Package boofcv.alg.sfm.d3.structure
Class VisOdomBundleAdjustment.BTrack
java.lang.Object
boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BTrack
- Direct Known Subclasses:
VisOdomDualTrackPnP.TrackInfo
,VisOdomMonoDepthPnP.Track
- Enclosing class:
- VisOdomBundleAdjustment<T extends VisOdomBundleAdjustment.BTrack>
public static class VisOdomBundleAdjustment.BTrack extends Object
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Field Summary
Fields Modifier and Type Field Description boolean
hasBeenInlier
if true then the track has been an inlier at least once and should be considered for optimizationlong
id
DogArray<VisOdomBundleAdjustment.BObservation>
observations
boolean
selected
true if it was selected for inclusion in the optimization@Nullable PointTrack
visualTrack
Reference to the a track in the image based tracker if null that means the track is no longer being tracked by the trackerPoint4D_F64
worldLoc
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Constructor Summary
Constructors Constructor Description BTrack()
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Method Summary
Modifier and Type Method Description @Nullable VisOdomBundleAdjustment.BObservation
findObservationBy(VisOdomBundleAdjustment.BFrame frame)
boolean
isObservedBy(VisOdomBundleAdjustment.BFrame frame)
boolean
removeRef(VisOdomBundleAdjustment.BFrame frame)
Removes the observations to the specified framevoid
reset()
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Field Details
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id
public long id -
visualTrack
Reference to the a track in the image based tracker if null that means the track is no longer being tracked by the tracker -
worldLoc
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observations
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hasBeenInlier
public boolean hasBeenInlierif true then the track has been an inlier at least once and should be considered for optimization -
selected
public boolean selectedtrue if it was selected for inclusion in the optimization
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Constructor Details
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BTrack
public BTrack()
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Method Details
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isObservedBy
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findObservationBy
@Nullable public @Nullable VisOdomBundleAdjustment.BObservation findObservationBy(VisOdomBundleAdjustment.BFrame frame) -
reset
public void reset() -
removeRef
Removes the observations to the specified frame- Returns:
- true if a match was found and removed. False otherwise.
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