Package boofcv.alg.structure

Class ReconstructionFromPairwiseGraph

java.lang.Object

boofcv.alg.structure.ReconstructionFromPairwiseGraph

All Implemented Interfaces:

VerbosePrint

Direct Known Subclasses:

MetricFromUncalibratedPairwiseGraph

public abstract class ReconstructionFromPairwiseGraph
extends Object
implements VerbosePrint

Contains common functions useful for perform a full scene reconstruction from a PairwiseImageGraph. This includes selecting the seed views, selecting next views to expand to, and boiler plate.

See Also:

• MetricFromUncalibratedPairwiseGraph
• ProjectiveReconstructionFromPairwiseGraph

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	ReconstructionFromPairwiseGraph.Expansion	Contains information on a potential expansion
protected static class	ReconstructionFromPairwiseGraph.SeedInfo	Information related to a view acting as a seed to spawn a projective graph

Field Summary

Fields

Modifier and Type	Field	Description
final ConfigLength	maximumSeedFailures	It will stop spawning more seeds when it fails this many times.
DogArray<ScoreIndex>	scoresMotions
protected PairwiseGraphUtils	utils
protected @Nullable PrintStream	verbose

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	ReconstructionFromPairwiseGraph(PairwiseGraphUtils utils)

Method Summary

Modifier and Type	Method	Description
protected void	addOpenForView(SceneWorkingGraph scene, PairwiseImageGraph.View view)	Adds connections to the passed in view to the list of views to explore.
protected void	findAllOpenViews(SceneWorkingGraph scene)	Searches all connections to known views and creates a list of connected views which have a 3D relationship
protected Map<String,ReconstructionFromPairwiseGraph.SeedInfo>	scoreNodesAsSeeds(PairwiseImageGraph graph, int maxMotions)	Considers every view in the graph as a potential seed and computes their scores
protected ReconstructionFromPairwiseGraph.SeedInfo	scoreSeedAndSelectSet(PairwiseImageGraph.View target, int maxMotions, ReconstructionFromPairwiseGraph.SeedInfo output)	Scores how the target as a seed and selects the initial set of views it should spawn from.
protected void	selectAndSpawnSeeds(LookUpSimilarImages dbSimilar, LookUpCameraInfo dbCams, PairwiseImageGraph pairwise, DogArray<ReconstructionFromPairwiseGraph.SeedInfo> candidates, Map<String,ReconstructionFromPairwiseGraph.SeedInfo> lookupInfo)	Goes through every candidate for a seed and greedily selects the ones with the best score.
protected boolean	selectNextToProcess(SceneWorkingGraph scene, ReconstructionFromPairwiseGraph.Expansion selection)	Selects next View to process based on the score of it's known connections.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)
protected abstract boolean	spawnSceneFromSeed(LookUpSimilarImages dbSimilar, LookUpCameraInfo dbCams, PairwiseImageGraph pairwise, ReconstructionFromPairwiseGraph.SeedInfo info)	Attempts to create a scene from the passed in seed.

Methods inherited from class java.lang.Object

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

Field Details

maximumSeedFailures

public final ConfigLength maximumSeedFailures

It will stop spawning more seeds when it fails this many times. If relative, then its relative to the maximum number of candidate views for seeds.

utils

protected PairwiseGraphUtils utils

verbose

@Nullable
protected @Nullable PrintStream verbose

scoresMotions

public DogArray<ScoreIndex> scoresMotions

Constructor Details

ReconstructionFromPairwiseGraph

protected ReconstructionFromPairwiseGraph(PairwiseGraphUtils utils)

Method Details

findAllOpenViews

protected void findAllOpenViews(SceneWorkingGraph scene)

Searches all connections to known views and creates a list of connected views which have a 3D relationship

addOpenForView

protected void addOpenForView(SceneWorkingGraph scene,
 PairwiseImageGraph.View view)

Adds connections to the passed in view to the list of views to explore. Care is taken to not add the same view more than once

Parameters:

view - (Input) Inspects connected views to add to found

selectNextToProcess

protected boolean selectNextToProcess(SceneWorkingGraph scene,
 ReconstructionFromPairwiseGraph.Expansion selection)

Selects next View to process based on the score of it's known connections. Two connections which both connect to each other is required.

Parameters:

selection - The results

Returns:

true if a valid choice was found. Otherwise false.

scoreNodesAsSeeds

protected Map<String,ReconstructionFromPairwiseGraph.SeedInfo> scoreNodesAsSeeds(PairwiseImageGraph graph,
 int maxMotions)

Considers every view in the graph as a potential seed and computes their scores

selectAndSpawnSeeds

protected void selectAndSpawnSeeds(LookUpSimilarImages dbSimilar,
 LookUpCameraInfo dbCams,
 PairwiseImageGraph pairwise,
 DogArray<ReconstructionFromPairwiseGraph.SeedInfo> candidates,
 Map<String,ReconstructionFromPairwiseGraph.SeedInfo> lookupInfo)

Goes through every candidate for a seed and greedily selects the ones with the best score. It then attempts a metric upgrade. If successful it then uses that as a seed and marks all of its neighbors so that they are not selected as seeds themselves.

Parameters:

candidates - (input) All the candidate views for seeds

lookupInfo - (input) Used to lookup SeedInfo by View ID

spawnSceneFromSeed

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

Attempts to create a scene from the passed in seed. If successful this function needs to add it to the list of scenes. If it fails then there should be no change.

Parameters:

info - Seed for a new scene

Returns:

true if successful or false if it failed

scoreSeedAndSelectSet

protected ReconstructionFromPairwiseGraph.SeedInfo scoreSeedAndSelectSet(PairwiseImageGraph.View target,
 int maxMotions,
 ReconstructionFromPairwiseGraph.SeedInfo output)

Scores how the target as a seed and selects the initial set of views it should spawn from.

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint