boofcv.alg.sfm.d3.structure.SelectTracksInFrameForBundleAdjustment

public class SelectTracksInFrameForBundleAdjustment
extends Object

Attempts to ensure spatial diversity within an image by forcing a more uniform distribution of features per-area.

Field Summary

Fields
Modifier and Type	Field	Description
`ConfigGridUniform`	`configUniform`	Configuration for uniformally selecting a grid
`int`	`maxFeaturesPerFrame`	maximum number of features per frame that can be used
`int`	`minTrackObservations`	The minimum number of observations to process

Method Summary

Modifier and Type	Method	Description
`void`	`selectTracks(VisOdomBundleAdjustment<?> sba, List<VisOdomBundleAdjustment.BTrack> selected)`	Selects tracks to include in bundle adjustment
`protected void`	`selectTracksInFrame(VisOdomBundleAdjustment.BFrame frame, List<VisOdomBundleAdjustment.BTrack> selected)`	Select tracks inside a single frame.

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

Field Details
- configUniform
  
  public final ConfigGridUniform configUniform
  
  Configuration for uniformally selecting a grid
- maxFeaturesPerFrame
  
  public int maxFeaturesPerFrame
  
  maximum number of features per frame that can be used
- minTrackObservations
  
  public int minTrackObservations
  
  The minimum number of observations to process
Constructor Details
- SelectTracksInFrameForBundleAdjustment
  
  public SelectTracksInFrameForBundleAdjustment(long randSeed)
Method Details
- selectTracks
  
  public void selectTracks(VisOdomBundleAdjustment<?> sba, List<VisOdomBundleAdjustment.BTrack> selected)
  
  Selects tracks to include in bundle adjustment
  
  Parameters:
  
  sba - The scene graph
  
  selected - (Output) list of selected tracks
- selectTracksInFrame
  
  protected void selectTracksInFrame(VisOdomBundleAdjustment.BFrame frame, List<VisOdomBundleAdjustment.BTrack> selected)
  
  Select tracks inside a single frame. All tracks which have previously been selected are automatically selected again and count towards the max per frame