Interface Summary Interface Description EpipolarScore3DEvaluates how 3D a pair of views are from their associated points LookUpSimilarImagesInterface for finding images with a similar appearance and identifying point features which are related between the two images. RefineMetricWorkingGraph.CallBeforeRefineHelper function that allows for arbitrary customization before it optimizes. RefineMetricWorkingGraph.FilterInlierSetFilter for inlier sets. ResolveSceneScaleAmbiguity.FeatureObservationsUsed to lookup feature pixel observations in a scene.
Class Summary Class Description ConfigProjectiveReconstructionConfiguration for
graph of imageswith similar appearance, create a graph in which images with a geometric relationship are connected to each other.
GenerateStereoPairGraphFromScene GenerateStereoPairGraphFromScene.ViewPoints visible in the view LookUpCameraInfoUsed to retrieve information about a view's camera. MetricFromUncalibratedPairwiseGraphFully computes views (intrinsics + SE3) for each view and saves which observations were inliers. MetricFromUncalibratedPairwiseGraph.PairwiseViewScenesRecords which scenes have grown to include which views. MetricFromUncalibratedPairwiseGraph.ViewScenesContains information about which scenes contain this specific view MetricMergeScenesMerges two scenes together after their metric elevation. MetricMergeScenes.CommonViewSpecifies which two 'views" in each scene reference the same pairwise view. MetricSanityChecksPerforms various checks to see if a scene is physically possible. PairwiseGraphUtilsVarious utility functions for dealing with
PairwiseImageGraphGraph describing the relationship between image features using matching features from epipolar geometry. PairwiseImageGraph.Motion PairwiseImageGraph.ViewInformation associated with a single image/frame/view ProjectiveInitializeAllCommonGiven a set of views and a set of features which are visible in all views, estimate their structure up to a projective transform. ReconstructionFromPairwiseGraphContains common functions useful for perform a full scene reconstruction from a
ReconstructionFromPairwiseGraph.ExpansionContains information on a potential expansion ReconstructionFromPairwiseGraph.SeedInfoInformation related to a view acting as a seed to spawn a projective graph RefineMetricGraphSubsetUsed to refine only part of a
RefineMetricWorkingGraphUses SBA to refine the intrinsic parameters and camera locations inside of a
ResolveSceneScaleAmbiguityThis determines how to convert the scale from one "scene" to another scene, given a common view and features. ScaleSe3_F64Scale and SE3 transform SceneMergingOperationsContains operations used to merge all the connected spawned scenes in
MetricFromUncalibratedPairwiseGraphinto a single scene.
SceneMergingOperations.FailedMerged SceneMergingOperations.SelectedScenesSpecifies which two scenes should be merged together SceneMergingOperations.SelectedViews SceneWorkingGraphA scene graph which is designed to be easy to manipulate as the scene's structure is determined. SceneWorkingGraph.CameraInformation on a camera which captured one or more views in this scene. SceneWorkingGraph.InlierInfoInformation on the set of inlier observations used to compute the camera location SceneWorkingGraph.ObservationObservation (pixel coordinates) of an image feature inside of a
SceneWorkingGraph.ViewData structure related to an image. SelectNeighborsAroundViewSelects a subset of views from a
SceneWorkingGraphas the first step before performing local bundle adjustment.
SparseSceneToDenseCloud<T extends ImageGray<T>>Takes in a known sparse scene that's in SBA format and converts it into a dense point cloud. ThreeViewEstimateMetricSceneEstimates the metric scene's structure given a set of sparse features associations from three views.