Package boofcv.abst.geo.bundle

Class PruneStructureFromSceneProjective

java.lang.Object
boofcv.abst.geo.bundle.PruneStructureFromSceneProjective
public class PruneStructureFromSceneProjective extends Object
Makes it easy to removing elements from bundle adjustment's input scene structure. Different criteria can be specified for each type of element you wish to remove.

  • Constructor Details

  • Method Details

    • pruneObservationsByErrorRank

      public void pruneObservationsByErrorRank(double inlierFraction)
      Computes reprojection error for all features. Sorts the resulting residuals by magnitude. Prunes observations which have the largest errors first. After calling this function you should call prunePoints(int) and pruneViews(int) to ensure the scene is still valid.
      Parameters:
      inlierFraction - Fraction of observations to keep. 0 to 1. 1 = no change. 0 = everything is pruned.

    • prunePoints

      public boolean prunePoints(int count)
      Prunes Points/features with less than 'count' observations. Observations of the points are also removed. Call pruneViews(int) to ensure that all views have points in view
      Parameters:
      count - Minimum number of observations

    • pruneViews

      public boolean pruneViews(int count)
      Removes views with less than 'count' features visible. Observations of features in removed views are also removed. Features are not automatically removed even if there are zero observations of them.
      Parameters:
      count - Prune if it has this number of views or less
      Returns:
      true if views were pruned or false if not