Class Summary Class Description EstimateSceneCalibratedAssumes the input images are in an arbitrary order and that any image can be connected to any other image. EstimateSceneUncalibrated MetricSceneGraphGraph describing the relationship between image features and 3D points. MetricSceneGraph.Feature3D MetricSceneGraph.Motion MetricSceneGraph.View PairwiseImageGraphGraph describing the relationship between image features using matching features from epipolar geometry. PairwiseImageMatching<T extends ImageBase<T>>Determines connectivity between images by exhaustively considering all possible combination of views. ThreeViewEstimateMetricSceneEstimates the metric scene's structure given a set of sparse features associations from three views.