Package boofcv.factory.geo

Class FactoryMultiViewRobust

java.lang.Object

boofcv.factory.geo.FactoryMultiViewRobust

public class FactoryMultiViewRobust
extends Object

Factory for creating robust false-positive tolerant estimation algorithms in multi-view geometry. These algorithms tend to have a lot of boilerplate associated with them and the goal of this factory is to make their use much easier and less error prone.

Constructor Summary

Constructors

Constructor	Description
FactoryMultiViewRobust()

Method Summary

Modifier and Type	Method	Description
static ModelMatcherMultiview<Se3_F64,AssociatedPair>	baselineLMedS(@Nullable ConfigEssential configEssential, ConfigLMedS configLMedS)	Robust solution for estimating Se3_F64 using epipolar geometry from two views with LMedS.
static RansacCalibrated<Se3_F64,AssociatedPair>	baselineRansac(@Nullable ConfigEssential configEssential, ConfigRansac configRansac)	Robust solution for estimating the stereo baseline Se3_F64 using epipolar geometry from two views with RansacCalibrated.
static <Model, Point> LeastMedianOfSquares<Model,Point>	createLMEDS(ConfigLMedS configLMedS, ModelManager<Model> manager, Class<Point> pointType)
static <Model, Point> Ransac<Model,Point>	createRansac(ConfigRansac configRansac, double ransacTol, ModelManager<Model> manager, Class<Point> pointType)	Returns a new instance of RANSAC.
static ModelMatcherMultiview<DMatrixRMaj,AssociatedPair>	essentialRansac(@Nullable ConfigEssential configEssential, ConfigRansac configRansac)
static ModelMatcher<DMatrixRMaj,AssociatedPair>	fundamentalLMedS(@Nullable ConfigFundamental configFundamental, ConfigLMedS configLMedS)
static ModelMatcher<DMatrixRMaj,AssociatedPair>	fundamentalRansac(ConfigFundamental configFundamental, ConfigRansac configRansac)
static RansacCalibrated<Homography2D_F64,AssociatedPair>	homographyCalibratedRansac(ConfigRansac configRansac)	Estimates a homography from normalized image coordinates but computes the error in pixel coordinates
static LeastMedianOfSquares<Homography2D_F64,AssociatedPair>	homographyLMedS(@Nullable ConfigHomography configHomography, ConfigLMedS configLMedS)	Robust solution for estimating Homography2D_F64 with LMedS.
static Ransac<Homography2D_F64,AssociatedPair>	homographyRansac(@Nullable ConfigHomography configHomography, ConfigRansac configRansac)	Robust solution for estimating Homography2D_F64 with Ransac.
static LeastMedianOfSquaresProjective<MetricCameraTriple,AssociatedTriple>	metricThreeViewLmeds(@Nullable ConfigPixelsToMetric configSelfcalib, ConfigLMedS configLMedS)
static RansacProjective<MetricCameraTriple,AssociatedTriple>	metricThreeViewRansac(@Nullable ConfigPixelsToMetric configSelfcalib, ConfigRansac configRansac)	Projective to metric self calibration from 3-views
static ModelMatcherMultiview<Se3_F64,Point2D3D>	pnpLMedS(@Nullable ConfigPnP configPnP, ConfigLMedS configLMedS)	Robust solution to PnP problem using LMedS.
static RansacCalibrated<Se3_F64,Point2D3D>	pnpRansac(@Nullable ConfigPnP configPnP, ConfigRansac configRansac)	Robust solution to PnP problem using Ransac.
static Ransac<TrifocalTensor,AssociatedTriple>	trifocalRansac(@Nullable ConfigTrifocal configTrifocal, @Nullable ConfigTrifocalError configError, ConfigRansac configRansac)	Robust RANSAC based estimator for

Methods inherited from class java.lang.Object

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

Constructor Details

FactoryMultiViewRobust

public FactoryMultiViewRobust()

Method Details

pnpLMedS

public static ModelMatcherMultiview<Se3_F64,Point2D3D> pnpLMedS(@Nullable
 @Nullable ConfigPnP configPnP,
 ConfigLMedS configLMedS)

Robust solution to PnP problem using LMedS. Input observations are in normalized image coordinates.

• Input observations are in normalized image coordinates NOT pixels
• Error units are pixels squared.

See code for all the details.

Parameters:

configPnP - PnP parameters. Can't be null.

configLMedS - Parameters for LMedS. Can't be null.

Returns:

Robust Se3_F64 estimator

pnpRansac

public static RansacCalibrated<Se3_F64,Point2D3D> pnpRansac(@Nullable
 @Nullable ConfigPnP configPnP,
 ConfigRansac configRansac)

Robust solution to PnP problem using Ransac. Input observations are in normalized image coordinates. Found transform is from world to camera.

NOTE: Observations are in normalized image coordinates NOT pixels.

See code for all the details.

Parameters:

configPnP - PnP parameters. Can't be null.

configRansac - Parameters for RANSAC. Can't be null.

