#include <iostream>
#include <utility>
#include <vector>
#include <cmath>
#include <algorithm>
#include <map>
#include "lib/image_correspondence.h"
#include "lib/feature_points.h"
#include "lib/cg/straight_depths.h"
#include "../lib/args.h"
#include "../lib/misc.h"
#include "../lib/intrinsics.h"
#include "../lib/json.h"
#include "../lib/eigen.h"
#include "../lib/assert.h"
#include <Eigen/Sparse>
#include <Eigen/IterativeLinearSolvers>
#include <Eigen/SparseLU>
#include <Eigen/SparseQR>

Classes
struct	estimate_relative_scale_result

Typedefs
using	view_feature_positions = std::map< view_index, vec2 >

using	view_feature_position_pair = std::pair< vec2, vec2 >

using	view_feature_position_pairs = std::map< view_index, view_feature_position_pair >

Functions
view_feature_position_pairs	common_view_feature_positions (const view_feature_positions &views1, const view_feature_positions &views2)

estimate_relative_scale_result	estimate_relative_scale (const view_feature_position_pairs &src_tg_positions, const view_index &center_view=view_index())

Eigen_vecX	compute_global_ratios (const Eigen_matXX &ratios, const Eigen_matXX &weights)

Eigen_vecX	complete_depths (const Eigen_vecX &known_depths, const Eigen_vecX &global_ratios)

int	main (int argc, const char *argv[])

Variables
constexpr bool	verbose = false

constexpr int	min_position_pairs_count = 300

constexpr real	max_relative_scale_error = 0.3

constexpr bool	make_visualizations = false

Typedef Documentation

using view_feature_position_pair = std::pair<vec2, vec2>

Definition at line 30 of file cg_straight_depths_from_disparity.cc.

using view_feature_position_pairs = std::map<view_index, view_feature_position_pair>

Definition at line 31 of file cg_straight_depths_from_disparity.cc.

using view_feature_positions = std::map<view_index, vec2>

Definition at line 28 of file cg_straight_depths_from_disparity.cc.

Function Documentation

view_feature_position_pairs common_view_feature_positions	(	const view_feature_positions &	views1,
		const view_feature_positions &	views2
	)

Definition at line 34 of file cg_straight_depths_from_disparity.cc.

Eigen_vecX complete_depths	(	const Eigen_vecX &	known_depths,
		const Eigen_vecX &	global_ratios
	)

Definition at line 210 of file cg_straight_depths_from_disparity.cc.

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Eigen_vecX compute_global_ratios	(	const Eigen_matXX &	ratios,
		const Eigen_matXX &	weights
	)

Definition at line 168 of file cg_straight_depths_from_disparity.cc.

estimate_relative_scale_result estimate_relative_scale	(	const view_feature_position_pairs &	src_tg_positions,
		const view_index &	center_view = `view_index()`
	)