Package boofcv.alg.sfm.d3.structure

Class TickTockKeyFrameManager

java.lang.Object

boofcv.alg.sfm.d3.structure.TickTockKeyFrameManager

All Implemented Interfaces:

VisOdomKeyFrameManager, VerbosePrint

public class TickTockKeyFrameManager
extends Object
implements VisOdomKeyFrameManager

This key frame manager performs its maintenance at a constant fixed rate independent of observations.

Field Summary

Fields

Modifier and Type	Field	Description
int	keyframePeriod	The period at which the current frame is turned into a new keyframe

Constructor Summary

Constructors

Constructor	Description
TickTockKeyFrameManager()
TickTockKeyFrameManager(int keyframePeriod)

Method Summary

Modifier and Type	Method	Description
void	handleSpawnedTracks(PointTracker<?> tracker, VisOdomBundleAdjustment.BCamera camera)	Tracker information is ignored
void	initialize(FastAccess<VisOdomBundleAdjustment.BCamera> cameras)	No need to configure or initialize anything
DogArray_I32	selectFramesToDiscard(PointTracker<?> tracker, int maxKeyFrames, int newFrames, VisOdomBundleAdjustment<?> sba)	Selects frames to discard from the scene graph.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Field Details

keyframePeriod

public int keyframePeriod

The period at which the current frame is turned into a new keyframe

Constructor Details

TickTockKeyFrameManager

public TickTockKeyFrameManager(int keyframePeriod)

TickTockKeyFrameManager

public TickTockKeyFrameManager()

Method Details

initialize

public void initialize(FastAccess<VisOdomBundleAdjustment.BCamera> cameras)

No need to configure or initialize anything

Specified by:

initialize in interface VisOdomKeyFrameManager

selectFramesToDiscard

public DogArray_I32 selectFramesToDiscard(PointTracker<?> tracker,
 int maxKeyFrames,
 int newFrames,
 VisOdomBundleAdjustment<?> sba)

Description copied from interface: VisOdomKeyFrameManager

Selects frames to discard from the scene graph. The most recent frame(s) (highest index value) is assumed to be the current tracker frame.

Specified by:

selectFramesToDiscard in interface VisOdomKeyFrameManager

Parameters:

tracker - Feature tracker

maxKeyFrames - Maximum number of allowed key frames

newFrames - Number of new frames added

sba - scene graph

Returns:

Returns a list of frames to discard. They are in sequential order from least to greatest.

handleSpawnedTracks

public void handleSpawnedTracks(PointTracker<?> tracker,
 VisOdomBundleAdjustment.BCamera camera)

Tracker information is ignored

Specified by:

handleSpawnedTracks in interface VisOdomKeyFrameManager

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint