Package boofcv.alg.structure.score3d

Class ScoreFundamentalHomographyCompatibility

java.lang.Object

boofcv.alg.structure.score3d.ScoreFundamentalHomographyCompatibility

All Implemented Interfaces:

EpipolarScore3D, VerbosePrint

public class ScoreFundamentalHomographyCompatibility
extends Object
implements EpipolarScore3D

Runs RANSAC to find the fundamental matrix. Score is computed by computing a homography then recomputing the fundamental matrix from the homography and an epipole. If the homography is compatible with F then F will be recomputed correctly, otherwise an the recomputed F will be incorrect. The homography will be compatible if the scene is planar or the motion was purely rotational. The score is found by computing the number of pairs that are "inliers" between the two versions of F. The ratio of inliers is used to determine if there's 3D information and compute the score. The score also seeds to encourage more image features in the RANSAC inlier set. The inlier threshold used for RANSAC and inlierErrorTol do not need to be the same but they would probably be similar. WARNING: Has known issues with dominant planes where it will mark them as not having 3D as it mistakes it for pure rotation.

Field Summary

Fields

Modifier and Type	Field	Description
double	inlierErrorTol	A pair of observations are within tolerance to the model if the error is less than or equal to this
double	maxRatioScore	The error ratio can get massive and this number prevents large values for being weighted too much in the score
final ConfigLength	minimumInliers	The minimum number of inliers for an edge to be accepted.
double	ratio3D	If number of matches from fundamental divided by homography is more than this then it is considered a 3D scene

Constructor Summary

Constructors

Constructor	Description
ScoreFundamentalHomographyCompatibility(ModelMatcher<DMatrixRMaj,AssociatedPair> ransac3D)

Method Summary

Modifier and Type	Method	Description
double	getScore()	Returns a score for how much 3D information there is.
boolean	is3D()	Decides if the two views have a 3D relationship.
void	process(CameraPinholeBrown cameraA, @Nullable CameraPinholeBrown cameraB, int featuresA, int featuresB, List<AssociatedPair> pairs, DMatrixRMaj fundamental, DogArray_I32 inliersIdx)	Determines if there's a 3D relationship between the views and scores how strong it is
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> param)

Methods inherited from class java.lang.Object

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

Field Details

ratio3D

public double ratio3D

If number of matches from fundamental divided by homography is more than this then it is considered a 3D scene

maxRatioScore

public double maxRatioScore

The error ratio can get massive and this number prevents large values for being weighted too much in the score

minimumInliers

public final ConfigLength minimumInliers

The minimum number of inliers for an edge to be accepted. If relative, then relative to pairs.

inlierErrorTol

public double inlierErrorTol

A pair of observations are within tolerance to the model if the error is less than or equal to this

Constructor Details

ScoreFundamentalHomographyCompatibility

public ScoreFundamentalHomographyCompatibility(ModelMatcher<DMatrixRMaj,AssociatedPair> ransac3D)

Method Details

process

public void process(CameraPinholeBrown cameraA,
 @Nullable
 @Nullable CameraPinholeBrown cameraB,
 int featuresA,
 int featuresB,
 List<AssociatedPair> pairs,
 DMatrixRMaj fundamental,
 DogArray_I32 inliersIdx)

Description copied from interface: EpipolarScore3D

Determines if there's a 3D relationship between the views and scores how strong it is

Specified by:

process in interface EpipolarScore3D

Parameters:

cameraA - (Input) Prior information on the camera intrinsics. View A.

cameraB - (Input) Prior information on the camera intrinsics. View B. If null then it's assumed the two cameras are the same.

featuresA - (Input) Number of features in imageA

featuresB - (Input) Number of features in imageB

pairs - (Input) Set of point feature pairs between the two images

fundamental - (Output) Fundamental matrix describing the geometric relationship between the two views

inliersIdx - (Output) Which features inside of pairs are in the inlier sets

getScore

public double getScore()

Description copied from interface: EpipolarScore3D

Returns a score for how much 3D information there is. 0 = no 3D information. 1 = very strong 3D information. score is 0 to 1.

Specified by:

getScore in interface EpipolarScore3D

Returns:

score

is3D

public boolean is3D()

Description copied from interface: EpipolarScore3D

Decides if the two views have a 3D relationship.

Specified by:

is3D in interface EpipolarScore3D

Returns:

true if 3D or false if not

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint