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
boofcv.factory.geo.ConfigRansac	configRansac
boofcv.factory.geo.ConfigBundleAdjustment	configSBA
boofcv.factory.geo.ConfigTrifocal	configTriRansac
boofcv.misc.ConfigConverge	converge
org.ejml.data.DMatrixRMaj	P1 Projective camera matrices for 3-View reconstruction.
org.ejml.data.DMatrixRMaj	P2 Projective camera matrices for 3-View reconstruction.
org.ejml.data.DMatrixRMaj	P3 Projective camera matrices for 3-View reconstruction.
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	projectiveCameras3(LookupSimilarImages db, PairwiseImageGraph2.View viewA, int motionIdxB, int motionIdxC) Computes projective camera matrices for the 3 connected views.
boolean	projectiveSceneN(LookupSimilarImages db, PairwiseImageGraph2.View seed, org.ddogleg.struct.GrowQueue_I32 seedFeatsIdx, org.ddogleg.struct.GrowQueue_I32 seedConnIdx) Computes a projective reconstruction.
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

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

P1

public final org.ejml.data.DMatrixRMaj P1

Projective camera matrices for 3-View reconstruction. P1 is always identity

P2

public final org.ejml.data.DMatrixRMaj P2

Projective camera matrices for 3-View reconstruction. P1 is always identity

P3

public final org.ejml.data.DMatrixRMaj P3

Projective camera matrices for 3-View reconstruction. P1 is always identity

Constructor Detail

ProjectiveInitializeAllCommon

public ProjectiveInitializeAllCommon()

Method Detail

fixate

public void fixate()

Must call if you change configurations.

projectiveSceneN

public boolean projectiveSceneN(LookupSimilarImages db,
                                PairwiseImageGraph2.View seed,
                                org.ddogleg.struct.GrowQueue_I32 seedFeatsIdx,
                                org.ddogleg.struct.GrowQueue_I32 seedConnIdx)

Computes a projective reconstruction. Reconstruction will be relative the 'seed' and only used features listed in 'common'. The list of views is taken from seed and is specified in 'motions'.

Parameters:

seed - The seed view that will act as the origin

seedFeatsIdx - Indexes of common features in the seed view which are to be used.

seedConnIdx - Indexes of motions in the seed view to use when initializing

Returns:

true is successful

projectiveCameras3

public boolean projectiveCameras3(LookupSimilarImages db,
                                  PairwiseImageGraph2.View viewA,
                                  int motionIdxB,
                                  int motionIdxC)

Computes projective camera matrices for the 3 connected views. No bundle adjustment or triangulation 1) Find features with continuous tracks across all 3 views 2) Robustly compute trifocal tensor 3) Extract compatible camera matrices

Parameters:

viewA - The origin view

motionIdxB - index on edge in viewA for viewB

motionIdxC - index on edge in viewA for viewC

Returns:

true is successful

setVerbose

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

Adjusts the level of verbosity for debugging