This class tries to match points in the entire sequence. It follow ideas proposed by Noah Snavely: Modeling the World from Internet Photo Collections. More...

#include <SequenceAnalyzer.h>

Public Member Functions
	SequenceAnalyzer (MotionProcessor input_sequence, cv::Ptr< cv::FeatureDetector > feature_detector, cv::Ptr< cv::DescriptorExtractor > descriptor_extractor, cv::Ptr< PointsMatcher > match_algorithm)
	SequenceAnalyzer (cv::Ptr< cv::FeatureDetector > feature_detector, cv::Ptr< cv::DescriptorExtractor > descriptor_extractor, cv::Ptr< PointsMatcher > match_algorithm)
	SequenceAnalyzer (std::vector< cv::Ptr< PointsToTrack > > &points_to_track, std::vector< cv::Mat > *images=NULL, cv::Ptr< PointsMatcher > match_algorithm=NULL)
	SequenceAnalyzer (cv::FileNode file, std::vector< cv::Mat > *images=NULL, cv::Ptr< PointsMatcher > match_algorithm=NULL)
	~SequenceAnalyzer (void)
void	addImageToPipeline (cv::Mat image, cv::Ptr< PointsToTrack > points=cv::Ptr< PointsToTrack >())
void	addImageToTracks (cv::Mat image, cv::Ptr< PointsToTrack > points=cv::Ptr< PointsToTrack >())
void	computeMatches (uchar nbMaxThread=64, bool printProgress=true)
std::vector< TrackOfPoints > &	getTracks ()
std::vector< cv::Ptr < PointsToTrack > > &	getPoints ()
ImagesGraphConnection &	getImgGraph ()
void	showTracks (int timeBetweenImg=25)
void	showTracks (int img_to_show, int timeBetweenImg)
cv::Mat	showTracksBetween (unsigned int img1, unsigned int img2, cv::Mat img=cv::Mat(), bool should_print=true)
int	getNumViews () const
cv::Mat	getImage (int idx)
void	addMatches (std::vector< cv::DMatch > &newMatches, unsigned int img1, unsigned int img2)
void	addTracks (std::vector< TrackOfPoints > &newTracks)
void	constructImagesGraph ()
std::vector< unsigned int >	getColors ()
std::vector< cv::Vec3d >	get3DStructure ()
void	showPointsOnImage (unsigned int i, const std::vector< cv::Vec2d > &pixelProjection)
std::vector< cv::Ptr < PointsToTrack > >	getPointsToTrack ()
cv::Ptr< PointsMatcher >	getMatchAlgo ()
Static Public Member Functions
static void	keepOnlyCorrectMatches (std::vector< TrackOfPoints > &tracks, unsigned int min_matches=10, unsigned int min_consistance=3)
static void	keepOnlyCorrectMatches (SequenceAnalyzer &tracks, unsigned int min_matches=10, unsigned int min_consistance=3)
static void	read (const cv::FileNode &node, SequenceAnalyzer &points)
static void	write (cv::FileStorage &fs, const SequenceAnalyzer &points)
static std::vector< cv::DMatch >	simple_matching (cv::Ptr< PointsMatcher > point_matcher, cv::Ptr< PointsMatcher > point_matcher1, unsigned int mininum_points_matches=10)
static void	removePointsWithoutProjection (SequenceAnalyzer &motion_estim)
Protected Attributes
cv::Ptr< cv::FeatureDetector >	feature_detector_
cv::Ptr< cv::DescriptorExtractor >	descriptor_extractor_
std::vector< cv::Ptr < PointsToTrack > >	points_to_track_
std::vector< cv::Mat >	images_
cv::Ptr< PointsMatcher >	match_algorithm_
std::vector< cv::Ptr < PointsMatcher > >	matches_
std::vector< TrackOfPoints >	tracks_
ImagesGraphConnection	images_graph_
std::vector< std::vector < cv::Ptr< cv::Mat > > >	list_fundamental_
Static Protected Attributes
static int	mininum_points_matches = 20
	Minimum points detected into an image to keep this estimation (set to 20)
static int	mininum_image_matches = 2
	Minimum images connections in a track to keep this estimation (usually set to 2)
Friends
struct	MatchingThread

Detailed Description

This class tries to match points in the entire sequence. It follow ideas proposed by Noah Snavely: Modeling the World from Internet Photo Collections.

