Package boofcv.alg.structure.score3d

Class ScoreFundamentalVsRotation

java.lang.Object

boofcv.alg.structure.score3d.ScoreFundamentalVsRotation

All Implemented Interfaces:

EpipolarScore3D, VerbosePrint

public class ScoreFundamentalVsRotation
extends Object
implements EpipolarScore3D

Determines the amount of 3D information by comparing the results from robustly fitting a Fundamental matrix vs fitting pure rotation/self calibration. A generic

Field Summary

Fields

Modifier and Type	Field	Description
final RefineTwoViewPinholeRotation	fitRotation	Assumes pure rotation then refines rotation and intrinsics to observations
double	inlierErrorTol	A pair of observations are within tolerance to the model if the error is less than or equal to this
protected final DogArray_I32	inliersRotationIdx
protected final DMatrixRMaj	K1
protected final DMatrixRMaj	K2
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.
protected final DMatrixRMaj	R
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
ScoreFundamentalVsRotation(ModelMatcher<DMatrixRMaj,AssociatedPair> robust3D)

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> configuration)

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

fitRotation

public final RefineTwoViewPinholeRotation fitRotation

Assumes pure rotation then refines rotation and intrinsics to observations

inliersRotationIdx

protected final DogArray_I32 inliersRotationIdx

K1

protected final DMatrixRMaj K1

K2

protected final DMatrixRMaj K2

R

protected final DMatrixRMaj R

Constructor Details

ScoreFundamentalVsRotation

public ScoreFundamentalVsRotation(ModelMatcher<DMatrixRMaj,AssociatedPair> robust3D)

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> configuration)

Specified by:

setVerbose in interface VerbosePrint