fb360_dep Namespace Reference

Namespaces
	background_subtraction
	bc7_util
	binary_fusion
	calibration
	color
	cv_util
	depth_estimation
	image_util
	isp
	math_util
	mesh_util
	point_cloud_util
	render
	rephoto_util
	system_util

Classes
struct	AsyncFile
struct	AsyncLoader
struct	Camera
struct	Canopy
struct	CanopyScene
struct	DerpTest
struct	Match3D
struct	MatchCornersTest
struct	PointCloudFunctor
struct	ReprojectionScene
class	ReprojectionTable
struct	ReprojectionTexture
struct	RigScene
struct	StripedFile
struct	ThreadPool
struct	TransformationFunctor
struct	VideoFile

Typedefs
using	MatrixDepth = Eigen::Matrix< float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >
using	PixelType = cv::Vec4b
using	ssize_t = ptrdiff_t

Enumerations
enum	ImageType { ImageType::ENUM_VALUE }

Functions
template<typename T >
cv::Mat_< T >	reproject (const int width, const int height, const GLenum internalFormat, const GLenum format, const GLenum type, const ReprojectionTexture &reprojection, const GLuint srcTexture, const float disparity)
uint64_t	align (uint64_t offset, uint64_t alignment)
uint8_t *	align (uint8_t *p, uint64_t alignment)
template<typename T >
GLuint	createCubemapTexture (const T &scene, const int edge, const Eigen::Vector3f &position, const float ipd, const bool alphaBlend)
cv::Mat_< cv::Vec4f >	alphaFov (const cv::Mat_< cv::Vec4f > &color, Camera camera)
template<typename T >
cv::Mat_< cv::Vec4f >	disparityColor (const cv::Mat_< float > &disparity, Camera camera, const Eigen::Vector3f &position, const T &functor)
template<typename T >
std::vector< cv::Mat_< cv::Vec4f > >	disparityColors (const Camera::Rig &cameras, const std::vector< cv::Mat_< float >> &disparities, const Eigen::Vector3f &position, const T &functor)
cv::Vec4f	metersToGrayscale (float meters)
void	recycleTexture (const GLuint texture)
GLuint	bindRecycledTexture ()
void	emptyRecycling ()
const Eigen::Transform< double, 3, Eigen::Affine >	generateTransform (const Camera::Vector3 &rotation, const Camera::Vector3 &translation, const Eigen::UniformScaling< double > &scale, const bool applyInReverse=false)
const Eigen::Transform< double, 3, Eigen::Affine >	generateTransform (double const *const rotation, double const *const translation, double const *const scale, const bool applyInReverse=false)
void	solve (ceres::Problem &problem)
Camera::Rig	transformRig (const Camera::Rig &rig, const Camera::Vector3 &rotation, const Camera::Vector3 &translation, const Eigen::UniformScaling< double > &scale, const bool applyInReverse=false)
Camera::Rig	alignRig (const Camera::Rig &rig, const Camera::Rig &referenceRig, bool lockRotation=false, bool lockTranslation=false, bool lockScale=false)
Camera	transformCamera (const Camera &camera, double const *const rotation, double const *const translation, double const *const scale, const bool applyInReverse=false)
std::vector< Camera::Vector2 >	loadCorners (const std::string &path)
cv::Mat_< PixelType >	rotateImage (const cv::Mat_< PixelType > &image, const float angle)
Camera::Vector2	rotatePoint (const cv::Mat_< PixelType > &image, const Camera::Vector2 &pt, const float angle)
cv::Mat_< PixelType >	translate (const cv::Mat_< PixelType > &image, const float t_x, const float t_y)
void	insertIfInsideImage (std::vector< Camera::Vector2 > &trueCorners, const cv::Mat_< PixelType > &image, const Camera::Vector2 &corner)
	TEST (MatchCornersTest, TestTransformationDetection)
	TEST_F (DerpTest, TestUtilFilterDestinations)
template<typename T >
std::vector< T >	readRawImage (const filesystem::path &rawImageFilename, const CameraIsp &cameraIsp)
std::unique_ptr< CameraIsp >	cameraIspFromConfigFileWithOptions (const filesystem::path &configFilename, int pow2DownscaleFactor, DemosaicFilter demosaicFilter, bool applyToneCurve)
template<typename T >
cv::Mat_< cv::Vec< T, 3 > >	rawToRgb (const std::vector< T > &rawImage, CameraIsp &cameraIsp)
template cv::Mat_< cv::Vec< uint8_t, 3 > >	rawToRgb (const std::vector< uint8_t > &, CameraIsp &)
template cv::Mat_< cv::Vec< uint16_t, 3 > >	rawToRgb (const std::vector< uint16_t > &, CameraIsp &)
template<typename T >
cv::Mat_< cv::Vec< T, 3 > >	rawToRgb (const filesystem::path &rawImageFilename, const filesystem::path &ispConfigFilename, int pow2DownscaleFactor, DemosaicFilter demosaicFilter, bool applyToneCurve)
cv::Mat	rawToRgb (const boost::filesystem::path &rawImageFilename, const boost::filesystem::path &ispConfigFilename, int pow2DownscaleFactor, DemosaicFilter demosaicFilter, bool applyToneCurve)
void	writeIfd (const uint16_t tag, const uint16_t type, const uint32_t count, const uint32_t offset, const uint32_t offsetInc, uint32_t &dOffset, FILE *fDng)
template<typename T >
bool	writeDng (const filesystem::path &rawImageFilename, const filesystem::path &outputFilename, CameraIsp &cameraIsp)
bool	writeDng (const filesystem::path &rawImageFilename, const filesystem::path &outputFilename, const filesystem::path &ispConfigFilename)
template bool	writeDng< uint8_t > (const filesystem::path &, const filesystem::path &, const filesystem::path &)
template bool	writeDng< uint16_t > (const filesystem::path &, const filesystem::path &, const filesystem::path &)
enum DemosaicFilter unsigned int const DemosaicFilter kDefaultDemosaicFilterForRawToRgb std::unique_ptr< CameraIsp >	cameraIspFromConfigFileWithOptions (const boost::filesystem::path &configFilename, int pow2DownscaleFactor=1, DemosaicFilter demosaicFilter=kDefaultDemosaicFilterForRawToRgb, bool applyToneCurve=true)
template<typename T >
bool	writeDng (const boost::filesystem::path &rawImageFilename, const boost::filesystem::path &outputFilename, const boost::filesystem::path &ispConfigFilename="")
template<typename T >
constexpr ssize_t	ssize (const T &container)
template<class T , ssize_t N>
constexpr ssize_t	ssize (const T(&array)[N])
int	getThreadCount ()

Variables
const uint64_t	kPageSize = 4096
std::string	canopyVS
std::string	canopyFS
std::string	canopyFS_SVD
std::string	accumulateFS
std::string	unpremulFS
std::string	equirectFS
const float	kUnit = 1.0f
const float	kWhiteZ = 1.0f
const float	kR = 1.0f / kUnit
const int	kDirections = 128
const std::string	imageTypes []
const DemosaicFilter	kDefaultDemosaicFilterForRawToRgb = DemosaicFilter::BILINEAR

Detailed Description

Copyright 2004-present Facebook. All Rights Reserved.

This source code is licensed under the BSD-style license found in the LICENSE file in the root directory of this source tree.

Typedef Documentation

MatrixDepth

using fb360_dep::MatrixDepth = typedef Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>

PixelType

using fb360_dep::PixelType = typedef cv::Vec4b

ssize_t

using fb360_dep::ssize_t = typedef ptrdiff_t

Enumeration Type Documentation

ImageType

enum fb360_dep::ImageType

strong

Enumerator
ENUM_VALUE

Function Documentation

align() [1/2]

uint64_t fb360_dep::align	(	uint64_t	offset,
		uint64_t	alignment
	)

align() [2/2]

uint8_t* fb360_dep::align	(	uint8_t *	p,
		uint64_t	alignment
	)

alignRig()

Camera::Rig fb360_dep::alignRig	(	const Camera::Rig &	rig,
		const Camera::Rig &	referenceRig,
		bool	lockRotation = false,
		bool	lockTranslation = false,
		bool	lockScale = false
	)

alphaFov()

cv::Mat_<cv::Vec4f> fb360_dep::alphaFov	(	const cv::Mat_< cv::Vec4f > &	color,
		Camera	camera
	)

bindRecycledTexture()

GLuint fb360_dep::bindRecycledTexture

(

)

cameraIspFromConfigFileWithOptions() [1/2]

enum DemosaicFilter unsigned int const DemosaicFilter kDefaultDemosaicFilterForRawToRgb std::unique_ptr<CameraIsp> fb360_dep::cameraIspFromConfigFileWithOptions ( const boost::filesystem::path &  configFilename, int  pow2DownscaleFactor = 1, DemosaicFilter  demosaicFilter = kDefaultDemosaicFilterForRawToRgb, bool  applyToneCurve = true  )

strong

cameraIspFromConfigFileWithOptions() [2/2]

std::unique_ptr<CameraIsp> fb360_dep::cameraIspFromConfigFileWithOptions	(	const filesystem::path &	configFilename,
		int	pow2DownscaleFactor,
		DemosaicFilter	demosaicFilter,
		bool	applyToneCurve
	)

createCubemapTexture()

template<typename T >

GLuint fb360_dep::createCubemapTexture	(	const T &	scene,
		const int	edge,
		const Eigen::Vector3f &	position,
		const float	ipd,
		const bool	alphaBlend
	)

disparityColor()

template<typename T >

cv::Mat_<cv::Vec4f> fb360_dep::disparityColor	(	const cv::Mat_< float > &	disparity,
		Camera	camera,
		const Eigen::Vector3f &	position,
		const T &	functor
	)

disparityColors()

template<typename T >

std::vector<cv::Mat_<cv::Vec4f> > fb360_dep::disparityColors	(	const Camera::Rig &	cameras,
		const std::vector< cv::Mat_< float >> &	disparities,
		const Eigen::Vector3f &	position,
		const T &	functor
	)

emptyRecycling()

void fb360_dep::emptyRecycling

(

)

generateTransform() [1/2]

const Eigen::Transform< double, 3, Eigen::Affine > fb360_dep::generateTransform	(	const Camera::Vector3 &	rotation,
		const Camera::Vector3 &	translation,
		const Eigen::UniformScaling< double > &	scale,
		const bool	applyInReverse = false
	)

generateTransform() [2/2]

const Eigen::Transform< double, 3, Eigen::Affine > fb360_dep::generateTransform	(	double const *const	rotation,
		double const *const	translation,
		double const *const	scale,
		const bool	applyInReverse = false
	)

getThreadCount()

int fb360_dep::getThreadCount ( )

inline

insertIfInsideImage()

void fb360_dep::insertIfInsideImage	(	std::vector< Camera::Vector2 > &	trueCorners,
		const cv::Mat_< PixelType > &	image,
		const Camera::Vector2 &	corner
	)

loadCorners()

std::vector<Camera::Vector2> fb360_dep::loadCorners

(

const std::string &

path

)

metersToGrayscale()

cv::Vec4f fb360_dep::metersToGrayscale ( float  meters )

inline

rawToRgb() [1/5]

template<typename T >

cv::Mat_< cv::Vec< T, 3 > > fb360_dep::rawToRgb	(	const std::vector< T > &	rawImage,
		CameraIsp &	cameraIsp
	)

rawToRgb() [2/5]

template cv::Mat_<cv::Vec<uint8_t, 3> > fb360_dep::rawToRgb	(	const std::vector< uint8_t > &	,
		CameraIsp &
	)

rawToRgb() [3/5]

template cv::Mat_<cv::Vec<uint16_t, 3> > fb360_dep::rawToRgb	(	const std::vector< uint16_t > &	,
		CameraIsp &
	)

rawToRgb() [4/5]

template<typename T >

template cv::Mat_< cv::Vec< uint16_t, 3 > > fb360_dep::rawToRgb	(	const filesystem::path &	rawImageFilename,
		const filesystem::path &	ispConfigFilename,
		int	pow2DownscaleFactor,
		DemosaicFilter	demosaicFilter,
		bool	applyToneCurve
	)

rawToRgb() [5/5]

cv::Mat fb360_dep::rawToRgb	(	const boost::filesystem::path &	rawImageFilename,
		const boost::filesystem::path &	ispConfigFilename,
		int	pow2DownscaleFactor,
		DemosaicFilter	demosaicFilter,
		bool	applyToneCurve
	)

readRawImage()

template<typename T >

std::vector<T> fb360_dep::readRawImage	(	const filesystem::path &	rawImageFilename,
		const CameraIsp &	cameraIsp
	)

recycleTexture()

void fb360_dep::recycleTexture

(

const GLuint

texture

)

reproject()

template<typename T >

cv::Mat_<T> fb360_dep::reproject	(	const int	width,
		const int	height,
		const GLenum	internalFormat,
		const GLenum	format,
		const GLenum	type,
		const ReprojectionTexture &	reprojection,
		const GLuint	srcTexture,
		const float	disparity
	)

rotateImage()

cv::Mat_<PixelType> fb360_dep::rotateImage	(	const cv::Mat_< PixelType > &	image,
		const float	angle
	)

rotatePoint()

Camera::Vector2 fb360_dep::rotatePoint	(	const cv::Mat_< PixelType > &	image,
		const Camera::Vector2 &	pt,
		const float	angle
	)

solve()

void fb360_dep::solve

(

ceres::Problem &

problem

)

ssize() [1/2]

template<typename T >

constexpr ssize_t fb360_dep::ssize

(

const T &

container

)

ssize() [2/2]

template<class T , ssize_t N>

constexpr ssize_t fb360_dep::ssize

(

const T(&)

array[N]

)

