Package boofcv.alg.sfm.structure

Class PairwiseImageMatching<T extends boofcv.struct.image.ImageBase<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 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.ModelMatcherMultiview<org.ejml.data.DMatrixRMaj,​boofcv.struct.geo.AssociatedPair> ransacEssential  
      protected org.ddogleg.fitting.modelset.ModelMatcher<org.ejml.data.DMatrixRMaj,​boofcv.struct.geo.AssociatedPair> ransacFundamental  
      protected java.io.PrintStream verbose  
      protected int verboseLevel  

    • Constructor Summary

      Constructors 
      Modifier Constructor 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

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method 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.FastAccess<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

      • 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.ModelMatcherMultiview<org.ejml.data.DMatrixRMaj,​boofcv.struct.geo.AssociatedPair> ransacEssential

      • ransacFundamental

        protected org.ddogleg.fitting.modelset.ModelMatcher<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

      • connectViews

        protected boolean connectViews​(boofcv.alg.sfm.structure.PairwiseImageGraph.View viewA,
                               boofcv.alg.sfm.structure.PairwiseImageGraph.View viewB,
                               org.ddogleg.struct.FastAccess<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)