Package boofcv.alg.sfm.d3.structure

Class VisOdomBundleAdjustment<T extends VisOdomBundleAdjustment.BTrack>

java.lang.Object

boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment<T>

public class VisOdomBundleAdjustment<T extends VisOdomBundleAdjustment.BTrack>
extends Object

Bundle adjustment specifically intended for use with visual odometry algorithms.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	VisOdomBundleAdjustment.BCamera
static class	VisOdomBundleAdjustment.BFrame	A BFrame is a key frame.
static class	VisOdomBundleAdjustment.BObservation
static class	VisOdomBundleAdjustment.BTrack

Field Summary

Fields

Modifier and Type	Field	Description
final MetricBundleAdjustmentUtils	bundle	Configurations and implementation of bundle adjustment
final DogArray<VisOdomBundleAdjustment.BCamera>	cameras	List of all the cameras
final DogArray<VisOdomBundleAdjustment.BFrame>	frames	List of all frames that can be feed into bundle adjustment
List<VisOdomBundleAdjustment.BTrack>	selectedTracks
final DogArray<T>	tracks	List of all tracks that can be feed into bundle adjustment

Constructor Summary

Constructors

Constructor	Description
VisOdomBundleAdjustment(Factory<T> factoryTracks)

Method Summary

Modifier and Type	Method	Description
VisOdomBundleAdjustment.BCamera	addCamera(CameraPinholeBrown camera)	Adds a new camera to the scene
VisOdomBundleAdjustment.BFrame	addFrame(int cameraIndex, long id)
VisOdomBundleAdjustment.BFrame	addFrame(long id)
void	addObservation(VisOdomBundleAdjustment.BFrame frame, T track, double pixelX, double pixelY)
T	addTrack(double x, double y, double z, double w)
T	findByTrackerTrack(PointTrack target)	Searches for a track that has the following tracker track.
VisOdomBundleAdjustment.BCamera	getCamera(int index)
VisOdomBundleAdjustment.BFrame	getFirstFrame()
VisOdomBundleAdjustment.BFrame	getLastFrame()
boolean	isOptimizeActive()	Returns true if it is configured to be optimized
void	optimize(@Nullable PrintStream verbose)	Performs bundle adjustment on the scene and updates parameters
void	removeFrame(VisOdomBundleAdjustment.BFrame frame, List<PointTrack> removedVisualTracks)	Removes the frame and all references to it.
void	reset()	Returns to its original state with new views.
void	sanityCheck()	Sees if the graph structure is internally consistent.

Methods inherited from class java.lang.Object

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

Field Details

tracks

public final DogArray<T extends VisOdomBundleAdjustment.BTrack> tracks

List of all tracks that can be feed into bundle adjustment

frames

public final DogArray<VisOdomBundleAdjustment.BFrame> frames

List of all frames that can be feed into bundle adjustment

cameras

public final DogArray<VisOdomBundleAdjustment.BCamera> cameras

List of all the cameras

bundle

public final MetricBundleAdjustmentUtils bundle

Configurations and implementation of bundle adjustment

selectedTracks

public List<VisOdomBundleAdjustment.BTrack> selectedTracks

Constructor Details

VisOdomBundleAdjustment

public VisOdomBundleAdjustment(Factory<T> factoryTracks)

Method Details

optimize

public void optimize(@Nullable
 @Nullable PrintStream verbose)

Performs bundle adjustment on the scene and updates parameters

isOptimizeActive

public boolean isOptimizeActive()

Returns true if it is configured to be optimized

addCamera

public VisOdomBundleAdjustment.BCamera addCamera(CameraPinholeBrown camera)

Adds a new camera to the scene

reset

public void reset()

Returns to its original state with new views. The camera model is saved

addObservation

public void addObservation(VisOdomBundleAdjustment.BFrame frame,
 T track,
 double pixelX,
 double pixelY)

findByTrackerTrack

@Nullable
public T findByTrackerTrack(PointTrack target)

Searches for a track that has the following tracker track. null is none were found

addTrack

public T addTrack(double x,
 double y,
 double z,
 double w)

addFrame

public VisOdomBundleAdjustment.BFrame addFrame(long id)

addFrame

public VisOdomBundleAdjustment.BFrame addFrame(int cameraIndex,
 long id)

removeFrame

public void removeFrame(VisOdomBundleAdjustment.BFrame frame,
 List<PointTrack> removedVisualTracks)

Removes the frame and all references to it. If a track has no observations after this it is also removed from the master list.

Parameters:

removedVisualTracks - List of tracks which were removed and were being visually tracked because they had no more observations. Cleared each call.

getLastFrame

public VisOdomBundleAdjustment.BFrame getLastFrame()

getFirstFrame

public VisOdomBundleAdjustment.BFrame getFirstFrame()

getCamera

public VisOdomBundleAdjustment.BCamera getCamera(int index)

sanityCheck

public void sanityCheck()

Sees if the graph structure is internally consistent. Used for debugging