Package boofcv.abst.geo.bundle
Class MetricBundleAdjustmentUtils
java.lang.Object
boofcv.abst.geo.bundle.MetricBundleAdjustmentUtils
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VerbosePrint
public class MetricBundleAdjustmentUtils extends Object implements VerbosePrint
Contains everything you need to do metric bundle adjustment in one location
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Field Summary
Fields Modifier and Type Field Description ConfigConverge
configConverge
Configures convergence criteria for SBAboolean
configScale
Toggles on and off scaling parametersdouble
keepFraction
Optional second pass where outliers observations.SceneObservations
observations
BundleAdjustment<SceneStructureMetric>
sba
ScaleSceneStructure
scaler
SceneStructureMetric
structure
The estimated scene structure.TriangulateNViewsMetricH
triangulator
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Constructor Summary
Constructors Constructor Description MetricBundleAdjustmentUtils()
MetricBundleAdjustmentUtils(@Nullable ConfigTriangulation triangulation, boolean homogenous)
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Method Summary
Modifier and Type Method Description void
printCounts(PrintStream out)
Prints the number of different data structures in the sceneboolean
process()
Uses the already configured structure and observations to perform bundle adjustmentvoid
prune(double keepFraction, int pruneViews, int prunePoints)
Prunes outliers and views/points with too few points/observationsvoid
setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)
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Field Details
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configConverge
Configures convergence criteria for SBA -
configScale
public boolean configScaleToggles on and off scaling parameters -
keepFraction
public double keepFractionOptional second pass where outliers observations. Fraction specifies that the best X fraction are kept. -
structure
The estimated scene structure. This the final estimated scene state -
observations
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sba
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triangulator
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scaler
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Constructor Details
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MetricBundleAdjustmentUtils
public MetricBundleAdjustmentUtils(@Nullable @Nullable ConfigTriangulation triangulation, boolean homogenous) -
MetricBundleAdjustmentUtils
public MetricBundleAdjustmentUtils()
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Method Details
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process
public boolean process()Uses the already configured structure and observations to perform bundle adjustment- Returns:
- true if successful
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prune
public void prune(double keepFraction, int pruneViews, int prunePoints)Prunes outliers and views/points with too few points/observations- Parameters:
keepFraction
- Only keeps features which have the best reprojection error. 0.95 will keep 95%pruneViews
- Prunes views if less than or equal to this many featuresprunePoints
- Prunes points if less than this number of observations
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printCounts
Prints the number of different data structures in the scene -
setVerbose
public void setVerbose(@Nullable @Nullable PrintStream out, @Nullable @Nullable Set<String> configuration)- Specified by:
setVerbose
in interfaceVerbosePrint
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