Package boofcv.alg.sfm.structure2

Class ProjectiveExpandToNeighbors

java.lang.Object

boofcv.alg.sfm.structure2.ProjectiveExpandToNeighbors

public class ProjectiveExpandToNeighbors
extends java.lang.Object

Finds the projective camera for all 3D neighbors of the seed. For node 'B' with a 3D connection to the seed and an unknown camera it:

1. Finds another node 'C' which is connected to the seed and has a known camera
2. Find all features in common with seed, B, C. Splits them into known and unknown sets
3. Estimate the camera for B from known features
4. Triangulates using all 3 views the unknown features
5. Runs projective bundle adjustment

Constructor Summary

Constructors

Constructor	Description
ProjectiveExpandToNeighbors()

Method Summary

Modifier and Type	Method	Description
void	process(LookupSimilarImages db, PairwiseImageGraph2.View seed, SceneWorkingGraph workGraph, boofcv.abst.geo.bundle.SceneStructureProjective structure)
PairwiseImageGraph2.Motion	selectThirdView(PairwiseImageGraph2.View target, PairwiseImageGraph2.View seed)	Finds the seed view with the most inliers and a 3D connection.

Methods inherited from class java.lang.Object

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

Constructor Detail

ProjectiveExpandToNeighbors

public ProjectiveExpandToNeighbors()

Method Detail

process

public void process(LookupSimilarImages db,
                    PairwiseImageGraph2.View seed,
                    SceneWorkingGraph workGraph,
                    boofcv.abst.geo.bundle.SceneStructureProjective structure)

selectThirdView

public PairwiseImageGraph2.Motion selectThirdView(PairwiseImageGraph2.View target,
                                                  PairwiseImageGraph2.View seed)

Finds the seed view with the most inliers and a 3D connection. Returns null if none exist