Package boofcv.alg.structure
package boofcv.alg.structure
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ClassDescriptionConfiguration for
ProjectiveReconstructionFromPairwiseGraphEvaluates how 3D a pair of views are from their associated pointsGiven agraph of imageswith similar appearance, create a graph in which images with a geometric relationship are connected to each other.Given thesparse reconstruction, create aStereoPairGraphthat describes which views are compatible for computing dense stereo disparity from.Points visible in the viewGiven a set of views and a set of features which are visible in all views, estimate their metric structure.Given a set of views and a set of features which are visible in all views, estimate their structure up to a projective transform.Used to retrieve information about a view's camera.Interface for finding images with a similar appearance and identifying point features which are related between the two images.Fully computes views (intrinsics + SE3) for each view and saves which observations were inliers.Records which scenes have grown to include which views.Contains information about which scenes contain this specific viewMerges two scenes together after their metric elevation.Specifies which two 'views" in each scene reference the same pairwise view.Performs various checks to see if a scene is physically possible.Various utility functions for dealing withPairwiseImageGraphGraph describing the relationship between image features using matching features from epipolar geometry.Information associated with a single image/frame/viewContains common functions useful for perform a full scene reconstruction from aPairwiseImageGraph.Contains information on a potential expansionInformation related to a view acting as a seed to spawn a projective graphUsed to refine only part of aSceneWorkingGraph.Uses SBA to refine the intrinsic parameters and camera locations inside of aSceneWorkingGraph.Helper function that allows for arbitrary customization before it optimizes.Filter for inlier sets.This determines how to convert the scale from one "scene" to another scene, given a common view and features.Used to lookup feature pixel observations in a scene.Scale and SE3 transformContains operations used to merge all the connected spawned scenes inMetricFromUncalibratedPairwiseGraphinto a single scene.Specifies which two scenes should be merged togetherA scene graph which is designed to be easy to manipulate as the scene's structure is determined.Information on a camera which captured one or more views in this scene.Information on the set of inlier observations used to compute the camera locationObservation (pixel coordinates) of an image feature inside of aSceneWorkingGraph.View.Data structure related to an image.Selects a subset of views from aSceneWorkingGraphas 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.Estimates the metric scene's structure given a set of sparse features associations from three views.