10#ifndef SFM_BUNDLER_INIT_PAIR_HEADER
11#define SFM_BUNDLER_INIT_PAIR_HEADER
82 void compute_pair (
Result* result);
84 void compute_pair (
int view_1_id,
int view_2_id,
Result* result);
92 bool operator< (CandidatePair
const& other)
const;
94 typedef std::vector<CandidatePair> CandidatePairs;
97 std::size_t compute_homography_inliers (CandidatePair
const& candidate);
98 bool compute_pose (CandidatePair
const& candidate,
100 void compute_candidate_pairs (CandidatePairs* candidates);
101 double angle_for_pose (CandidatePair
const& candidate,
103 float score_for_pair (CandidatePair
const& candidate,
104 std::size_t num_inliers,
double angle);
105 void debug_output (CandidatePair
const& candidate,
106 std::size_t num_inliers = 0,
double angle = 0.0);
117InitialPair::Options::Options (
void)
118 : max_homography_inliers(0.6f)
119 , min_num_matches(50)
121 , verbose_output(false)
136 this->viewports = &viewports;
137 this->tracks = &tracks;
141InitialPair::CandidatePair::operator< (CandidatePair
const& other)
const
143 return this->matches.size() < other.matches.size();
Tries to find an initial viewport pair to start the reconstruction with.
InitialPair(Options const &options)
void initialize(ViewportList const &viewports, TrackList const &tracks)
Initializes the module with viewport and track information.
std::vector< Viewport > ViewportList
The list of all viewports considered for bundling.
std::vector< Track > TrackList
The list of all tracks.
std::vector< Correspondence2D2D > Correspondences2D2D
#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].
bool verbose_output
Produce status messages on the console.
int min_num_matches
Minimum number of pair matches.
double min_triangulation_angle
Minimum triangulation angle of tracks (in radians).
float max_homography_inliers
The maximum percentage of homography inliers.
RansacHomography::Options homography_opts
The algorithm tries to explain the matches using a homography.
The resulting initial pair with view IDs and relative camera pose.