Class ImageMotionPtkSmartRespawn<I extends ImageBase<I>,​IT extends InvertibleTransform<IT>>

java.lang.Object
boofcv.alg.sfm.d2.ImageMotionPtkSmartRespawn<I,​IT>

public class ImageMotionPtkSmartRespawn<I extends ImageBase<I>,​IT extends InvertibleTransform<IT>>
extends Object
Examines tracks inside of ImageMotionPointTrackerKey and decides when new feature tracks should be respawned. Tracks are respawned when an absolute minimum is reached, when the number of inliers has dropped past a certain threshold, and when the area covered by the inliers decreases by too much. Prunes clusters of closely packed points. These tend to be non-informative and use up computational resources.
  • Field Details

    • pruneClose

      protected PruneCloseTracks<PointTrack> pruneClose
    • previousWasKeyFrame

      protected boolean previousWasKeyFrame
    • containment

      protected double containment
  • Constructor Details

    • ImageMotionPtkSmartRespawn

      public ImageMotionPtkSmartRespawn​(ImageMotionPointTrackerKey<I,​IT> motion, int absoluteMinimumTracks, double relativeInlierFraction, double respawnCoverageFraction)
      Specifies internal algorithms and reset parameters.
      Parameters:
      motion - Algorithm for estimating image motion
      absoluteMinimumTracks - Create new key-frame if number of inliers drops below this number
      relativeInlierFraction - Create new key-frame if ratio of inliers to the original count drops below this number
      respawnCoverageFraction - Create new key-frame if ratio point area coverage below this number
  • Method Details