Package boofcv.abst.geo.bundle

Class SceneStructureMetric.Rigid

java.lang.Object

boofcv.abst.geo.bundle.SceneStructureMetric.Rigid

Enclosing class:

SceneStructureMetric

public static class SceneStructureMetric.Rigid
extends Object

A set of connected points that form a rigid structure. The 3D location of points in the rigid body's reference frame is constant.

Field Summary

Fields

Modifier and Type	Field	Description
int	indexFirst	Index of the first point in the list
boolean	known	If the parameters are assumed to be known and should not be optimised.
final Se3_F64	object_to_world	Transform from world into the rigid object's frame
SceneStructureCommon.Point[]	points	Location of points in object's reference frame.

Constructor Summary

Constructors

Constructor	Description
Rigid()

Method Summary

Modifier and Type	Method	Description
void	connectPointToView(int pointIdx, int viewIdx)	Deprecated. Use connectPointToView(int, int, float, float, SceneObservations) instead.
void	connectPointToView(int pointIdx, int viewIdx, float pixX, float pixY, SceneObservations sceneObs)	Connects the point to the view and adds the pixel observations.
void	getPoint(int which, Point3D_F64 p)
void	getPoint(int which, Point4D_F64 p)
int	getTotalPoints()
void	init(int numPoints, int dof)	Resets and initialzies internal data structures.
boolean	isIdentical(SceneStructureMetric.Rigid m, double tol)
void	setPoint(int which, double x, double y, double z)
void	setPoint(int which, double x, double y, double z, double w)

Methods inherited from class java.lang.Object

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

Field Details

known

public boolean known

If the parameters are assumed to be known and should not be optimised.

object_to_world

public final Se3_F64 object_to_world

Transform from world into the rigid object's frame

points

public SceneStructureCommon.Point[] points

Location of points in object's reference frame. The coordinate is always fixed.

indexFirst

public int indexFirst

Index of the first point in the list

Constructor Details

Rigid

public Rigid()

Method Details

init

public void init(int numPoints,
 int dof)

Resets and initialzies internal data structures. If possible previously declared data is reused

Parameters:

numPoints - Number of points in the rigid body

dof - DOF in each point

connectPointToView

@Deprecated
public void connectPointToView(int pointIdx,
 int viewIdx)

Deprecated.

Use connectPointToView(int, int, float, float, SceneObservations) instead.

Indicates that this point has been observed in this view and performs sanity checks.

connectPointToView

public void connectPointToView(int pointIdx,
 int viewIdx,
 float pixX,
 float pixY,
 SceneObservations sceneObs)

Connects the point to the view and adds the pixel observations. These steps can be easy to mess up, so it's recommended that you use this function.

NOTE: Make sure you call SceneStructureMetric.assignIDsToRigidPoints() before calling this function.

Parameters:

pointIdx - Index of the feature on the rigid object

viewIdx - Which view this observation is from

pixX - The pixel-x observation

pixY - The pixel-y observation

sceneObs - Data structure storing the observations

setPoint

public void setPoint(int which,
 double x,
 double y,
 double z)

setPoint

public void setPoint(int which,
 double x,
 double y,
 double z,
 double w)

getPoint

public void getPoint(int which,
 Point3D_F64 p)

getPoint

public void getPoint(int which,
 Point4D_F64 p)

getTotalPoints

public int getTotalPoints()

isIdentical

public boolean isIdentical(SceneStructureMetric.Rigid m,
 double tol)