Package boofcv.abst.geo.bundle

Class SceneObservations.View

java.lang.Object
boofcv.abst.geo.bundle.SceneObservations.View
Enclosing class:
SceneObservations
public static class SceneObservations.View extends Object

  • Field Details

    • point

      public DogArray_I32 point
      list of Point ID's that are visible in this view. -1 indicates the point has been removed

    • observations

      public DogArray_F32 observations
      Pixel observations of features in 'point' in an interleaved format (x,y)

    • cameraState

      @Nullable public @Nullable BundleCameraState cameraState
      Camera's state when this view was observed. E.g. focal length / zoom

  • Constructor Details

    • View

      public View()

  • Method Details

    • size

      public int size()

    • remove

      public void remove(int index)
      Removes the feature and observation at the specified element

    • safeAssignToFeature

      public void safeAssignToFeature(int index, int featureIdx)
      Assigns this observation to th specified feature. Does sanity checks to make sure everything is consistent.

    • set

      public void set(int index, int featureIdx, float x, float y)
      Sets the feature Id and observation for an observation
      Parameters:
      index - Which observation to set
      featureIdx - The feature which was observed
      x - observation x-axis
      y - observation y-axis

    • setPixel

      public void setPixel(int index, float x, float y)

    • getPointId

      public int getPointId(int index)

    • getPixel

      public void getPixel(int index, Point2D_F64 p)

    • getPixel

      public void getPixel(int index, PointIndex2D_F64 observation)

    • add

      public void add(int featureIndex, float x, float y)
      Adds an observation of the specified feature.

      NOTE: For rigid body features you need to add the offset for the specific rigid object to the internal index. You should call SceneStructureMetric.Rigid.connectPointToView(int, int, float, float, SceneObservations)instead

      Parameters:
      featureIndex - Feature index
      x - pixel x-coordinate
      y - pixel y-coordinate

    • checkDuplicatePoints

      public void checkDuplicatePoints()

    • reset

      public void reset()
      Puts it back into its original state.

    • resize

      public void resize(int numPoints)

    • isIdentical

      public boolean isIdentical(SceneObservations.View other)