Package boofcv.alg.structure

Class SceneMergingOperations

java.lang.Object

boofcv.alg.structure.SceneMergingOperations

All Implemented Interfaces:

VerbosePrint

public class SceneMergingOperations
extends Object
implements VerbosePrint

Contains operations used to merge all the connected spawned scenes in MetricFromUncalibratedPairwiseGraph into a single scene. Scale ambiguity is resolved by selecting a single view with the "best" geometric information and then feeding that to ResolveSceneScaleAmbiguity.

Usage:
First call initializeViewCounts(boofcv.alg.structure.MetricFromUncalibratedPairwiseGraph.PairwiseViewScenes, int) as it will initialize all data structures. Then all the other operations can be called.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SceneMergingOperations.FailedMerged
static class	SceneMergingOperations.SelectedScenes	Specifies which two scenes should be merged together
static class	SceneMergingOperations.SelectedViews

Field Summary

Fields

Modifier and Type	Field	Description
final List<SceneWorkingGraph.View>	duplicateViews	Views which were both src and dst
final List<SceneWorkingGraph.View>	mergedViews	Views that were in src but were either added or already existed in dst

Constructor Summary

Constructors

Constructor	Description
SceneMergingOperations()

Method Summary

Modifier and Type	Method	Description
boolean	computeSceneTransform(LookUpSimilarImages dbSimilar, SceneWorkingGraph src, SceneWorkingGraph dst, SceneWorkingGraph.View selectedSrc, SceneWorkingGraph.View selectedDst, ScaleSe3_F64 src_to_dst)	Computes the transform between the two views in different scenes.
boolean	decideFirstIntoSecond(SceneWorkingGraph scene1, SceneWorkingGraph scene2)	Returns true if the first scene should be merged into the second scene or the reverse.
void	initializeViewCounts(MetricFromUncalibratedPairwiseGraph.PairwiseViewScenes scenesInEachView, int numScenes)	Creates a sparse data structure that stores the number of views that each scene shares with all the other scenes.
boolean	isMergedBlocked(int indexSrc, int indexDst)	Checks to see if the two scenes can be merged together
void	markAsFailed(SceneWorkingGraph src, SceneWorkingGraph dst)	Mark merging these two scenes as illegal until one of them has been merged with another scene or modified in some way.
void	sanityCheckTable(List<SceneWorkingGraph> scenes)	Debugging tool to make sure the feature count table isn't messed up using brute force
boolean	selectScenesToMerge(SceneMergingOperations.SelectedScenes selected)	Selects the two scenes with the most common views to merge together.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)
void	toggleViewEnabled(SceneWorkingGraph target, MetricFromUncalibratedPairwiseGraph.PairwiseViewScenes scenesInEachView)	Toggles the enabled state of a view and update its counts accordingly

Methods inherited from class java.lang.Object

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

Field Details

mergedViews

public final List<SceneWorkingGraph.View> mergedViews

Views that were in src but were either added or already existed in dst

duplicateViews

public final List<SceneWorkingGraph.View> duplicateViews

Views which were both src and dst

Constructor Details

SceneMergingOperations

public SceneMergingOperations()

Method Details

initializeViewCounts

public void initializeViewCounts(MetricFromUncalibratedPairwiseGraph.PairwiseViewScenes scenesInEachView,
 int numScenes)

Creates a sparse data structure that stores the number of views that each scene shares with all the other scenes.

Parameters:

scenesInEachView - (Input) List of all the views and the scenes that reference them

toggleViewEnabled

public void toggleViewEnabled(SceneWorkingGraph target,
 MetricFromUncalibratedPairwiseGraph.PairwiseViewScenes scenesInEachView)

Toggles the enabled state of a view and update its counts accordingly

Parameters:

target - Scene that will have its counts modified.

scenesInEachView - List of views + scenes that views them

selectScenesToMerge

public boolean selectScenesToMerge(SceneMergingOperations.SelectedScenes selected)

Selects the two scenes with the most common views to merge together.

Parameters:

selected - (Output) Selected scenes to merge

Returns:

true if it could find two valid scenes to merge

isMergedBlocked

public boolean isMergedBlocked(int indexSrc,
 int indexDst)

Checks to see if the two scenes can be merged together

Returns:

true means they are NOT allowed to merge. I.e. they are blocked

decideFirstIntoSecond

public boolean decideFirstIntoSecond(SceneWorkingGraph scene1,
 SceneWorkingGraph scene2)

Returns true if the first scene should be merged into the second scene or the reverse. For now this simply looks at the number of views in each scene.

computeSceneTransform

public boolean computeSceneTransform(LookUpSimilarImages dbSimilar,
 SceneWorkingGraph src,
 SceneWorkingGraph dst,
 SceneWorkingGraph.View selectedSrc,
 SceneWorkingGraph.View selectedDst,
 ScaleSe3_F64 src_to_dst)

Computes the transform between the two views in different scenes. This is done by computing the depth for all common image features. The depth is used to estimate the scale difference between the scenes. After that finding the SE3 transform is trivial.

sanityCheckTable

public void sanityCheckTable(List<SceneWorkingGraph> scenes)

Debugging tool to make sure the feature count table isn't messed up using brute force

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint

markAsFailed

public void markAsFailed(SceneWorkingGraph src,
 SceneWorkingGraph dst)

Mark merging these two scenes as illegal until one of them has been merged with another scene or modified in some way.