Package boofcv.alg.sfm.d3.structure

Class SelectTracksInFrameForBundleAdjustment

java.lang.Object

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
final 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

Constructor Summary

Constructors

Constructor	Description
SelectTracksInFrameForBundleAdjustment(long randSeed)

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.

Methods inherited from class java.lang.Object

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