Package boofcv.abst.geo.bundle

Class MetricBundleAdjustmentUtils

java.lang.Object

boofcv.abst.geo.bundle.MetricBundleAdjustmentUtils

All Implemented Interfaces:

VerbosePrint

public class MetricBundleAdjustmentUtils
extends Object
implements VerbosePrint

Contains everything you need to do metric bundle adjustment in one location

Field Summary

Fields

Modifier and Type	Field	Description
final ConfigConverge	configConverge	Configures convergence criteria for SBA
boolean	configScale	Toggles on and off scaling parameters
double	keepFraction	Optional second pass where outliers observations.
final SceneObservations	observations
BundleAdjustment<SceneStructureMetric>	sba
ScaleSceneStructure	scaler
final SceneStructureMetric	structure	The estimated scene structure.
TriangulateNViewsMetricH	triangulator

Constructor Summary

Constructors

Constructor	Description
MetricBundleAdjustmentUtils()
MetricBundleAdjustmentUtils(@Nullable ConfigTriangulation triangulation, boolean homogenous)

Method Summary

Modifier and Type	Method	Description
void	printCounts(PrintStream out)	Prints the number of different data structures in the scene
boolean	process()	Uses the already configured structure and observations to perform bundle adjustment
void	prune(double keepFraction, int pruneViews, int prunePoints)	Prunes outliers and views/points with too few points/observations
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Field Details

configConverge

public final ConfigConverge configConverge

Configures convergence criteria for SBA

configScale

public boolean configScale

Toggles on and off scaling parameters

keepFraction

public double keepFraction

Optional second pass where outliers observations. Fraction specifies that the best X fraction are kept.

structure

public final SceneStructureMetric structure

The estimated scene structure. This the final estimated scene state

observations

public final SceneObservations observations

sba

public BundleAdjustment<SceneStructureMetric> sba

triangulator

public TriangulateNViewsMetricH triangulator

scaler

public ScaleSceneStructure scaler

Constructor Details

MetricBundleAdjustmentUtils

public MetricBundleAdjustmentUtils(@Nullable
 @Nullable ConfigTriangulation triangulation,
 boolean homogenous)

MetricBundleAdjustmentUtils

public MetricBundleAdjustmentUtils()

Method Details

process

public boolean process()

Uses the already configured structure and observations to perform bundle adjustment

Returns:

true if successful

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 features

prunePoints - Prunes points if less than this number of observations

printCounts

public void printCounts(PrintStream out)

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 interface VerbosePrint