Package boofcv.alg.structure

Class SceneWorkingGraph

java.lang.Object

boofcv.alg.structure.SceneWorkingGraph

public class SceneWorkingGraph
extends Object

A scene graph which is designed to be easy to manipulate as the scene's structure is determined. Intended to be used with PairwiseImageGraph.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SceneWorkingGraph.Camera	Information on a camera which captured one or more views in this scene.
static class	SceneWorkingGraph.InlierInfo	Information on the set of inlier observations used to compute the camera location
static class	SceneWorkingGraph.Observation	Observation (pixel coordinates) of an image feature inside of a SceneWorkingGraph.View.
static class	SceneWorkingGraph.View	Data structure related to an image.

Field Summary

Fields

Modifier and Type	Field	Description
final gnu.trove.map.TIntObjectMap<SceneWorkingGraph.Camera>	cameras	Camera database ID to scene Camera
HashSet<String>	exploredViews	list of views that have already been explored when expanding the scene
int	index	If stored in an array, the index of the scene in the array
final DogArray<SceneWorkingGraph.Camera>	listCameras	List of scene cameras
final List<SceneWorkingGraph.View>	listViews
int	numSeedViews	Number of views in the seed set.
FastArray<PairwiseImageGraph.View>	open	List of views in pairwise graph it could expand into
final Map<String,SceneWorkingGraph.View>	views	List of all views in the scene graph.

Constructor Summary

Constructors

Constructor	Description
SceneWorkingGraph()

Method Summary

Modifier and Type	Method	Description
SceneWorkingGraph.Camera	addCamera(int indexDB)
SceneWorkingGraph.Camera	addCameraCopy(SceneWorkingGraph.Camera src)
SceneWorkingGraph.View	addView(PairwiseImageGraph.View pview, SceneWorkingGraph.Camera camera)	Adds a new view to the graph.
boolean	containsView(String id)
List<SceneWorkingGraph.View>	getAllViews()
SceneWorkingGraph.Camera	getViewCamera(SceneWorkingGraph.View v)
boolean	isKnown(PairwiseImageGraph.View pview)
boolean	isSeedSet(String id)
gnu.trove.map.TObjectIntMap<String>	lookupUsedViewIds(@Nullable gnu.trove.map.TObjectIntMap<String> storage)	Convenience function to get a mapping of view ID to index.
SceneWorkingGraph.View	lookupView(String id)
void	reset()	Resets it into it's initial state.
void	setTo(SceneWorkingGraph src)

Methods inherited from class java.lang.Object

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

Field Details

cameras

public final gnu.trove.map.TIntObjectMap<SceneWorkingGraph.Camera> cameras

Camera database ID to scene Camera

listCameras

public final DogArray<SceneWorkingGraph.Camera> listCameras

List of scene cameras

views

public final Map<String,SceneWorkingGraph.View> views

List of all views in the scene graph. Look up based on the image/view's id

listViews

public final List<SceneWorkingGraph.View> listViews

exploredViews

public HashSet<String> exploredViews

list of views that have already been explored when expanding the scene

index

public int index

If stored in an array, the index of the scene in the array

open

public FastArray<PairwiseImageGraph.View> open

List of views in pairwise graph it could expand into

numSeedViews

public int numSeedViews

Number of views in the seed set. This is used to determine if a feature is a member of the seed set as the first views are always part of the seed

Constructor Details

SceneWorkingGraph

public SceneWorkingGraph()

Method Details

reset

public void reset()

Resets it into it's initial state.

setTo

public void setTo(SceneWorkingGraph src)

containsView

public boolean containsView(String id)

lookupView

public SceneWorkingGraph.View lookupView(String id)

isSeedSet

public boolean isSeedSet(String id)

isKnown

public boolean isKnown(PairwiseImageGraph.View pview)

addCamera

public SceneWorkingGraph.Camera addCamera(int indexDB)

addCameraCopy

public SceneWorkingGraph.Camera addCameraCopy(SceneWorkingGraph.Camera src)

addView

public SceneWorkingGraph.View addView(PairwiseImageGraph.View pview,
 SceneWorkingGraph.Camera camera)

Adds a new view to the graph. If the view already exists an exception is thrown

Parameters:

pview - (Input) Pairwise view to create the new view from.

Returns:

The new view created

getAllViews

public List<SceneWorkingGraph.View> getAllViews()

getViewCamera

public SceneWorkingGraph.Camera getViewCamera(SceneWorkingGraph.View v)

lookupUsedViewIds

public gnu.trove.map.TObjectIntMap<String> lookupUsedViewIds(@Nullable
 @Nullable gnu.trove.map.TObjectIntMap<String> storage)

Convenience function to get a mapping of view ID to index.

Parameters:

storage - (Output) Optional storage for output.

Returns:

Map from view ID to view index