Package boofcv.alg.structure.spawn

Class MetricSpawnSceneFromView

java.lang.Object

boofcv.alg.structure.spawn.MetricSpawnSceneFromView

All Implemented Interfaces:

VerbosePrint

public class MetricSpawnSceneFromView
extends Object
implements VerbosePrint

Given a view and set of views connected to it, attempt to create a new metric scene. First a projective scene is found. From this projective scene and metric one is created. Then bundle adjustment is used to refine the metric scene. Features are then sanity checked to see if the pass basic physical constraints, see MetricSanityChecks. If too many fail then the reconstruction is aborted. Otherwise, all the failing features are removed and assumed to be outliers and bundle adjustment is run again. If there are no more bad features it's considered to be a successful reconstruction.

Field Summary

Fields

Modifier and Type	Field	Description
double	fractionBadFeaturesRecover	If less than this number of features fail the physical constraint test, attempt to recover by removing them
protected PairwiseGraphUtils	utils

Constructor Summary

Constructors

Constructor	Description
MetricSpawnSceneFromView()
MetricSpawnSceneFromView(RefineMetricWorkingGraph refineWorking, PairwiseGraphUtils utils)

Method Summary

Modifier and Type	Method	Description
boolean	process(LookUpSimilarImages dbSimilar, LookUpCameraInfo dbCams, PairwiseImageGraph pairwise, PairwiseImageGraph.View seed, DogArray_I32 motions)	Computes the metric scene given the seed and related views
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

fractionBadFeaturesRecover

public double fractionBadFeaturesRecover

If less than this number of features fail the physical constraint test, attempt to recover by removing them

utils

protected PairwiseGraphUtils utils

Constructor Details

MetricSpawnSceneFromView

public MetricSpawnSceneFromView(RefineMetricWorkingGraph refineWorking,
 PairwiseGraphUtils utils)

MetricSpawnSceneFromView

public MetricSpawnSceneFromView()

Method Details

process

public boolean process(LookUpSimilarImages dbSimilar,
 LookUpCameraInfo dbCams,
 PairwiseImageGraph pairwise,
 PairwiseImageGraph.View seed,
 DogArray_I32 motions)

Computes the metric scene given the seed and related views

Parameters:

dbSimilar - Image data base to retieve feature and shape info

pairwise - Pairwise graph

seed - The view which will be the origin of the metric scene

motions - edges in seed that were used to generate the score

Returns:

true if successful or false if it failed

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint