10#ifndef SFM_BUNDLER_COMMON_HEADER
11#define SFM_BUNDLER_COMMON_HEADER
14#include <unordered_map>
44 float radial_distortion[2];
46 float principal_point[2];
81 bool is_valid (
void)
const;
82 void invalidate (
void);
83 void remove_view (
int view_id);
175 float const focal_length);
180FeatureReference::FeatureReference (
int view_id,
int feature_id)
182 , feature_id(feature_id)
212 return !std::isnan(this->
pos[0]);
Vector class for arbitrary dimensions and types.
std::shared_ptr< Image< T > > Ptr
The FeatureSet holds per-feature information for a single view, and allows to transparently compute a...
std::vector< SurveyObservation > SurveyObservationList
The list of all survey point observations inside a survey point.
void load_prebundle_from_file(std::string const &filename, ViewportList *viewports, PairwiseMatching *matching)
Loads the pre-bundle data from file, initializing viewports and matching.
std::vector< Viewport > ViewportList
The list of all viewports considered for bundling.
math::Vec2f undistort_feature(math::Vec2f const &f, double const k1, double const k2, float const focal_length)
std::vector< Track > TrackList
The list of all tracks.
std::vector< FeatureReference > FeatureReferenceList
The list of all feature references inside a track.
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 increme...
std::vector< SurveyPoint > SurveyPointList
The list of all survey poins.
std::vector< TwoViewMatching > PairwiseMatching
The matching result between several pairs of views.
void load_survey_from_file(std::string const &filename, SurveyPointList *survey_points)
Loads survey points and their observations from file.
std::vector< CorrespondenceIndex > CorrespondenceIndices
A list of all matching feature pairs in two images.
#define SFM_BUNDLER_NAMESPACE_END
#define SFM_BUNDLER_NAMESPACE_BEGIN
#define SFM_NAMESPACE_END
#define SFM_NAMESPACE_BEGIN
The camera pose is the 3x4 matrix P = K [R | t].
References a 2D feature in a specific view.
SurveyObservation(int view_id, float x, float y)
Representation of a survey point.
SurveyObservationList observations
Representation of a feature track.
bool is_valid(void) const
FeatureReferenceList features
The matching result between two views.
bool operator<(TwoViewMatching const &rhs) const
CorrespondenceIndices matches
Per-viewport information.
float radial_distortion[2]
Radial distortion parameter.
std::unordered_map< int, int > backup_tracks
Backup map from features to tracks that were removed due to errors.
CameraPose pose
Camera pose for the viewport.
std::vector< int > track_ids
Per-feature track ID, -1 if not part of a track.
mve::ByteImage::Ptr image
The actual image data for debugging purposes.
float principal_point[2]
Principal point parameter.
float focal_length
Initial focal length estimate for the image.
FeatureSet features
Per-feature information.