Package boofcv.alg.structure

Class MetricFromUncalibratedPairwiseGraph

java.lang.Object

boofcv.alg.structure.ReconstructionFromPairwiseGraph

boofcv.alg.structure.MetricFromUncalibratedPairwiseGraph

All Implemented Interfaces:

VerbosePrint

public class MetricFromUncalibratedPairwiseGraph
extends ReconstructionFromPairwiseGraph

Fully computes views (intrinsics + SE3) for each view and saves which observations were inliers. This should be considered a first pass and all optimization is done at a local level.

1. Input: PairwiseImageGraph and image information
2. Selected an initial set of views and perform metric reconstruction.
3. Grow metric scene one at a time using previously found metric views. MetricExpandByOneView
4. Stop when all views have been considered

Output is contained in SceneWorkingGraph and accessible from ???. 3D point features are not part of the output directly. Observations used are saved and can be used to triangulate the 3D features. It's advisable to perform bundle adjustment and outlier rejection and the scene as a whole.

Important Note: It's automatically assumed that the image center is the principle point and all pixels are shifted by this amount. This means that the found intrinsic parameters will have (cx,cy) = (0,0).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	MetricFromUncalibratedPairwiseGraph.PairwiseViewScenes	Records which scenes have grown to include which views.
static class	MetricFromUncalibratedPairwiseGraph.ViewScenes	Contains information about which scenes contain this specific view

Nested classes/interfaces inherited from class boofcv.alg.structure.ReconstructionFromPairwiseGraph

ReconstructionFromPairwiseGraph.Expansion, ReconstructionFromPairwiseGraph.SeedInfo

Field Summary

Fields

Modifier and Type	Field	Description
int	refineSceneWhileExpandingMaxViews	When expanding a scene, SBA is applied to the entire scene until it has this many views.

Fields inherited from class boofcv.alg.structure.ReconstructionFromPairwiseGraph

maximumSeedFailures, scoresMotions, utils, verbose

Constructor Summary

Constructors

Constructor	Description
MetricFromUncalibratedPairwiseGraph()
MetricFromUncalibratedPairwiseGraph(ConfigProjectiveReconstruction config)
MetricFromUncalibratedPairwiseGraph(PairwiseGraphUtils utils)

Method Summary

Modifier and Type	Method	Description
double	computeGeometricScore(SceneWorkingGraph scene, SceneWorkingGraph.InlierInfo inlier)	Estimates the quality of the geometry information contained in the inlier set.
SceneWorkingGraph	getLargestScene()	Returns the largest scene.
boolean	process(LookUpSimilarImages dbSimilar, LookUpCameraInfo dbCams, PairwiseImageGraph pairwise)	Performs a projective reconstruction of the scene from the views contained in the graph
protected void	sanityCheckScenesInEachView()	Makes sure the number of scenes that have each view is correctly counted.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)
protected boolean	spawnSceneFromSeed(LookUpSimilarImages dbSimilar, LookUpCameraInfo dbCams, PairwiseImageGraph pairwise, ReconstructionFromPairwiseGraph.SeedInfo info)	It will attempt to find a metric scene around the specified scene.

Methods inherited from class boofcv.alg.structure.ReconstructionFromPairwiseGraph

addOpenForView, findAllOpenViews, scoreNodesAsSeeds, scoreSeedAndSelectSet, selectAndSpawnSeeds, selectNextToProcess

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

refineSceneWhileExpandingMaxViews

public int refineSceneWhileExpandingMaxViews

When expanding a scene, SBA is applied to the entire scene until it has this many views. This often helps improve the initial metric scene estimate significantly, but can be expensive.

Constructor Details

MetricFromUncalibratedPairwiseGraph

public MetricFromUncalibratedPairwiseGraph(PairwiseGraphUtils utils)

MetricFromUncalibratedPairwiseGraph

public MetricFromUncalibratedPairwiseGraph(ConfigProjectiveReconstruction config)

MetricFromUncalibratedPairwiseGraph

public MetricFromUncalibratedPairwiseGraph()

Method Details

process

public boolean process(LookUpSimilarImages dbSimilar,
 LookUpCameraInfo dbCams,
 PairwiseImageGraph pairwise)

Performs a projective reconstruction of the scene from the views contained in the graph

Parameters:

dbSimilar - (input) Contains information on each image

pairwise - (input) Relationship between the images

Returns:

true if successful or false if it failed and results can't be used

spawnSceneFromSeed

protected boolean spawnSceneFromSeed(LookUpSimilarImages dbSimilar,
 LookUpCameraInfo dbCams,
 PairwiseImageGraph pairwise,
 ReconstructionFromPairwiseGraph.SeedInfo info)

It will attempt to find a metric scene around the specified scene.

Specified by:

spawnSceneFromSeed in class ReconstructionFromPairwiseGraph

info - Seed for a new scene

Returns:

true if successful or false if it failed

sanityCheckScenesInEachView

protected void sanityCheckScenesInEachView()

Makes sure the number of scenes that have each view is correctly counted. Used for debugging.

computeGeometricScore

public double computeGeometricScore(SceneWorkingGraph scene,
 SceneWorkingGraph.InlierInfo inlier)

Estimates the quality of the geometry information contained in the inlier set. Higher values are better.

getLargestScene

public SceneWorkingGraph getLargestScene()

Returns the largest scene. Throws an exception if there is no valid scene

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint

Overrides:

setVerbose in class ReconstructionFromPairwiseGraph