TEST()

fb360_dep::TEST	(	MatchCornersTest	,
		TestTransformationDetection
	)

TEST_F()

fb360_dep::TEST_F	(	DerpTest	,
		TestUtilFilterDestinations
	)

transformCamera()

Camera fb360_dep::transformCamera	(	const Camera &	camera,
		double const *const	rotation,
		double const *const	translation,
		double const *const	scale,
		const bool	applyInReverse = false
	)

transformRig()

Camera::Rig fb360_dep::transformRig	(	const Camera::Rig &	rig,
		const Camera::Vector3 &	rotation,
		const Camera::Vector3 &	translation,
		const Eigen::UniformScaling< double > &	scale,
		const bool	applyInReverse = false
	)

translate()

cv::Mat_<PixelType> fb360_dep::translate	(	const cv::Mat_< PixelType > &	image,
		const float	t_x,
		const float	t_y
	)

writeDng() [1/3]

template<typename T >

bool fb360_dep::writeDng	(	const boost::filesystem::path &	rawImageFilename,
		const boost::filesystem::path &	outputFilename,
		const boost::filesystem::path &	ispConfigFilename = ""
	)

writeDng() [2/3]

template<typename T >

bool fb360_dep::writeDng	(	const filesystem::path &	rawImageFilename,
		const filesystem::path &	outputFilename,
		CameraIsp &	cameraIsp
	)

writeDng() [3/3]

bool fb360_dep::writeDng	(	const filesystem::path &	rawImageFilename,
		const filesystem::path &	outputFilename,
		const filesystem::path &	ispConfigFilename
	)

writeDng< uint16_t >()

template bool fb360_dep::writeDng< uint16_t >	(	const filesystem::path &	,
		const filesystem::path &	,
		const filesystem::path &
	)

writeDng< uint8_t >()

template bool fb360_dep::writeDng< uint8_t >	(	const filesystem::path &	,
		const filesystem::path &	,
		const filesystem::path &
	)

writeIfd()

void fb360_dep::writeIfd	(	const uint16_t	tag,
		const uint16_t	type,
		const uint32_t	count,
		const uint32_t	offset,
		const uint32_t	offsetInc,
		uint32_t &	dOffset,
		FILE *	fDng
	)

Variable Documentation

accumulateFS

std::string fb360_dep::accumulateFS

Initial value:

= R"(
  #version 330 core

  uniform sampler2D sampler;
  uniform bool alphaBlend;

  in vec2 texVar;
  out vec4 color;

  void main() {
    color = texture(sampler, texVar);

    if (alphaBlend) {
      // we want weight, w = k^a - 1 = e^(log(k) * a) - 1
      const float kLogK = 30;
      color.a = exp(kLogK * color.a) - 1;
    }
  }
)"

canopyFS

std::string fb360_dep::canopyFS

canopyFS_SVD

std::string fb360_dep::canopyFS_SVD

canopyVS

std::string fb360_dep::canopyVS

equirectFS

std::string fb360_dep::equirectFS

Initial value:

= R"(
  #version 330 core

  uniform samplerCube sampler;

  in vec2 texVar;
  out vec4 color;

  void main() {
    // remap texVar to equirect direction with z up, BUT
    // - flip texVar.x because latitude grows in the negative direction of the z-axis
    // - flip texVar.y because glReadPixels reads the image from the bottom up
    const float PI = 3.1415926535897932384626433832795;
    float lon = (1 - texVar.x) * 2.0 * PI; // 360 .. 0 degrees
    float lat = -(texVar.y - 0.5) * PI; // 180 .. -180 degrees
    vec3 direction = vec3(
        cos(lat) * cos(lon),
        cos(lat) * sin(lon),
        sin(lat));
    color = texture(sampler, direction);
  }
)"

imageTypes

const std::string fb360_dep::imageTypes[]

Initial value:

{
#define NAME(name, str) 


}

kDefaultDemosaicFilterForRawToRgb

const DemosaicFilter fb360_dep::kDefaultDemosaicFilterForRawToRgb = DemosaicFilter::BILINEAR

kDirections

const int fb360_dep::kDirections = 128

kPageSize

const uint64_t fb360_dep::kPageSize = 4096

kR

const float fb360_dep::kR = 1.0f / kUnit

kUnit

const float fb360_dep::kUnit = 1.0f

kWhiteZ

const float fb360_dep::kWhiteZ = 1.0f

unpremulFS

std::string fb360_dep::unpremulFS

Initial value:

= R"(
  #version 330 core

  uniform sampler2D sampler;

  in vec2 texVar;
  out vec4 color;

  void main() {
    color = texture(sampler, texVar);
    color /= color.a;
  }
)"