Returns:

Robust Se3_F64 estimator

See Also:

• Estimate1ofPnP

baselineLMedS

public static ModelMatcherMultiview<Se3_F64,AssociatedPair> baselineLMedS(@Nullable
 @Nullable ConfigEssential configEssential,
 ConfigLMedS configLMedS)

Robust solution for estimating Se3_F64 using epipolar geometry from two views with LMedS. Input observations are in normalized image coordinates.

• Error units is pixels squared times two

See code for all the details.

Parameters:

configEssential - Essential matrix estimation parameters. Can't be null.

configLMedS - Parameters for RANSAC. Can't be null.

Returns:

Robust Se3_F64 estimator

fundamentalLMedS

public static ModelMatcher<DMatrixRMaj,AssociatedPair> fundamentalLMedS(@Nullable
 @Nullable ConfigFundamental configFundamental,
 ConfigLMedS configLMedS)

baselineRansac

public static RansacCalibrated<Se3_F64,AssociatedPair> baselineRansac(@Nullable
 @Nullable ConfigEssential configEssential,
 ConfigRansac configRansac)

Robust solution for estimating the stereo baseline Se3_F64 using epipolar geometry from two views with RansacCalibrated. Input observations are in normalized image coordinates.

See code for all the details.

Parameters:

configEssential - Essential matrix estimation parameters.

configRansac - Parameters for RANSAC. Can't be null.

Returns:

Robust Se3_F64 estimator

essentialRansac

public static ModelMatcherMultiview<DMatrixRMaj,AssociatedPair> essentialRansac(@Nullable
 @Nullable ConfigEssential configEssential,
 ConfigRansac configRansac)

fundamentalRansac

public static ModelMatcher<DMatrixRMaj,AssociatedPair> fundamentalRansac(ConfigFundamental configFundamental,
 ConfigRansac configRansac)

homographyLMedS

public static LeastMedianOfSquares<Homography2D_F64,AssociatedPair> homographyLMedS(@Nullable
 @Nullable ConfigHomography configHomography,
 ConfigLMedS configLMedS)

Robust solution for estimating Homography2D_F64 with LMedS. Input observations are in pixel coordinates.

• Four point linear is used internally

• inlierThreshold is in pixels

See code for all the details.

Parameters:

configHomography - Homography estimation parameters. If null default is used.

configLMedS - Parameters for LMedS. Can't be null.

Returns:

Homography estimator

homographyRansac

public static Ransac<Homography2D_F64,AssociatedPair> homographyRansac(@Nullable
 @Nullable ConfigHomography configHomography,
 ConfigRansac configRansac)

Robust solution for estimating Homography2D_F64 with Ransac. Input observations are in pixel coordinates.

• Four point linear is used internally

• inlierThreshold is in pixels

See code for all the details.

Parameters:

configHomography - Homography estimation parameters. If null default is used.

configRansac - Parameters for RANSAC. Can't be null.

Returns:

Homography estimator

homographyCalibratedRansac

public static RansacCalibrated<Homography2D_F64,AssociatedPair> homographyCalibratedRansac(ConfigRansac configRansac)

Estimates a homography from normalized image coordinates but computes the error in pixel coordinates

Parameters:

configRansac - RANSAC configuration

Returns:

Ransac

See Also:

• GenerateHomographyLinear
• DistanceHomographyCalibratedSq

trifocalRansac

public static Ransac<TrifocalTensor,AssociatedTriple> trifocalRansac(@Nullable
 @Nullable ConfigTrifocal configTrifocal,
 @Nullable
 @Nullable ConfigTrifocalError configError,
 ConfigRansac configRansac)

Robust RANSAC based estimator for

Parameters:

configTrifocal - Configuration for trifocal tensor calculation

configError - Configuration for how trifocal error is computed

configRansac - Configuration for RANSAC

Returns:

RANSAC

See Also:

• FactoryMultiView.trifocal_1(boofcv.factory.geo.ConfigTrifocal)

metricThreeViewRansac

public static RansacProjective<MetricCameraTriple,AssociatedTriple> metricThreeViewRansac(@Nullable
 @Nullable ConfigPixelsToMetric configSelfcalib,
 ConfigRansac configRansac)

Projective to metric self calibration from 3-views

Parameters:

configSelfcalib - (Input) configuration for self calibration

configRansac - (Input) configuration for RANSAC

Returns:

RANSAC

metricThreeViewLmeds

public static LeastMedianOfSquaresProjective<MetricCameraTriple,AssociatedTriple> metricThreeViewLmeds(@Nullable
 @Nullable ConfigPixelsToMetric configSelfcalib,
 ConfigLMedS configLMedS)

createLMEDS

public static <Model,
Point>
LeastMedianOfSquares<Model,Point> createLMEDS(ConfigLMedS configLMedS,
 ModelManager<Model> manager,
 Class<Point> pointType)

createRansac

public static <Model,
Point> Ransac<Model,Point> createRansac(ConfigRansac configRansac,
 double ransacTol,
 ModelManager<Model> manager,
 Class<Point> pointType)

Returns a new instance of RANSAC. If concurrency is turned on then a concurrent version will be returned.

Parameters:

ransacTol - inlier tolerance. The tolerance on config isn't used since that might have the wrong units. This lets the user easily adjust the units without modifying the config.