MVE - Multi-View Environment mve-devel
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Classes | Typedefs | Functions
sfm::bundler Namespace Reference

SfM bundler components. More...

Classes

struct  FeatureReference
 References a 2D feature in a specific view. More...
 
class  Features
 Bundler Component: Computes image features for every view in the scene and stores the features in the viewports. More...
 
class  Incremental
 Bundler Component: Incremental structure-from-motion. More...
 
class  InitialPair
 Tries to find an initial viewport pair to start the reconstruction with. More...
 
class  Intrinsics
 Bundler Component: Obtains initial intrinsic paramters for the viewports from either the EXIF embeddings or from the MVE views. More...
 
class  Matching
 Bundler Component: Matching between views in an MVE scene. More...
 
struct  SurveyObservation
 
struct  SurveyPoint
 Representation of a survey point. More...
 
struct  Track
 Representation of a feature track. More...
 
class  Tracks
 Bundler Component: Generation of tracks from pairwise matching result. More...
 
struct  TwoViewMatching
 The matching result between two views. More...
 
struct  Viewport
 Per-viewport information. More...
 

Typedefs

typedef std::vector< FeatureReferenceFeatureReferenceList
 The list of all feature references inside a track.
 
typedef std::vector< TwoViewMatchingPairwiseMatching
 The matching result between several pairs of views.
 
typedef std::vector< SurveyObservationSurveyObservationList
 The list of all survey point observations inside a survey point.
 
typedef std::vector< SurveyPointSurveyPointList
 The list of all survey poins.
 
typedef std::vector< TrackTrackList
 The list of all tracks.
 
typedef std::vector< ViewportViewportList
 The list of all viewports considered for bundling.
 

Functions

void load_prebundle_data (std::istream &in, ViewportList *viewports, PairwiseMatching *matching)
 
void load_prebundle_from_file (std::string const &filename, ViewportList *viewports, PairwiseMatching *matching)
 Loads the pre-bundle data from file, initializing viewports and matching.
 
void load_survey_from_file (std::string const &filename, SurveyPointList *survey_points)
 Loads survey points and their observations from file.
 
void save_prebundle_data (ViewportList const &viewports, PairwiseMatching const &matching, std::ostream &out)
 
void save_prebundle_to_file (ViewportList const &viewports, PairwiseMatching const &matching, std::string const &filename)
 Saves the pre-bundle data to file, which records all viewport and matching data necessary for incremental structure-from-motion.
 
math::Vec2f undistort_feature (math::Vec2f const &f, double const k1, double const k2, float const focal_length)
 
void unify_tracks (int view1_tid, int view2_tid, TrackList *tracks, ViewportList *viewports)
 

Detailed Description

SfM bundler components.

Typedef Documentation

◆ FeatureReferenceList

The list of all feature references inside a track.

Definition at line 76 of file bundler_common.h.

◆ PairwiseMatching

The matching result between several pairs of views.

Definition at line 128 of file bundler_common.h.

◆ SurveyObservationList

The list of all survey point observations inside a survey point.

Definition at line 103 of file bundler_common.h.

◆ SurveyPointList

The list of all survey poins.

Definition at line 113 of file bundler_common.h.

◆ TrackList

typedef std::vector<Track> sfm::bundler::TrackList

The list of all tracks.

Definition at line 91 of file bundler_common.h.

◆ ViewportList

typedef std::vector<Viewport> sfm::bundler::ViewportList

The list of all viewports considered for bundling.

Definition at line 62 of file bundler_common.h.

Function Documentation

◆ load_prebundle_data()

void sfm::bundler::load_prebundle_data ( std::istream &  in,
ViewportList viewports,
PairwiseMatching matching 
)

Definition at line 111 of file bundler_common.cc.

◆ load_prebundle_from_file()

void sfm::bundler::load_prebundle_from_file ( std::string const &  filename,
ViewportList viewports,
PairwiseMatching matching 
)

Loads the pre-bundle data from file, initializing viewports and matching.

Definition at line 191 of file bundler_common.cc.

◆ load_survey_from_file()

void sfm::bundler::load_survey_from_file ( std::string const &  filename,
SurveyPointList survey_points 
)

Loads survey points and their observations from file.

Survey file are ASCII files that start with the signature MVE_SURVEY followed by a newline, followed by the number of survey points and survey point observations. Each survey point is a 3D point followed by a newline. Each survey point observation is a line starting with the index of the survey point, followed by the view id an the 2D location within the image. The (x, y) coordinates have to be normalized such that the center of the image is (0, 0) and the larger image dimension is one. This means that all image coordinates are between (-0.5,-0.5) and (0.5, 0.5)

MVE_SURVEY <num_points> <num_observations> <survey_point> // x y z ... <survey_point_observation> // survey_point_id view_id x y ...

Definition at line 217 of file bundler_common.cc.

◆ save_prebundle_data()

void sfm::bundler::save_prebundle_data ( ViewportList const &  viewports,
PairwiseMatching const &  matching,
std::ostream &  out 
)

Definition at line 57 of file bundler_common.cc.

◆ save_prebundle_to_file()

void sfm::bundler::save_prebundle_to_file ( ViewportList const &  viewports,
PairwiseMatching const &  matching,
std::string const &  filename 
)

Saves the pre-bundle data to file, which records all viewport and matching data necessary for incremental structure-from-motion.

Definition at line 180 of file bundler_common.cc.

◆ undistort_feature()

math::Vec2f sfm::bundler::undistort_feature ( math::Vec2f const &  f,
double const  k1,
double const  k2,
float const  focal_length 
)

Definition at line 316 of file bundler_common.cc.

◆ unify_tracks()

void sfm::bundler::unify_tracks ( int  view1_tid,
int  view2_tid,
TrackList tracks,
ViewportList viewports 
)

Definition at line 24 of file bundler_tracks.cc.