Package boofcv.alg.structure.expand

Class EstimateViewUtils

java.lang.Object

boofcv.alg.structure.expand.EstimateViewUtils

public class EstimateViewUtils
extends Object

Common operations when estimating a new view

Field Summary

Fields

Modifier and Type	Field	Description
MetricSanityChecks	checks	Used to check results to see if they can be trusted
final List<Se3_F64>	listMotion
double	local_to_global
final MetricBundleAdjustmentUtils	metricSba	Bundle Adjustment functions and configurations
final RemoveBrownPtoN_F64	normalize1
final RemoveBrownPtoN_F64	normalize2
final RemoveBrownPtoN_F64	normalize3
final List<Point2D_F64>	pixelNorms
final DogArray_I32	usedThreeViewInliers
final Se3_F64	view1_to_target
final Se3_F64	view1_to_view1
final Se3_F64	view1_to_view2

Constructor Summary

Constructors

Constructor	Description
EstimateViewUtils()

Method Summary

Modifier and Type	Method	Description
void	configureSbaStructure(List<AssociatedTriple> inliersThreeView)	Configures data structures for running SBA.
void	copyToSolution(PairwiseGraphUtils pairwiseUtils, MetricExpandByOneView.Solution solution)	Copies the found parameters for the new view into the 'solution' object provided
void	initialize(boolean knownView3, SceneWorkingGraph workGraph, PairwiseGraphUtils pairwiseUtils)	Initializes data structures for when a new view is being processed.
boolean	performBundleAdjustment(@Nullable PrintStream verbose)	Runs bundle adjustment and optimizes the scene.
boofcv.alg.structure.expand.EstimateViewUtils.RemoveResults	removedBadFeatures(PairwiseGraphUtils utils, double fractionBadFeaturesRecover, @Nullable PrintStream verbose)	Applies the physical constraints to identify bad image features.
void	setCamera3(BundlePinholeSimplified camera3)	Specifies the intrinsics for view-3's camera.
boolean	verifyPhysicalConstraints(double fractionAccept, @Nullable PrintStream verbose)	Inspects the observations to see if they pass a check on known constraints.

Methods inherited from class java.lang.Object

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

Field Details

metricSba

public final MetricBundleAdjustmentUtils metricSba

Bundle Adjustment functions and configurations

usedThreeViewInliers

public final DogArray_I32 usedThreeViewInliers

local_to_global

public double local_to_global

normalize1

public final RemoveBrownPtoN_F64 normalize1

normalize2

public final RemoveBrownPtoN_F64 normalize2

normalize3

public final RemoveBrownPtoN_F64 normalize3

view1_to_view1

public final Se3_F64 view1_to_view1

view1_to_view2

public final Se3_F64 view1_to_view2

view1_to_target

public final Se3_F64 view1_to_target

pixelNorms

public final List<Point2D_F64> pixelNorms

listMotion

public final List<Se3_F64> listMotion

checks

public MetricSanityChecks checks

Used to check results to see if they can be trusted

Constructor Details

EstimateViewUtils

public EstimateViewUtils()

Method Details

initialize

public void initialize(boolean knownView3,
 SceneWorkingGraph workGraph,
 PairwiseGraphUtils pairwiseUtils)

Initializes data structures for when a new view is being processed. The state of 'pairwiseUtils' is used to determine which views are used as input.

Parameters:

knownView3 - If true then prior information on view-3 (target view) is being used.

workGraph - The working graph

pairwiseUtils - Pairwise information and specifies which views are being considered.

setCamera3

public void setCamera3(BundlePinholeSimplified camera3)

Specifies the intrinsics for view-3's camera. This should be called if it's not known at the time initialize(boolean, boofcv.alg.structure.SceneWorkingGraph, boofcv.alg.structure.PairwiseGraphUtils) was called.

Parameters:

camera3 - Intrinsic parameters for view-3.

copyToSolution

public void copyToSolution(PairwiseGraphUtils pairwiseUtils,
 MetricExpandByOneView.Solution solution)

Copies the found parameters for the new view into the 'solution' object provided

Parameters:

pairwiseUtils - Pairwise information

solution - (Output) view parameters are copied here.

configureSbaStructure

public void configureSbaStructure(List<AssociatedTriple> inliersThreeView)

Configures data structures for running SBA. Which observations are used is specified by the provided inliers. By default all cameras and views are set to known. If these need to be optimized for a specific use case then 'known' should be set to false.

Parameters:

inliersThreeView - Specifies the observations

performBundleAdjustment

public boolean performBundleAdjustment(@Nullable
 @Nullable PrintStream verbose)

Runs bundle adjustment and optimizes the scene.

Parameters:

verbose - If not null, then verbose information is printed

removedBadFeatures

public boofcv.alg.structure.expand.EstimateViewUtils.RemoveResults removedBadFeatures(PairwiseGraphUtils utils,
 double fractionBadFeaturesRecover,
 @Nullable
 @Nullable PrintStream verbose)

Applies the physical constraints to identify bad image features. It then removes those if there are only a few and runs bundle adjustment again. If there are no bad features then it accepts this solution.

Returns:

true if it passes

verifyPhysicalConstraints

public boolean verifyPhysicalConstraints(double fractionAccept,
 @Nullable
 @Nullable PrintStream verbose)

Inspects the observations to see if they pass a check on known constraints.

Parameters:

fractionAccept - Fraction of points which can fail the test and this returns true

verbose - If not null then verbose information will be printed

Returns:

true if it passes the constraints check

See Also:

• MetricSanityChecks