Package boofcv.alg.sfm.d3.structure

Interface VisOdomKeyFrameManager

All Superinterfaces:

VerbosePrint

All Known Implementing Classes:

MaxGeoKeyFrameManager, TickTockKeyFrameManager

public interface VisOdomKeyFrameManager
extends VerbosePrint

Decides when new key frames should be created and when an old key frame should be removed

Method Summary

Modifier and Type	Method	Description
void	handleSpawnedTracks(PointTracker<?> tracker, VisOdomBundleAdjustment.BCamera camera)	After the current frame becomes a keyframe new tracks are spawned from it.
void	initialize(FastAccess<VisOdomBundleAdjustment.BCamera> bundleCameras)	Resets the manager into it's initial state.
DogArray_I32	selectFramesToDiscard(PointTracker<?> tracker, int limit, int newFrames, VisOdomBundleAdjustment<?> sba)	Selects frames to discard from the scene graph.

Methods inherited from interface org.ddogleg.struct.VerbosePrint

setVerbose

Method Details

initialize

void initialize(FastAccess<VisOdomBundleAdjustment.BCamera> bundleCameras)

Resets the manager into it's initial state. Specifies number of cameras and their shape.

selectFramesToDiscard

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

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

Parameters:

tracker - Feature tracker

limit - 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

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

After the current frame becomes a keyframe new tracks are spawned from it. This passes in that new information