boofcv.alg.sfm.structure

Class PairwiseImageMatching<T extends boofcv.struct.image.ImageBase<T>>

java.lang.Object

boofcv.alg.sfm.structure.PairwiseImageMatching<T>

All Implemented Interfaces:

org.ddogleg.struct.Stoppable

public class PairwiseImageMatching<T extends boofcv.struct.image.ImageBase<T>>
extends java.lang.Object
implements org.ddogleg.struct.Stoppable

Determines connectivity between images by exhaustively considering all possible combination of views. Assocation is found by detecting features inside of each image.

Nested Class Summary

Nested classes/interfaces inherited from interface org.ddogleg.struct.Stoppable

org.ddogleg.struct.Stoppable.Stopped

Field Summary

Fields

Modifier and Type	Field and Description
protected boofcv.abst.feature.associate.AssociateDescription<boofcv.struct.feature.TupleDesc>	associate
protected boofcv.factory.geo.ConfigEssential	configEssential
protected boofcv.factory.geo.ConfigFundamental	configFundamental
protected boofcv.factory.geo.ConfigRansac	configRansac
protected boofcv.abst.feature.detdesc.DetectDescribePoint<T,boofcv.struct.feature.TupleDesc>	detDesc
protected PairwiseImageGraph	graph
protected double	MIN_ASSOCIATE_FRACTION
protected int	MIN_FEATURE_ASSOCIATED
protected org.ddogleg.struct.FastQueue<boofcv.struct.geo.AssociatedPair>	pairs
protected boofcv.alg.geo.robust.RansacMultiView<georegression.struct.se.Se3_F64,boofcv.struct.geo.AssociatedPair>	ransacEssential
protected org.ddogleg.fitting.modelset.ransac.Ransac<org.ejml.data.DMatrixRMaj,boofcv.struct.geo.AssociatedPair>	ransacFundamental
protected java.io.PrintStream	verbose
protected int	verboseLevel

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	PairwiseImageMatching()
	PairwiseImageMatching(boofcv.abst.feature.detdesc.DetectDescribePoint<T,boofcv.struct.feature.TupleDesc> detDesc, boofcv.abst.feature.associate.AssociateDescription<boofcv.struct.feature.TupleDesc> associate)

Method Summary

Modifier and Type	Method and Description
void	addCamera(java.lang.String cameraName)
void	addCamera(java.lang.String cameraName, boofcv.struct.distort.Point2Transform2_F64 pixelToNorm, boofcv.struct.calib.CameraPinhole pinhole)
void	addImage(T image, java.lang.String cameraName) Adds a new observation from a camera.
void	configure(int minFeatureAssociate, double minFeatureAssociateFraction) Specifies magic numbers for pruning connections
protected boolean	connectViews(boofcv.alg.sfm.structure.PairwiseImageGraph.View viewA, boofcv.alg.sfm.structure.PairwiseImageGraph.View viewB, org.ddogleg.struct.FastQueue<boofcv.struct.feature.AssociatedIndex> matches) Associate features between the two views.
protected void	declareModelFitting()
boofcv.factory.geo.ConfigEssential	getConfigEssential()
boofcv.factory.geo.ConfigFundamental	getConfigFundamental()
boofcv.factory.geo.ConfigRansac	getConfigRansac()
java.lang.Class<boofcv.struct.feature.TupleDesc>	getDescriptionType()
PairwiseImageGraph	getGraph() Returns the found graph
boolean	isStopRequested()
boolean	process() Determines connectivity between images.
void	requestStop()
void	reset()
void	setVerbose(java.io.PrintStream verbose, int level)

Methods inherited from class java.lang.Object

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

Field Detail

MIN_ASSOCIATE_FRACTION

protected double MIN_ASSOCIATE_FRACTION

MIN_FEATURE_ASSOCIATED

protected int MIN_FEATURE_ASSOCIATED

detDesc

protected boofcv.abst.feature.detdesc.DetectDescribePoint<T extends boofcv.struct.image.ImageBase<T>,boofcv.struct.feature.TupleDesc> detDesc

associate

protected boofcv.abst.feature.associate.AssociateDescription<boofcv.struct.feature.TupleDesc> associate

graph

protected PairwiseImageGraph graph

configRansac

protected boofcv.factory.geo.ConfigRansac configRansac

configEssential

protected boofcv.factory.geo.ConfigEssential configEssential

configFundamental

protected boofcv.factory.geo.ConfigFundamental configFundamental

pairs

protected org.ddogleg.struct.FastQueue<boofcv.struct.geo.AssociatedPair> pairs

ransacEssential

protected boofcv.alg.geo.robust.RansacMultiView<georegression.struct.se.Se3_F64,boofcv.struct.geo.AssociatedPair> ransacEssential

ransacFundamental

protected org.ddogleg.fitting.modelset.ransac.Ransac<org.ejml.data.DMatrixRMaj,boofcv.struct.geo.AssociatedPair> ransacFundamental

verbose

protected java.io.PrintStream verbose

verboseLevel

protected int verboseLevel

Constructor Detail

PairwiseImageMatching

public PairwiseImageMatching(boofcv.abst.feature.detdesc.DetectDescribePoint<T,boofcv.struct.feature.TupleDesc> detDesc,
                             boofcv.abst.feature.associate.AssociateDescription<boofcv.struct.feature.TupleDesc> associate)

PairwiseImageMatching

protected PairwiseImageMatching()

Method Detail

declareModelFitting

protected void declareModelFitting()

configure

public void configure(int minFeatureAssociate,
                      double minFeatureAssociateFraction)

Specifies magic numbers for pruning connections

Parameters:

minFeatureAssociate - Minimum number of features a connection needs to have

minFeatureAssociateFraction - Fraction of total features for edge and both images.

addCamera

public void addCamera(java.lang.String cameraName)

addCamera

public void addCamera(java.lang.String cameraName,
                      boofcv.struct.distort.Point2Transform2_F64 pixelToNorm,
                      boofcv.struct.calib.CameraPinhole pinhole)

addImage

public void addImage(T image,
                     java.lang.String cameraName)

Adds a new observation from a camera. Detects features inside the and saves those.

Parameters:

image - The image

process

public boolean process()

Determines connectivity between images. Results can be found by calling getGraph().

Returns:

true if successful or false if it failed

getGraph

public PairwiseImageGraph getGraph()

Returns the found graph

connectViews

protected boolean connectViews(boofcv.alg.sfm.structure.PairwiseImageGraph.View viewA,
                               boofcv.alg.sfm.structure.PairwiseImageGraph.View viewB,
                               org.ddogleg.struct.FastQueue<boofcv.struct.feature.AssociatedIndex> matches)

Associate features between the two views. Then compute a homography and essential matrix using LSMed. Add features to the edge if they an inlier in essential. Save fit score of homography vs essential.

requestStop

public void requestStop()

Specified by:

requestStop in interface org.ddogleg.struct.Stoppable

isStopRequested

public boolean isStopRequested()

Specified by:

isStopRequested in interface org.ddogleg.struct.Stoppable

getDescriptionType

public java.lang.Class<boofcv.struct.feature.TupleDesc> getDescriptionType()

getConfigEssential

public boofcv.factory.geo.ConfigEssential getConfigEssential()

getConfigFundamental

public boofcv.factory.geo.ConfigFundamental getConfigFundamental()

getConfigRansac

public boofcv.factory.geo.ConfigRansac getConfigRansac()

reset

public void reset()

setVerbose

public void setVerbose(java.io.PrintStream verbose,
                       int level)