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

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 optimization
long	id
final 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 tracker
final Point4D_F64	worldLoc

Constructor Summary

Constructors

Constructor	Description
BTrack()

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 frame
void	reset()

Methods inherited from class java.lang.Object

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

Field Details

id

public long id

visualTrack

@Nullable
public @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 tracker

worldLoc

public final Point4D_F64 worldLoc

observations

public final DogArray<VisOdomBundleAdjustment.BObservation> observations

hasBeenInlier

public boolean hasBeenInlier

if true then the track has been an inlier at least once and should be considered for optimization

selected

public boolean selected

true if it was selected for inclusion in the optimization

Constructor Details

BTrack

public BTrack()

Method Details

isObservedBy

public boolean isObservedBy(VisOdomBundleAdjustment.BFrame frame)

findObservationBy

@Nullable
public @Nullable VisOdomBundleAdjustment.BObservation findObservationBy(VisOdomBundleAdjustment.BFrame frame)

reset

public void reset()

removeRef

public boolean removeRef(VisOdomBundleAdjustment.BFrame frame)

Removes the observations to the specified frame

Returns:

true if a match was found and removed. False otherwise.