideanIntersect(), libmv::ProjectiveReconstruction::InsertCamera(), markers, MatrixColumn(), P_From_KRt(), libmv::ProjectiveReconstruction::PointForTrack(), Project(), reconstruction, RotationAroundX(), RotationAroundZ(), libmv::ProjectivePoint::X, X, libmv::Marker::x, X1, and X2.

◆ TEST() [5/18]

libmv::TEST	(	KeyframeSelection	,
		CopterManualKeyFrames	)

Definition at line 187 of file keyframe_selection_test.cc.

References EXPECT_EQ(), libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), markers, SelectKeyframesBasedOnGRICAndVariance(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), and tracks.

◆ TEST() [6/18]

libmv::TEST	(	KeyframeSelection	,
		ElevatorManualKeyframesFrames	)

Definition at line 241 of file keyframe_selection_test.cc.

References EXPECT_EQ(), libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), markers, SelectKeyframesBasedOnGRICAndVariance(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), and tracks.

◆ TEST() [7/18]

libmv::TEST	(	KeyframeSelection	,
		ElevatorReconstructionVarianceTest	)

Definition at line 398 of file keyframe_selection_test.cc.

References EXPECT_EQ(), libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), markers, SelectKeyframesBasedOnGRICAndVariance(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), and tracks.

◆ TEST() [8/18]

libmv::TEST	(	KeyframeSelection	,
		FabrikEingangFarFrames	)

Definition at line 136 of file keyframe_selection_test.cc.

References EXPECT_EQ(), libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), markers, SelectKeyframesBasedOnGRICAndVariance(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), and tracks.

◆ TEST() [9/18]

libmv::TEST	(	KeyframeSelection	,
		FabrikEingangNeighborFrames	)

Definition at line 63 of file keyframe_selection_test.cc.

References EXPECT_EQ(), libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), markers, SelectKeyframesBasedOnGRICAndVariance(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), and tracks.

◆ TEST() [10/18]

libmv::TEST	(	KeyframeSelection	,
		SyntheticNeighborFrame	)

Definition at line 31 of file keyframe_selection_test.cc.

References EXPECT_EQ(), libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), SelectKeyframesBasedOnGRICAndVariance(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), and tracks.

◆ TEST() [11/18]

libmv::TEST	(	ModalSolver	,
		SyntheticCubeSceneMotion	)

Definition at line 32 of file modal_solver_test.cc.

References BUNDLE_NO_INTRINSICS, BUNDLE_NO_TRANSLATION, libmv::ProjectiveReconstruction::CameraForImage(), e, EuclideanBundleCommonIntrinsics(), libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), markers, ModalSolver(), NULL, reconstruction, libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), and tracks.

◆ TEST() [12/18]

libmv::TEST	(	PolynomialCameraIntrinsics	,
		ApplyIntrinsics	)

Definition at line 58 of file camera_intrinsics_test.cc.

References libmv::PolynomialCameraIntrinsics::ApplyIntrinsics(), e, N, libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), and libmv::PolynomialCameraIntrinsics::SetRadialDistortion().

◆ TEST() [13/18]

libmv::TEST	(	PolynomialCameraIntrinsics	,
		ApplyIsInvertibleSimple	)

Definition at line 170 of file camera_intrinsics_test.cc.

References libmv::PolynomialCameraIntrinsics::ApplyIntrinsics(), e, libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), LG, libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), x, and y.

◆ TEST() [14/18]

libmv::TEST	(	PolynomialCameraIntrinsics	,
		IdentityDistortBuffer	)

Definition at line 194 of file camera_intrinsics_test.cc.

References libmv::ArrayND< T, N >::Data(), libmv::CameraIntrinsics::DistortBuffer(), DrawLine(), EXPECT_EQ(), image(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetImageSize(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), w(), x, and y.

◆ TEST() [15/18]

libmv::TEST	(	PolynomialCameraIntrinsics	,
		IdentityUndistortBuffer	)

Definition at line 226 of file camera_intrinsics_test.cc.

References libmv::ArrayND< T, N >::Data(), DrawLine(), EXPECT_EQ(), image(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetImageSize(), libmv::CameraIntrinsics::SetPrincipalPoint(), libmv::PolynomialCameraIntrinsics::SetRadialDistortion(), libmv::CameraIntrinsics::UndistortBuffer(), w(), x, and y.

◆ TEST() [16/18]

libmv::TEST	(	PolynomialCameraIntrinsics	,
		InvertIntrinsics	)

Definition at line 114 of file camera_intrinsics_test.cc.

References e, libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), N, libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), and libmv::PolynomialCameraIntrinsics::SetRadialDistortion().

◆ TEST() [17/18]

libmv::TEST	(	PolynomialCameraIntrinsics	,
		InvertOnFocalCenter	)

Definition at line 45 of file camera_intrinsics_test.cc.

References e, libmv::PolynomialCameraIntrinsics::InvertIntrinsics(), libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), and libmv::PolynomialCameraIntrinsics::SetRadialDistortion().

◆ TEST() [18/18]

libmv::TEST	(	PolynomialCameraIntrinsics2	,
		ApplyOnFocalCenter	)

Definition at line 32 of file camera_intrinsics_test.cc.

References libmv::PolynomialCameraIntrinsics::ApplyIntrinsics(), e, libmv::CameraIntrinsics::SetFocalLength(), libmv::CameraIntrinsics::SetPrincipalPoint(), and libmv::PolynomialCameraIntrinsics::SetRadialDistortion().

◆ TrackRegion()

void libmv::TrackRegion	(	const FloatImage &	image1,
		const FloatImage &	image2,
		const double *	x1,
		const double *	y1,
		const TrackRegionOptions &	options,
		double *	x2,
		double *	y2,
		TrackRegionResult *	result )

Definition at line 1540 of file libmv/tracking/track_region.cc.

References HANDLE_MODE.

◆ TransposeInPlace()

template<class TA >

void libmv::TransposeInPlace ( TA * A )

inline

Definition at line 187 of file numeric.h.

◆ TriangulateDLT() [1/2]

void libmv::TriangulateDLT	(	const Mat34 &	P1,
		const Vec2 &	x1,
		const Mat34 &	P2,
		const Vec2 &	x2,
		Vec3 *	X_euclidean )

Definition at line 44 of file triangulation.cc.

References HomogeneousToEuclidean(), and TriangulateDLT().

◆ TriangulateDLT() [2/2]

void libmv::TriangulateDLT	(	const Mat34 &	P1,
		const Vec2 &	x1,
		const Mat34 &	P2,
		const Vec2 &	x2,
		Vec4 *	X_homogeneous )

Definition at line 29 of file triangulation.cc.

References Nullspace().

Referenced by MotionFromEssentialChooseSolution(), and TriangulateDLT().

◆ TwoRealisticCameras()

TwoViewDataSet libmv::TwoRealisticCameras ( bool same_K )

Definition at line 31 of file test_data_sets.cc.

References libmv::TwoViewDataSet::F, FundamentalFromProjections(), libmv::TwoViewDataSet::K1, libmv::TwoViewDataSet::K2, libmv::TwoViewDataSet::P1, libmv::TwoViewDataSet::P2, P_From_KRt(), Project(), libmv::TwoViewDataSet::R1, libmv::TwoViewDataSet::R2, RotationAroundX(), RotationAroundZ(), libmv::TwoViewDataSet::t1, libmv::TwoViewDataSet::t2, libmv::TwoViewDataSet::X, libmv::TwoViewDataSet::x1, and libmv::TwoViewDataSet::x2.

◆ VerticalStack()

template<typename TTop , typename TBot , typename TStacked >

void libmv::VerticalStack	(	const TTop &	top,
		const TBot &	bottom,
		TStacked *	stacked )

Definition at line 418 of file numeric.h.

References top.

Referenced by FundamentalFromProjections().

◆ VStack()

template<typename T , int RowsLeft, int RowsRight, int ColsLeft, int ColsRight>

Eigen::Matrix< T, COLS, ROWS > libmv::VStack	(	const Eigen::Matrix< T, ColsLeft, RowsLeft > &	top,
		const Eigen::Matrix< T, ColsRight, RowsRight > &	bottom )

Definition at line 398 of file numeric.h.

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