boofcv.alg.sfm.structure2

Class ProjectiveInitializeAllCommon

java.lang.Object

boofcv.alg.sfm.structure2.ProjectiveInitializeAllCommon

public class ProjectiveInitializeAllCommon
extends java.lang.Object

Given a set of views and a set of features which are visible in all views, estimate their structure up to a projective transform. Summary of processing steps:

1. Select initial set of 3 views
2. Association between all 3 views
3. RANSAC to find Trifocal Tensor
4. 3 Projective from trifocal
5. Triangulate features
6. Find remaining projective camera matrices
7. Refine with bundle adjustment

Field Summary

Fields

Modifier and Type	Field and Description
boofcv.factory.geo.ConfigTrifocalError	configError
org.ddogleg.optimization.lm.ConfigLevenbergMarquardt	configLM
boofcv.factory.geo.ConfigRansac	configRansac
boofcv.factory.geo.ConfigBundleAdjustment	configSBA
boofcv.factory.geo.ConfigTrifocal	configTriRansac
boofcv.misc.ConfigConverge	converge
boofcv.alg.geo.pose.PoseFromPairLinear6	poseEstimator
org.ddogleg.fitting.modelset.ransac.Ransac<boofcv.struct.geo.TrifocalTensor,boofcv.struct.geo.AssociatedTriple>	ransac
boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureProjective>	sba
boofcv.abst.geo.bundle.ScaleSceneStructure	scaler
boolean	scaleSBA
boofcv.abst.geo.bundle.SceneStructureProjective	structure
boofcv.abst.geo.TriangulateNViewsProjective	triangulator

Constructor Summary

Constructors

Constructor and Description
ProjectiveInitializeAllCommon()

Method Summary

Modifier and Type	Method and Description
void	fixate() Must call if you change configurations.
boolean	process(LookupSimilarImages db, PairwiseImageGraph2.View seed, org.ddogleg.struct.GrowQueue_I32 common, org.ddogleg.struct.GrowQueue_I32 motions)
void	setVerbose(java.io.PrintStream verbose, int level) Adjusts the level of verbosity for debugging

Methods inherited from class java.lang.Object

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

Field Detail

configRansac

public boofcv.factory.geo.ConfigRansac configRansac

configTriRansac

public boofcv.factory.geo.ConfigTrifocal configTriRansac

configError

public boofcv.factory.geo.ConfigTrifocalError configError

configLM

public org.ddogleg.optimization.lm.ConfigLevenbergMarquardt configLM

configSBA

public boofcv.factory.geo.ConfigBundleAdjustment configSBA

converge

public boofcv.misc.ConfigConverge converge

scaleSBA

public boolean scaleSBA

structure

public boofcv.abst.geo.bundle.SceneStructureProjective structure

ransac

public org.ddogleg.fitting.modelset.ransac.Ransac<boofcv.struct.geo.TrifocalTensor,boofcv.struct.geo.AssociatedTriple> ransac

triangulator

public boofcv.abst.geo.TriangulateNViewsProjective triangulator

poseEstimator

public boofcv.alg.geo.pose.PoseFromPairLinear6 poseEstimator

sba

public boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureProjective> sba

scaler

public boofcv.abst.geo.bundle.ScaleSceneStructure scaler

Constructor Detail

ProjectiveInitializeAllCommon

public ProjectiveInitializeAllCommon()

Method Detail

fixate

public void fixate()

Must call if you change configurations.

process

public boolean process(LookupSimilarImages db,
                       PairwiseImageGraph2.View seed,
                       org.ddogleg.struct.GrowQueue_I32 common,
                       org.ddogleg.struct.GrowQueue_I32 motions)

Parameters:

seed - The seed view that will act as the origin

common - Indexes of common features. Index in seed view

motions - Index of motions in the seed view to use when initializing

Returns:

setVerbose

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

Adjusts the level of verbosity for debugging