colmap::TwoViewGeometry Struct Reference

#include <two_view_geometry.h>

Classes
struct	Options

Public Types
enum	ConfigurationType {   UNDEFINED = 0 , DEGENERATE = 1 , CALIBRATED = 2 , UNCALIBRATED = 3 ,   PLANAR = 4 , PANORAMIC = 5 , PLANAR_OR_PANORAMIC = 6 , WATERMARK = 7 ,   MULTIPLE = 8 }

Public Member Functions
	TwoViewGeometry ()
void	Invert ()
void	Estimate (const Camera &camera1, const std::vector< Eigen::Vector2d > &points1, const Camera &camera2, const std::vector< Eigen::Vector2d > &points2, const FeatureMatches &matches, const Options &options)
void	EstimateMultiple (const Camera &camera1, const std::vector< Eigen::Vector2d > &points1, const Camera &camera2, const std::vector< Eigen::Vector2d > &points2, const FeatureMatches &matches, const Options &options)
bool	EstimateRelativePose (const Camera &camera1, const std::vector< Eigen::Vector2d > &points1, const Camera &camera2, const std::vector< Eigen::Vector2d > &points2)
void	EstimateCalibrated (const Camera &camera1, const std::vector< Eigen::Vector2d > &points1, const Camera &camera2, const std::vector< Eigen::Vector2d > &points2, const FeatureMatches &matches, const Options &options)
void	EstimateUncalibrated (const Camera &camera1, const std::vector< Eigen::Vector2d > &points1, const Camera &camera2, const std::vector< Eigen::Vector2d > &points2, const FeatureMatches &matches, const Options &options)

Static Public Member Functions
static bool	DetectWatermark (const Camera &camera1, const std::vector< Eigen::Vector2d > &points1, const Camera &camera2, const std::vector< Eigen::Vector2d > &points2, const size_t num_inliers, const std::vector< char > &inlier_mask, const Options &options)

Public Attributes
int	config
Eigen::Matrix3d	E
Eigen::Matrix3d	F
Eigen::Matrix3d	H
Eigen::Vector4d	qvec
Eigen::Vector3d	tvec
FeatureMatches	inlier_matches
double	tri_angle

Detailed Description

Definition at line 19 of file two_view_geometry.h.

Member Enumeration Documentation

ConfigurationType

enum colmap::TwoViewGeometry::ConfigurationType

Enumerator
UNDEFINED
DEGENERATE
CALIBRATED
UNCALIBRATED
PLANAR
PANORAMIC
PLANAR_OR_PANORAMIC
WATERMARK
MULTIPLE

Definition at line 21 of file two_view_geometry.h.

Constructor & Destructor Documentation

TwoViewGeometry()

colmap::TwoViewGeometry::TwoViewGeometry ( )

inline

Definition at line 97 of file two_view_geometry.h.

Member Function Documentation

DetectWatermark()

bool colmap::TwoViewGeometry::DetectWatermark ( const Camera &  camera1, const std::vector< Eigen::Vector2d > &  points1, const Camera &  camera2, const std::vector< Eigen::Vector2d > &  points2, const size_t  num_inliers, const std::vector< char > &  inlier_mask, const Options &  options  )

static

Definition at line 429 of file two_view_geometry.cc.

References colmap::TwoViewGeometry::Options::Check(), colmap::LORANSAC< Estimator, LocalEstimator, SupportMeasurer, Sampler >::Estimate(), colmap::Camera::Height(), colmap::RANSACOptions::min_inlier_ratio, colmap::TwoViewGeometry::Options::ransac_options, colmap::TwoViewGeometry::Options::watermark_border_size, colmap::TwoViewGeometry::Options::watermark_min_inlier_ratio, and colmap::Camera::Width().

Referenced by EstimateCalibrated(), and EstimateUncalibrated().

