Package boofcv.alg.structure.expand

Class EstimateViewKnownCalibration

java.lang.Object

boofcv.alg.structure.expand.EstimateViewKnownCalibration

All Implemented Interfaces:

VerbosePrint

public class EstimateViewKnownCalibration
extends Object
implements VerbosePrint

Expands to a new view using know camera intrinsics for all views. Inliers from 3-view are triangulated using the two known views. Then the 3rd view (the one being added) has its pose estimated using PNP + RANSAC. Then all the points and views are refined using bundle adjustment. The cameras will not be optimized as they are considered to be known.

Field Summary

Fields

Modifier and Type	Field	Description
final EstimateViewUtils	estimateUtils
double	fractionBadFeaturesRecover	If less than this number of features fail the physical constraint test, attempt to recover by removing them
final DogArray_I32	inputPnP_to_inliersThreeView
ConfigLength	minimumInliers	Minimum number of inliers for it to accept the solution
final CameraPinhole	pinhole
ModelMatcherMultiview<Se3_F64,Point2D3D>	ransacPnP	Estimates the new view's location
Triangulate2ViewsMetricH	triangulate2	Triangulate from the two known views

Constructor Summary

Constructors

Constructor	Description
EstimateViewKnownCalibration()

Method Summary

Modifier and Type	Method	Description
void	configure(ConfigTriangulation configTriangulate, ConfigPnP configPnP, ConfigRansac configRansac)	Use Configuration classes to initialize triangulate and RANSAC
void	defaultConfiguration()	Instantiates triangulation and RANSAC using default parameters
boolean	process(PairwiseGraphUtils pairwiseUtils, SceneWorkingGraph workGraph, MetricExpandByOneView.Solution solution)	Estimates the pose of a view and which features are in its inlier set.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Field Details

fractionBadFeaturesRecover

public double fractionBadFeaturesRecover

If less than this number of features fail the physical constraint test, attempt to recover by removing them

minimumInliers

public ConfigLength minimumInliers

Minimum number of inliers for it to accept the solution

estimateUtils

public final EstimateViewUtils estimateUtils

triangulate2

public Triangulate2ViewsMetricH triangulate2

Triangulate from the two known views

ransacPnP

public ModelMatcherMultiview<Se3_F64,Point2D3D> ransacPnP

Estimates the new view's location

inputPnP_to_inliersThreeView

public final DogArray_I32 inputPnP_to_inliersThreeView

pinhole

public final CameraPinhole pinhole

Constructor Details

EstimateViewKnownCalibration

public EstimateViewKnownCalibration()

Method Details

defaultConfiguration

public void defaultConfiguration()

Instantiates triangulation and RANSAC using default parameters

configure

public void configure(ConfigTriangulation configTriangulate,
 ConfigPnP configPnP,
 ConfigRansac configRansac)

Use Configuration classes to initialize triangulate and RANSAC

process

public boolean process(PairwiseGraphUtils pairwiseUtils,
 SceneWorkingGraph workGraph,
 MetricExpandByOneView.Solution solution)

Estimates the pose of a view and which features are in its inlier set.

Parameters:

pairwiseUtils - (Input) Pairwise information and specifies which view is being estimated

workGraph - (Input) Working graph with metric information

solution - (Output) The estimated state of the new view

Returns:

true if successful or false if it failed

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint