boofcv.alg.sfm.structure

Class EstimateSceneCalibrated

java.lang.Object

boofcv.alg.sfm.structure.EstimateSceneCalibrated

All Implemented Interfaces:

EstimateSceneStructure<boofcv.abst.geo.bundle.SceneStructureMetric>, org.ddogleg.struct.Stoppable

public class EstimateSceneCalibrated
extends java.lang.Object
implements EstimateSceneStructure<boofcv.abst.geo.bundle.SceneStructureMetric>

Assumes the input images are in an arbitrary order and that any image can be connected to any other image. A brute force approach is used to determine connectivity between images making this an O(N²) algorithm. This its not suitable for a large number of images. All cameras must either be calibrated or uncalibrated. Sensitivity to the selection of the origin view and the motion which defines the coordinate system is minimized by estimating the 3D coordinate of points using local information alone. An alternative and common approach uses information built up from sequential view poses and 3D point estimates which have unbounded error.

Nested Class Summary

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

org.ddogleg.struct.Stoppable.Stopped

Constructor Summary

Constructors

Constructor and Description
EstimateSceneCalibrated()

Method Summary

Modifier and Type	Method and Description
protected void	declareModelFitting()
boofcv.abst.geo.bundle.SceneObservations	getObservations() Observations from each view
boofcv.abst.geo.bundle.SceneStructureMetric	getSceneStructure() Returns the scene structure.
boolean	isStopRequested()
boolean	process(PairwiseImageGraph pairwiseGraph) Processes the paired up scene features and computes an initial estimate for the scene's structure.
void	requestStop()
void	reset() Forgets all added views and cameras
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

Constructor Detail

EstimateSceneCalibrated

public EstimateSceneCalibrated()

Method Detail

process

public boolean process(PairwiseImageGraph pairwiseGraph)

Processes the paired up scene features and computes an initial estimate for the scene's structure.

Specified by:

process in interface EstimateSceneStructure<boofcv.abst.geo.bundle.SceneStructureMetric>

Parameters:

pairwiseGraph - (Input) matched features across views/cameras. Must be calibrated. Modified.

Returns:

true if successful

declareModelFitting

protected void declareModelFitting()

getSceneStructure

public boofcv.abst.geo.bundle.SceneStructureMetric getSceneStructure()

Description copied from interface: EstimateSceneStructure

Returns the scene structure. Camera models will not be specified since that requires additional information than is already available

Specified by:

getSceneStructure in interface EstimateSceneStructure<boofcv.abst.geo.bundle.SceneStructureMetric>

Returns:

scene

getObservations

public boofcv.abst.geo.bundle.SceneObservations getObservations()

Description copied from interface: EstimateSceneStructure

Observations from each view

Specified by:

getObservations in interface EstimateSceneStructure<boofcv.abst.geo.bundle.SceneStructureMetric>

Returns:

observations

reset

public void reset()

Description copied from interface: EstimateSceneStructure

Forgets all added views and cameras

Specified by:

reset in interface EstimateSceneStructure<boofcv.abst.geo.bundle.SceneStructureMetric>

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

setVerbose

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