Estimate()

void colmap::TwoViewGeometry::Estimate	(	const Camera &	camera1,
		const std::vector< Eigen::Vector2d > &	points1,
		const Camera &	camera2,
		const std::vector< Eigen::Vector2d > &	points2,
		const FeatureMatches &	matches,
		const Options &	options
	)

Definition at line 113 of file two_view_geometry.cc.

References EstimateCalibrated(), EstimateUncalibrated(), and colmap::Camera::HasPriorFocalLength().

Referenced by EstimateMultiple().

EstimateCalibrated()

void colmap::TwoViewGeometry::EstimateCalibrated	(	const Camera &	camera1,
		const std::vector< Eigen::Vector2d > &	points1,
		const Camera &	camera2,
		const std::vector< Eigen::Vector2d > &	points2,
		const FeatureMatches &	matches,
		const Options &	options
	)

Definition at line 230 of file two_view_geometry.cc.

References colmap::TwoViewGeometry::Options::Check(), config, colmap::TwoViewGeometry::Options::detect_watermark, DetectWatermark(), E, colmap::LORANSAC< Estimator, LocalEstimator, SupportMeasurer, Sampler >::Estimate(), F, H, colmap::Camera::ImageToWorld(), colmap::Camera::ImageToWorldThreshold(), inlier_matches, colmap::RANSACOptions::max_error, colmap::TwoViewGeometry::Options::max_H_inlier_ratio, colmap::TwoViewGeometry::Options::min_E_F_inlier_ratio, colmap::TwoViewGeometry::Options::min_num_inliers, PLANAR_OR_PANORAMIC, and colmap::TwoViewGeometry::Options::ransac_options.

Referenced by Estimate().

EstimateMultiple()

void colmap::TwoViewGeometry::EstimateMultiple	(	const Camera &	camera1,
		const std::vector< Eigen::Vector2d > &	points1,
		const Camera &	camera2,
		const std::vector< Eigen::Vector2d > &	points2,
		const FeatureMatches &	matches,
		const Options &	options
	)

Definition at line 126 of file two_view_geometry.cc.

References config, Estimate(), inlier_matches, and colmap::TwoViewGeometry::Options::multiple_ignore_watermark.

EstimateRelativePose()

bool colmap::TwoViewGeometry::EstimateRelativePose	(	const Camera &	camera1,
		const std::vector< Eigen::Vector2d > &	points1,
		const Camera &	camera2,
		const std::vector< Eigen::Vector2d > &	points2
	)

Definition at line 167 of file two_view_geometry.cc.

References colmap::CalculateTriangulationAngles(), CALIBRATED, colmap::Camera::CalibrationMatrix(), config, E, H, colmap::Camera::ImageToWorld(), inlier_matches, colmap::Median(), PANORAMIC, PLANAR, PLANAR_OR_PANORAMIC, colmap::PoseFromEssentialMatrix(), colmap::PoseFromHomographyMatrix(), qvec, colmap::RotationMatrixToQuaternion(), tri_angle, tvec, and UNCALIBRATED.

EstimateUncalibrated()

void colmap::TwoViewGeometry::EstimateUncalibrated	(	const Camera &	camera1,
		const std::vector< Eigen::Vector2d > &	points1,
		const Camera &	camera2,
		const std::vector< Eigen::Vector2d > &	points2,
		const FeatureMatches &	matches,
		const Options &	options
	)

Definition at line 365 of file two_view_geometry.cc.

References colmap::TwoViewGeometry::Options::Check(), config, colmap::TwoViewGeometry::Options::detect_watermark, DetectWatermark(), colmap::LORANSAC< Estimator, LocalEstimator, SupportMeasurer, Sampler >::Estimate(), F, H, inlier_matches, colmap::TwoViewGeometry::Options::max_H_inlier_ratio, colmap::TwoViewGeometry::Options::min_num_inliers, and colmap::TwoViewGeometry::Options::ransac_options.

Referenced by Estimate().

Invert()

void colmap::TwoViewGeometry::Invert

(

)

Definition at line 99 of file two_view_geometry.cc.

References E, F, H, inlier_matches, colmap::InvertPose(), qvec, std::swap(), and tvec.

Referenced by BOOST_AUTO_TEST_CASE(), colmap::Database::ReadTwoViewGeometry(), and colmap::Database::WriteTwoViewGeometry().

Member Data Documentation

config

int colmap::TwoViewGeometry::config

Definition at line 203 of file two_view_geometry.h.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateCalibrated(), EstimateMultiple(), EstimateRelativePose(), EstimateUncalibrated(), colmap::MatchGuidedSiftFeaturesCPU(), colmap::MatchGuidedSiftFeaturesGPU(), colmap::Database::ReadTwoViewGeometries(), colmap::Database::ReadTwoViewGeometry(), and colmap::Database::WriteTwoViewGeometry().

E

Eigen::Matrix3d colmap::TwoViewGeometry::E

Definition at line 206 of file two_view_geometry.h.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateCalibrated(), EstimateRelativePose(), Invert(), colmap::Database::ReadTwoViewGeometries(), colmap::Database::ReadTwoViewGeometry(), and colmap::Database::WriteTwoViewGeometry().

F

Eigen::Matrix3d colmap::TwoViewGeometry::F

Definition at line 208 of file two_view_geometry.h.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateCalibrated(), EstimateUncalibrated(), Invert(), colmap::MatchGuidedSiftFeaturesCPU(), colmap::MatchGuidedSiftFeaturesGPU(), colmap::Database::ReadTwoViewGeometries(), colmap::Database::ReadTwoViewGeometry(), and colmap::Database::WriteTwoViewGeometry().

H

Eigen::Matrix3d colmap::TwoViewGeometry::H

Definition at line 210 of file two_view_geometry.h.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateCalibrated(), EstimateRelativePose(), EstimateUncalibrated(), Invert(), colmap::MatchGuidedSiftFeaturesCPU(), colmap::MatchGuidedSiftFeaturesGPU(), colmap::Database::ReadTwoViewGeometries(), colmap::Database::ReadTwoViewGeometry(), and colmap::Database::WriteTwoViewGeometry().

inlier_matches

FeatureMatches colmap::TwoViewGeometry::inlier_matches

Definition at line 217 of file two_view_geometry.h.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateCalibrated(), EstimateMultiple(), EstimateRelativePose(), EstimateUncalibrated(), Invert(), colmap::MatchGuidedSiftFeaturesCPU(), colmap::MatchGuidedSiftFeaturesGPU(), colmap::Database::ReadTwoViewGeometries(), colmap::Database::ReadTwoViewGeometry(), and colmap::Database::WriteTwoViewGeometry().

qvec

Eigen::Vector4d colmap::TwoViewGeometry::qvec

Definition at line 213 of file two_view_geometry.h.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateRelativePose(), Invert(), colmap::Database::ReadTwoViewGeometries(), colmap::Database::ReadTwoViewGeometry(), colmap::IncrementalMapper::RegisterInitialImagePair(), and colmap::Database::WriteTwoViewGeometry().

tri_angle

double colmap::TwoViewGeometry::tri_angle

Definition at line 220 of file two_view_geometry.h.

Referenced by EstimateRelativePose().

tvec

Eigen::Vector3d colmap::TwoViewGeometry::tvec

Definition at line 214 of file two_view_geometry.h.

Referenced by BOOST_AUTO_TEST_CASE(), EstimateRelativePose(), Invert(), colmap::Database::ReadTwoViewGeometries(), colmap::Database::ReadTwoViewGeometry(), colmap::IncrementalMapper::RegisterInitialImagePair(), and colmap::Database::WriteTwoViewGeometry().

---

The documentation for this struct was generated from the following files:

• /root/ACloudViewer/libs/Reconstruction/src/estimators/two_view_geometry.h
• /root/ACloudViewer/libs/Reconstruction/src/estimators/two_view_geometry.cc