Classes
struct	BestMatch

struct	Keypoint

struct	Match

struct	Overlap

struct	ReprojectionFunctor

struct	SphericalReprojectionFunctor

struct	TriangulationFunctor

Typedefs
using	Observations = std::vector< std::pair< const Camera &, Camera::Vector2 > >

Functions
bool	isUniqueCorner (const std::vector< Keypoint > &corners, const int previousCornerCount, const Camera::Vector2 &corner)

std::vector< Camera::Vector2 >	findScaledCorners (const double scale, const cv::Mat_< uint8_t > &imageFull, const cv::Mat_< uint8_t > &maskFull, const std::string &cameraId)

cv::Mat_< uint8_t >	generateImageCircleMask (const Camera &camera)

std::vector< Keypoint >	findCorners (const Camera &camera, const Image &image, const bool useNearest)

std::map< ImageId, std::vector< Keypoint > >	findAllCorners (const Camera::Rig &rig, const std::vector< Image > &images, const bool useNearest)

std::vector< Keypoint >	findCorners (const Camera &camera, const cv::Mat_< uint8_t > &image, const bool useNearest)

std::map< std::string, std::vector< Keypoint > >	findAllCorners (const Camera::Rig &rig, const std::vector< cv::Mat_< uint8_t >> &images, const bool useNearest)

double	computeZncc (const Keypoint &corner0, const Keypoint &corner1)

cv::Rect2f	computeBox (const Camera &camera1, const Camera &camera0, const Camera::Vector2 &pixel0, const double depth)

bool	tooMuchOverlap (const cv::Rect2f &box, const cv::Rect2f &lastBox)

bool	projectCorner (Image &projection1, const Camera &camera1, const Image &img0, const Camera &camera0, const Keypoint &corner0, const double depth0)

bool	hasCornerNearCenter (const Image &image)

bool	getNextDepthSample (int &currentDepthSample, double &currentDisparity, cv::Rect2f &currentBox, const Camera &camera0, const Camera::Vector2 &corner0Coords, const Camera &camera1)

Overlap	findMatches (const Image &img0, const std::vector< Keypoint > &corners0, const Camera &camera0, const Image &img1, const std::vector< Keypoint > &corners1, const Camera &camera1)

std::vector< Overlap >	findAllMatches (const Camera::Rig &rig, const std::vector< Image > &images, const std::map< ImageId, std::vector< Keypoint >> &allCorners)

Overlap	findMatches (const cv::Mat_< uint8_t > &img0, const std::vector< Keypoint > &corners0, const Camera &camera0, const cv::Mat_< uint8_t > &img1, const std::vector< Keypoint > &corners1, const Camera &camera1)

std::vector< Overlap >	findAllMatches (const Camera::Rig &rig, const std::vector< cv::Mat_< uint8_t >> &images, const std::map< std::string, std::vector< Keypoint >> &allCorners)

Camera	makeCamera (const Camera &camera, const Camera::Vector3 &position, const Camera::Vector3 &rotation, const Camera::Vector2 &principal, const Camera::Real &focal, const Camera::Distortion &distortion)

void	cartesianToSpherical (Camera::Real &radius, Camera::Real &theta, Camera::Real &phi, const Camera::Vector3 &cartesianCoords)

Camera::Vector3	sphericalToCartesian (const Camera::Real radius, const Camera::Real theta, const Camera::Real phi)

Camera::Vector3	averageAtDistance (const Observations &observations, const Camera::Real distance)

Camera::Vector3	triangulateNonlinear (const Observations &observations, const bool forceInFront)

double	calcPercentile (std::vector< double > values, double percentile=0.5)

Camera::Vector2	reprojectionError (const ceres::Problem &problem, ceres::ResidualBlockId id)

std::vector< double >	getReprojectionErrorNorms (const ceres::Problem &problem, const double *parameter=nullptr)

std::string	getImageFilename (const std::string &image, const std::string &frame, const std::string &imageExt)

Image	extractSingleChannelImage (const cv::Mat_< cv::Vec3b > &image)

std::vector< Image >	loadSingleChannelImages (const filesystem::path &dir, const Camera::Rig &rig)

std::vector< Image >	loadChannels (const Camera::Rig &rig)

void	processScale (const float scale, const Camera::Rig &rigFull, const std::vector< Image > &images, std::map< ImageId, std::vector< Keypoint >> &allCorners, std::vector< Overlap > &overlaps)

void	processOctaves (const Camera::Rig &rigFull, const std::vector< Image > &images, std::map< ImageId, std::vector< Keypoint >> &allCorners, std::vector< Overlap > &overlaps)

Typedef Documentation

◆ Observations

using fb360_dep::calibration::Observations = typedef std::vector<std::pair<const Camera&, Camera::Vector2> >

Function Documentation

◆ averageAtDistance()

Camera::Vector3 fb360_dep::calibration::averageAtDistance	(	const Observations &	observations,
		const Camera::Real	distance
	)

◆ calcPercentile()

double fb360_dep::calibration::calcPercentile	(	std::vector< double >	values,
		double	percentile = `0.5`
	)

◆ cartesianToSpherical()

void fb360_dep::calibration::cartesianToSpherical	(	Camera::Real &	radius,
		Camera::Real &	theta,
		Camera::Real &	phi,
		const Camera::Vector3 &	cartesianCoords
	)

◆ computeBox()

cv::Rect2f fb360_dep::calibration::computeBox	(	const Camera &	camera1,
		const Camera &	camera0,
		const Camera::Vector2 &	pixel0,
		const double	depth
	)

◆ computeZncc()

double fb360_dep::calibration::computeZncc	(	const Keypoint &	corner0,
		const Keypoint &	corner1
	)

◆ extractSingleChannelImage()

cv::Mat_< uint8_t > fb360_dep::calibration::extractSingleChannelImage ( const cv::Mat_< cv::Vec3b > & image )

◆ findAllCorners() [1/2]

std::map<std::string, std::vector<Keypoint> > fb360_dep::calibration::findAllCorners	(	const Camera::Rig &	rig,
		const std::vector< cv::Mat_< uint8_t >> &	images,
		const bool	useNearest
	)

◆ findAllCorners() [2/2]

std::map<ImageId, std::vector<Keypoint> > fb360_dep::calibration::findAllCorners	(	const Camera::Rig &	rig,
		const std::vector< Image > &	images,
		const bool	useNearest
	)

◆ findAllMatches() [1/2]

std::vector<Overlap> fb360_dep::calibration::findAllMatches	(	const Camera::Rig &	rig,
		const std::vector< cv::Mat_< uint8_t >> &	images,
		const std::map< std::string, std::vector< Keypoint >> &	allCorners
	)

◆ findAllMatches() [2/2]

std::vector<Overlap> fb360_dep::calibration::findAllMatches	(	const Camera::Rig &	rig,
		const std::vector< Image > &	images,
		const std::map< ImageId, std::vector< Keypoint >> &	allCorners
	)

◆ findCorners() [1/2]

std::vector<Keypoint> fb360_dep::calibration::findCorners	(	const Camera &	camera,
		const cv::Mat_< uint8_t > &	image,
		const bool	useNearest
	)

◆ findCorners() [2/2]

std::vector<Keypoint> fb360_dep::calibration::findCorners	(	const Camera &	camera,
		const Image &	image,
		const bool	useNearest
	)

◆ findMatches() [1/2]

Overlap fb360_dep::calibration::findMatches	(	const cv::Mat_< uint8_t > &	img0,
		const std::vector< Keypoint > &	corners0,
		const Camera &	camera0,
		const cv::Mat_< uint8_t > &	img1,
		const std::vector< Keypoint > &	corners1,
		const Camera &	camera1
	)

◆ findMatches() [2/2]

Overlap fb360_dep::calibration::findMatches	(	const Image &	img0,
		const std::vector< Keypoint > &	corners0,
		const Camera &	camera0,
		const Image &	img1,
		const std::vector< Keypoint > &	corners1,
		const Camera &	camera1
	)

◆ findScaledCorners()

std::vector< Camera::Vector2 > fb360_dep::calibration::findScaledCorners	(	const double	scale,
		const cv::Mat_< uint8_t > &	imageFull,
		const cv::Mat_< uint8_t > &	maskFull,
		const std::string &	cameraId
	)

◆ generateImageCircleMask()

cv::Mat_<uint8_t> fb360_dep::calibration::generateImageCircleMask ( const Camera & camera )

◆ getImageFilename()

std::string fb360_dep::calibration::getImageFilename	(	const std::string &	image,
		const std::string &	frame,
		const std::string &	imageExt
	)

inline

◆ getNextDepthSample()

bool fb360_dep::calibration::getNextDepthSample	(	int &	currentDepthSample,
		double &	currentDisparity,
		cv::Rect2f &	currentBox,
		const Camera &	camera0,
		const Camera::Vector2 &	corner0Coords,
		const Camera &	camera1
	)

◆ getReprojectionErrorNorms()

std::vector<double> fb360_dep::calibration::getReprojectionErrorNorms	(	const ceres::Problem &	problem,
		const double *	parameter = `nullptr`
	)

◆ hasCornerNearCenter()

bool fb360_dep::calibration::hasCornerNearCenter ( const Image & image )

◆ isUniqueCorner()

bool fb360_dep::calibration::isUniqueCorner	(	const std::vector< Keypoint > &	corners,
		const int	previousCornerCount,
		const Camera::Vector2 &	corner
	)

◆ loadChannels()

std::vector< cv::Mat_< uint8_t > > fb360_dep::calibration::loadChannels ( const Camera::Rig & rig )

◆ loadSingleChannelImages()

std::vector<Image> fb360_dep::calibration::loadSingleChannelImages	(	const filesystem::path &	dir,
		const Camera::Rig &	rig
	)

◆ makeCamera()

Camera fb360_dep::calibration::makeCamera	(	const Camera &	camera,
		const Camera::Vector3 &	position,
		const Camera::Vector3 &	rotation,
		const Camera::Vector2 &	principal,
		const Camera::Real &	focal,
		const Camera::Distortion &	distortion
	)

◆ processOctaves()

void fb360_dep::calibration::processOctaves	(	const Camera::Rig &	rigFull,
		const std::vector< Image > &	images,
		std::map< ImageId, std::vector< Keypoint >> &	allCorners,
		std::vector< Overlap > &	overlaps
	)

◆ processScale()

void fb360_dep::calibration::processScale	(	const float	scale,
		const Camera::Rig &	rigFull,
		const std::vector< Image > &	images,
		std::map< ImageId, std::vector< Keypoint >> &	allCorners,
		std::vector< Overlap > &	overlaps
	)

◆ projectCorner()

bool fb360_dep::calibration::projectCorner	(	Image &	projection1,
		const Camera &	camera1,
		const Image &	img0,
		const Camera &	camera0,
		const Keypoint &	corner0,
		const double	depth0
	)

◆ reprojectionError()

Camera::Vector2 fb360_dep::calibration::reprojectionError	(	const ceres::Problem &	problem,
		ceres::ResidualBlockId	id
	)

◆ sphericalToCartesian()

Camera::Vector3 fb360_dep::calibration::sphericalToCartesian	(	const Camera::Real	radius,
		const Camera::Real	theta,
		const Camera::Real	phi
	)

◆ tooMuchOverlap()

bool fb360_dep::calibration::tooMuchOverlap	(	const cv::Rect2f &	box,
		const cv::Rect2f &	lastBox
	)

◆ triangulateNonlinear()

Camera::Vector3 fb360_dep::calibration::triangulateNonlinear	(	const Observations &	observations,
		const bool	forceInFront
	)

Classes

Typedefs

Functions