This class process an input video to first extracts the features, then matches them and keeps them only when there is more than 2 pictures containing the point.

Definition at line 25 of file SequenceAnalyzer.h.

Constructor & Destructor Documentation

OpencvSfM::SequenceAnalyzer::SequenceAnalyzer	(	MotionProcessor	input_sequence,
		cv::Ptr< cv::FeatureDetector >	feature_detector,
		cv::Ptr< cv::DescriptorExtractor >	descriptor_extractor,
		cv::Ptr< PointsMatcher >	match_algorithm
	)

Constructor taking a MotionProcessor to load images and a features detector and descriptor to find matches.

Parameters:

input_sequence	input images
feature_detector	Algorithm to use for features detection ( see http://opencv.willowgarage.com/documentation/cpp/common_interfaces_for_feature_detection_and_descriptor_extraction.html#featuredetector )
descriptor_extractor	Algorithm to use for descriptors detection ( see http://opencv.willowgarage.com/documentation/cpp/common_interfaces_for_feature_detection_and_descriptor_extraction.html#descriptorextractor )
match_algorithm	algorithm to match points of each images

Definition at line 37 of file SequenceAnalyzer.cpp.

OpencvSfM::SequenceAnalyzer::SequenceAnalyzer	(	cv::Ptr< cv::FeatureDetector >	feature_detector,
		cv::Ptr< cv::DescriptorExtractor >	descriptor_extractor,
		cv::Ptr< PointsMatcher >	match_algorithm
	)

Constructor with a features detector, descriptor and matcher.

Parameters:

feature_detector	Algorithm to use for features detection ( see http://opencv.willowgarage.com/documentation/cpp/common_interfaces_for_feature_detection_and_descriptor_extraction.html#featuredetector )
descriptor_extractor	Algorithm to use for descriptors detection ( see http://opencv.willowgarage.com/documentation/cpp/common_interfaces_for_feature_detection_and_descriptor_extraction.html#descriptorextractor )
match_algorithm	algorithm to match points of each images

Definition at line 26 of file SequenceAnalyzer.cpp.

OpencvSfM::SequenceAnalyzer::SequenceAnalyzer	(	std::vector< cv::Ptr< PointsToTrack > > &	points_to_track,
		std::vector< cv::Mat > *	images = `NULL`,
		cv::Ptr< PointsMatcher >	match_algorithm = `NULL`
	)

Constructor taking a vector of points to track and a PointsMatcher algorithm to find matches.

Parameters:

images	input images. Points should be in the same order!
points_to_track	list of points to track with ( or not ) features
match_algorithm	algorithm to match points of each images

Definition at line 63 of file SequenceAnalyzer.cpp.

OpencvSfM::SequenceAnalyzer::SequenceAnalyzer	(	cv::FileNode	file,
		std::vector< cv::Mat > *	images = `NULL`,
		cv::Ptr< PointsMatcher >	match_algorithm = `NULL`
	)

Constructor taking a list of images and a FileNode

Parameters:

images	input images. Points should be in the same order!
file	YAML file to get points and matches
match_algorithm	algorithm to match points of each images

Definition at line 79 of file SequenceAnalyzer.cpp.

OpencvSfM::SequenceAnalyzer::~SequenceAnalyzer ( void )

Destructor of SequenceAnalyzer (nothing is released!)

Definition at line 93 of file SequenceAnalyzer.cpp.

Member Function Documentation

void OpencvSfM::SequenceAnalyzer::addImageToPipeline	(	cv::Mat	image,
		cv::Ptr< PointsToTrack >	points = `cv::Ptr<PointsToTrack>( )`
	)

This method add new image to pipeline. When adding, if the matches are not computed, use automatically computeMatches to compute them! This new image will be added to tracks when calling computeMatches

Parameters:

image	New image
points	extracted points with features vectors.

Definition at line 97 of file SequenceAnalyzer.cpp.

