Package boofcv.alg.structure.expand

Class MetricExpandByOneView

java.lang.Object

boofcv.alg.structure.expand.ExpandByOneView

boofcv.alg.structure.expand.MetricExpandByOneView

All Implemented Interfaces:

VerbosePrint

public class MetricExpandByOneView
extends ExpandByOneView

Expands a metric scene by one view (the taget) using the geometric relationship between the target and two known metric views.

1. Input: A seed view and the known graph
2. Selects two other views with known camera matrices
3. Finds features in common with all three views
4. Trifocal tensor and RANSAC to find the unknown seed camera matrix
5. Estimate calibrating homography from found projective scene and known metric values
6. Elevate target from projective to metric
7. Bundle Adjustment to refine estimate
8. Convert from local coordinates to world / scene coordinates
9. Add found metric view for target to scene

The initial projective scene is found independently using common observations in an attempt to reduce the influence of past mistakes. To mitigate past mistakes, the intrisic parameters for the known views are optimized inside of bundle adjustment even though they are "known". Only the found intrinsic and Se3 for the target view will be added/modified in the scene graph.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	MetricExpandByOneView.Solution	Solution for a view's metric state from a particular approach/set of assumptions.

Field Summary

Fields

Modifier and Type	Field	Description
EstimateViewKnownCalibration	expandCalibrated
EstimateViewSelfCalibrate	expandUnknown
boolean	onlyConsiderCalibrated	Do not consider the uncalibrated case if the camera is already known
double	overfitHandyCap	Fit score for uncalibrated case needs to be significantly better than calibrated to be selected.

Fields inherited from class boofcv.alg.structure.expand.ExpandByOneView

utils, validCandidates, verbose, workGraph

Constructor Summary

Constructors

Constructor	Description
MetricExpandByOneView()

Method Summary

Modifier and Type	Method	Description
boolean	process(LookUpSimilarImages dbSimilar, LookUpCameraInfo dbCam, SceneWorkingGraph workGraph, PairwiseImageGraph.View target)	Attempts to estimate the camera model in the global projective space for the specified view
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class boofcv.alg.structure.expand.ExpandByOneView

selectTwoConnections

Methods inherited from class java.lang.Object

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

Field Details

onlyConsiderCalibrated

public boolean onlyConsiderCalibrated

Do not consider the uncalibrated case if the camera is already known

expandCalibrated

public EstimateViewKnownCalibration expandCalibrated

expandUnknown

public EstimateViewSelfCalibrate expandUnknown

overfitHandyCap

public double overfitHandyCap

Fit score for uncalibrated case needs to be significantly better than calibrated to be selected. This is how much its score is degraded. The reason is because you will almost always get a better fit when you allow more parameters to vary.

Constructor Details

MetricExpandByOneView

public MetricExpandByOneView()

Method Details

process

public boolean process(LookUpSimilarImages dbSimilar,
 LookUpCameraInfo dbCam,
 SceneWorkingGraph workGraph,
 PairwiseImageGraph.View target)

Attempts to estimate the camera model in the global projective space for the specified view

Parameters:

dbSimilar - (Input) image data base

workGraph - (Input/Output) scene graph. On input it will have the known scene and if successful the metric information for the target view.

target - (Input) The view that needs its projective camera estimated and the graph is being expanded into

Returns:

true if successful target view has an estimated calibration matrix and pose, which have already been added to "workGraph"

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint

Overrides:

setVerbose in class ExpandByOneView