boofcv.alg.sfm.structure

Class ThreeViewEstimateMetricScene

java.lang.Object

boofcv.alg.sfm.structure.ThreeViewEstimateMetricScene

public class ThreeViewEstimateMetricScene
extends java.lang.Object

Estimates the metric scene's structure given a set of sparse features associations from three views. This is intended to give the best possible solution from the sparse set of matching features. Its internal methods are updated as better strategies are found. Assumptions:

• Principle point is zero
• Zero skew
• fx = fy approximately

The zero principle point is enforced prior to calling process(java.util.List<boofcv.struct.geo.AssociatedTriple>, int, int) by subtracting the image center from each pixel observations. Steps:

1. Fit Trifocal tensor using RANSAC
2. Get and refine camera matrices
3. Compute dual absolute quadratic
4. Estimate intrinsic parameters from DAC
5. Estimate metric scene structure
6. Sparse bundle adjustment
7. Tweak parameters and sparse bundle adjustment again

Field Summary

Fields

Modifier and Type	Field and Description
boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric>	bundleAdjustment
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	configTriFit
boofcv.factory.geo.ConfigTrifocal	configTriRansac
boofcv.misc.ConfigConverge	convergeSBA
java.util.List<boofcv.struct.geo.AssociatedTriple>	inliers
protected java.util.List<boofcv.struct.calib.CameraPinhole>	listPinhole
double	manualFocalLength
boofcv.abst.geo.bundle.SceneObservations	observations
protected org.ejml.data.DMatrixRMaj	P1
protected org.ejml.data.DMatrixRMaj	P2
protected org.ejml.data.DMatrixRMaj	P3
double	pruneFraction
org.ddogleg.fitting.modelset.ransac.Ransac<boofcv.struct.geo.TrifocalTensor,boofcv.struct.geo.AssociatedTriple>	ransac
boofcv.abst.geo.bundle.SceneStructureMetric	structure
boofcv.abst.geo.Estimate1ofTrifocalTensor	trifocalEstimator
protected java.util.List<georegression.struct.se.Se3_F64>	worldToView

Constructor Summary

Constructors

Constructor and Description
ThreeViewEstimateMetricScene() Sets configurations to their default value

Method Summary

Modifier and Type	Method and Description
boofcv.abst.geo.bundle.SceneStructureMetric	getStructure()
boolean	process(java.util.List<boofcv.struct.geo.AssociatedTriple> associated, int width, int height) Determines the metric scene.
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

configRansac

public boofcv.factory.geo.ConfigRansac configRansac

configTriRansac

public boofcv.factory.geo.ConfigTrifocal configTriRansac

configTriFit

public boofcv.factory.geo.ConfigTrifocal configTriFit

configError

public boofcv.factory.geo.ConfigTrifocalError configError

configLM

public org.ddogleg.optimization.lm.ConfigLevenbergMarquardt configLM

configSBA

public boofcv.factory.geo.ConfigBundleAdjustment configSBA

convergeSBA

public boofcv.misc.ConfigConverge convergeSBA

ransac

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

inliers

public java.util.List<boofcv.struct.geo.AssociatedTriple> inliers

trifocalEstimator

public boofcv.abst.geo.Estimate1ofTrifocalTensor trifocalEstimator

P1

protected org.ejml.data.DMatrixRMaj P1

P2

protected org.ejml.data.DMatrixRMaj P2

P3

protected org.ejml.data.DMatrixRMaj P3

listPinhole

protected java.util.List<boofcv.struct.calib.CameraPinhole> listPinhole

bundleAdjustment

public boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric> bundleAdjustment

structure

public boofcv.abst.geo.bundle.SceneStructureMetric structure

observations

public boofcv.abst.geo.bundle.SceneObservations observations

manualFocalLength

public double manualFocalLength

pruneFraction

public double pruneFraction

worldToView

protected java.util.List<georegression.struct.se.Se3_F64> worldToView

Constructor Detail

ThreeViewEstimateMetricScene

public ThreeViewEstimateMetricScene()

Sets configurations to their default value

Method Detail

process

public boolean process(java.util.List<boofcv.struct.geo.AssociatedTriple> associated,
                       int width,
                       int height)

Determines the metric scene. The principle point is assumed to be zero in the passed in pixel coordinates. Typically this is done by subtracting the image center from each pixel coordinate for each view.

Parameters:

associated - List of associated features from 3 views. pixels

width - width of all images

height - height of all images

Returns:

true if successful or false if it failed

setVerbose

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

getStructure

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