Referenced by SequenceAnalyzer().

void OpencvSfM::SequenceAnalyzer::addImageToTracks	(	cv::Mat	image,
		cv::Ptr< PointsToTrack >	points = `cv::Ptr<PointsToTrack>( )`
	)

This method add new image to tracks. When adding, if the matches are not computed, first compute them and mix them to existing tracks!

Parameters:

image	New image
points	extracted points with features vectors.

Definition at line 116 of file SequenceAnalyzer.cpp.

void OpencvSfM::SequenceAnalyzer::addMatches	(	std::vector< cv::DMatch > &	newMatches,
		unsigned int	img1,
		unsigned int	img2
	)

This function add matches to tracks

Parameters:

newMatches	new matches to add
img1	index of source matches image
img2	index of destination matches image

Definition at line 286 of file SequenceAnalyzer.cpp.

Referenced by OpencvSfM::EuclideanEstimator::addMoreMatches().

void OpencvSfM::SequenceAnalyzer::addTracks ( std::vector< TrackOfPoints > & newTracks )

This function add new Tracks

Parameters:

newTracks new Tracks to add

Definition at line 332 of file SequenceAnalyzer.cpp.

void OpencvSfM::SequenceAnalyzer::computeMatches	(	uchar	nbMaxThread = `64`,
		bool	printProgress = `true`
	)

This method compute the matches between each points of each images. It first compute missing features descriptor, then train each matcher. Finally compute tracks of keypoints ( a track is a connected set of matching keypoints across multiple images )

Parameters:

nbMaxThread	st to a lower value if you experience out of memory exception. Indeed, if you have a lot of features, each thread will compute the descriptor for their working image, which can be really big...
printProgress	set to true is you want to view progress.

Definition at line 188 of file SequenceAnalyzer.cpp.

void OpencvSfM::SequenceAnalyzer::constructImagesGraph ( )

This function constructs and feeds the images_graph_

Definition at line 637 of file SequenceAnalyzer.cpp.

std::vector< cv::Vec3d > OpencvSfM::SequenceAnalyzer::get3DStructure ( )

This function will create a list of 3D points corresponding to object viewed in the sequence

Definition at line 661 of file SequenceAnalyzer.cpp.

std::vector< unsigned int > OpencvSfM::SequenceAnalyzer::getColors ( )

This function will create a list of points color corresponding to object viewed in the sequence

Definition at line 674 of file SequenceAnalyzer.cpp.

cv::Mat OpencvSfM::SequenceAnalyzer::getImage ( int idx ) [inline]

get the ith image. No checks are performed!

Parameters:

idx	index of the wanted image

Returns:: Matrix of the wanted image

Definition at line 248 of file SequenceAnalyzer.h.

Referenced by OpencvSfM::EuclideanEstimator::addMoreMatches().

ImagesGraphConnection& OpencvSfM::SequenceAnalyzer::getImgGraph ( ) [inline]

Get the graph of image connections

Returns:: graph of image connections

Definition at line 181 of file SequenceAnalyzer.h.

Referenced by OpencvSfM::EuclideanEstimator::computeReconstruction().

cv::Ptr<PointsMatcher> OpencvSfM::SequenceAnalyzer::getMatchAlgo ( ) [inline]

Get a copy of the points Matcher algorithm from this sequence.

Returns:: points Matcher algorithm from this sequence.

Definition at line 296 of file SequenceAnalyzer.h.

int OpencvSfM::SequenceAnalyzer::getNumViews ( ) const [inline]

Use this function to know how many images are stored into tracks...

Returns:: numbers of images (and cameras) stored into tracks.

Definition at line 227 of file SequenceAnalyzer.h.

std::vector< cv::Ptr< PointsToTrack > >& OpencvSfM::SequenceAnalyzer::getPoints ( ) [inline]

This method can be used to get the points

Definition at line 174 of file SequenceAnalyzer.h.

Referenced by OpencvSfM::EuclideanEstimator::bundleAdjustement(), OpencvSfM::EuclideanEstimator::cameraResection(), OpencvSfM::EuclideanEstimator::computeReconstruction(), OpencvSfM::StructureEstimator::computeStructure(), OpencvSfM::EuclideanEstimator::initialReconstruction(), and OpencvSfM::StructureEstimator::removeOutliersTracks().

std::vector< cv::Ptr< PointsToTrack > > OpencvSfM::SequenceAnalyzer::getPointsToTrack ( ) [inline]

Get the points for track from this sequence.

Returns:: points for track from this sequence.

Definition at line 290 of file SequenceAnalyzer.h.

Referenced by OpencvSfM::EuclideanEstimator::addMoreMatches().

std::vector<TrackOfPoints>& OpencvSfM::SequenceAnalyzer::getTracks ( ) [inline]

This method can be used to get the tracks

Definition at line 170 of file SequenceAnalyzer.h.

Referenced by OpencvSfM::EuclideanEstimator::computeReconstruction(), OpencvSfM::StructureEstimator::computeStructure(), OpencvSfM::EuclideanEstimator::initialReconstruction(), keepOnlyCorrectMatches(), and OpencvSfM::StructureEstimator::removeOutliersTracks().

void OpencvSfM::SequenceAnalyzer::keepOnlyCorrectMatches	(	std::vector< TrackOfPoints > &	tracks,
		unsigned int	min_matches = `10`,
		unsigned int	min_consistance = `3`
	)		`[static]`

This method keep only tracks with more than mininum_image_matches

Definition at line 263 of file SequenceAnalyzer.cpp.

Referenced by OpencvSfM::EuclideanEstimator::addMoreMatches().

static void OpencvSfM::SequenceAnalyzer::keepOnlyCorrectMatches	(	SequenceAnalyzer &	tracks,
		unsigned int	min_matches = `10`,
		unsigned int	min_consistance = `3`
	)		`[inline, static]`

This method keep only tracks with more than mininum_image_matches

Definition at line 160 of file SequenceAnalyzer.h.

void OpencvSfM::SequenceAnalyzer::read	(	const cv::FileNode &	node,
		SequenceAnalyzer &	points
	)		`[static]`

Load the sequence from a YAML file.

Parameters:

node	Previously opened YAML file node
points	output

Definition at line 497 of file SequenceAnalyzer.cpp.

Referenced by SequenceAnalyzer().

void OpencvSfM::SequenceAnalyzer::removePointsWithoutProjection ( SequenceAnalyzer & motion_estim ) [static]

Once points have been triangulated, use this method to remove 2D points who don't have 3D projection

Parameters:

motion_estim sequence to work on

Definition at line 785 of file SequenceAnalyzer.cpp.

void OpencvSfM::SequenceAnalyzer::showPointsOnImage	(	unsigned int	i,
		const std::vector< cv::Vec2d > &	pixelProjection
	)

Use this function to show 2D points into ith image

Parameters:

i	index of wanted image
pixelProjection	list of 2D points

Definition at line 687 of file SequenceAnalyzer.cpp.

void OpencvSfM::SequenceAnalyzer::showTracks ( int timeBetweenImg = 25 )

Use this function to print the sequence of matches

Parameters:

timeBetweenImg see cv::waitKey for the value

Definition at line 346 of file SequenceAnalyzer.cpp.

void OpencvSfM::SequenceAnalyzer::showTracks	(	int	img_to_show,
		int	timeBetweenImg
	)

Use this function to print the sequence of matches

Parameters:

img_to_show	index of image whose tracks will be shown.
timeBetweenImg	see cv::waitKey for the value

Definition at line 398 of file SequenceAnalyzer.cpp.

cv::Mat OpencvSfM::SequenceAnalyzer::showTracksBetween	(	unsigned int	img1,
		unsigned int	img2,
		cv::Mat	img = `cv::Mat()`,
		bool	should_print = `true`
	)

Use this function to print the matches between two images

Parameters:

img1	first index of image
img2	second index of image
img	image where tracks will be print
should_print	if true the output is displayed

Returns:: image with tracks printed on it

Definition at line 447 of file SequenceAnalyzer.cpp.

std::vector< cv::DMatch > OpencvSfM::SequenceAnalyzer::simple_matching	(	cv::Ptr< PointsMatcher >	point_matcher,
		cv::Ptr< PointsMatcher >	point_matcher1,
		unsigned int	mininum_points_matches = `10`
	)		`[static]`

This will find matches between two points matchers

Parameters:

point_matcher	first image
point_matcher1	second image
mininum_points_matches	minimum matches allowed

Definition at line 705 of file SequenceAnalyzer.cpp.

Referenced by addImageToTracks(), and OpencvSfM::EuclideanEstimator::addMoreMatches().

void OpencvSfM::SequenceAnalyzer::write	(	cv::FileStorage &	fs,
		const SequenceAnalyzer &	points
	)		`[static]`

Save the sequence into a YAML file.

Parameters:

fs	Previously opened YAML file node
points	sequence to save...

Definition at line 580 of file SequenceAnalyzer.cpp.

Member Data Documentation

cv::Ptr<cv::DescriptorExtractor> OpencvSfM::SequenceAnalyzer::descriptor_extractor_ [protected]

optional, method to use for feature extraction

Definition at line 38 of file SequenceAnalyzer.h.

Referenced by addImageToPipeline(), addImageToTracks(), and removePointsWithoutProjection().

cv::Ptr<cv::FeatureDetector> OpencvSfM::SequenceAnalyzer::feature_detector_ [protected]

optional, method to use for feature detection

Definition at line 34 of file SequenceAnalyzer.h.

Referenced by addImageToPipeline(), addImageToTracks(), and removePointsWithoutProjection().

std::vector<cv::Mat> OpencvSfM::SequenceAnalyzer::images_ [protected]

List of input images

Definition at line 46 of file SequenceAnalyzer.h.

Referenced by addImageToPipeline(), addImageToTracks(), read(), removePointsWithoutProjection(), SequenceAnalyzer(), showPointsOnImage(), showTracks(), and showTracksBetween().

ImagesGraphConnection OpencvSfM::SequenceAnalyzer::images_graph_ [protected]

Graph of images relations ( value ( i,j ) correspond to the numbers of matches between theses two images

Definition at line 65 of file SequenceAnalyzer.h.

Referenced by constructImagesGraph().

std::vector< std::vector< cv::Ptr< cv::Mat > > > OpencvSfM::SequenceAnalyzer::list_fundamental_ [protected]

A list of the fundamental matrix between each points* this list can have some NULL values as the fundamental matrix don't exist between every images... This matrix is uper-triangular, that is [2][1] exist, but [1][2] not...

Definition at line 72 of file SequenceAnalyzer.h.

Referenced by computeMatches().

cv::Ptr<PointsMatcher> OpencvSfM::SequenceAnalyzer::match_algorithm_ [protected]

The matcher algorithm we should use to find matches.

Definition at line 50 of file SequenceAnalyzer.h.

Referenced by addImageToTracks(), computeMatches(), read(), and SequenceAnalyzer().

std::vector< cv::Ptr< PointsMatcher > > OpencvSfM::SequenceAnalyzer::matches_ [protected]

A matcher for each picture. Its role is to find quickly matches between i^th picture and other images.

Definition at line 55 of file SequenceAnalyzer.h.

Referenced by read().

std::vector< cv::Ptr< PointsToTrack > > OpencvSfM::SequenceAnalyzer::points_to_track_ [protected]

A list of points for each picture

Definition at line 42 of file SequenceAnalyzer.h.

Referenced by addImageToPipeline(), addImageToTracks(), computeMatches(), constructImagesGraph(), read(), removePointsWithoutProjection(), showTracks(), showTracksBetween(), and write().

std::vector<TrackOfPoints> OpencvSfM::SequenceAnalyzer::tracks_ [protected]

List of each tracks found. A track is a connected set of matching keypoints across multiple images

Definition at line 60 of file SequenceAnalyzer.h.

Referenced by addImageToTracks(), addMatches(), addTracks(), computeMatches(), constructImagesGraph(), get3DStructure(), getColors(), read(), removePointsWithoutProjection(), showTracks(), showTracksBetween(), and write().

The documentation for this class was generated from the following files:

D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/SequenceAnalyzer.h
D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/SequenceAnalyzer.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation