Class SceneWorkingGraph.View

Enclosing class:

public static class SceneWorkingGraph.View
extends Object
Data structure related to an image. Points to image features, intrinsic parameters, and extrinsic parameters.
  • Field Details

    • pview

      Reference to the PairwiseImageGraph.View that this view was generated from
    • inliers

      public final DogArray<SceneWorkingGraph.InlierInfo> inliers
      Specifies which observations were used to compute the projective transform for this view If empty that means one set of inliers are used for multiple views and only one view needed this to be saved this happens for the seed view
    • projective

      public final DMatrixRMaj projective
      projective camera matrix
    • world_to_view

      public final Se3_F64 world_to_view
      SE3 from world to this view
    • cameraIdx

      public int cameraIdx
      Index of the camera that generated this view
    • index

      public int index
      Index of the view in the list. This will be the same index in the SBA scene
  • Constructor Details

    • View

      public View()
  • Method Details

    • getBestInlierScore

      public double getBestInlierScore()
      Returns the score from the best inlier set
    • getBestInliers

      @Nullable public @Nullable SceneWorkingGraph.InlierInfo getBestInliers()
      Returns the inlier set with the best score. null if there are no inlier sets
    • reset

      public void reset()
    • setTo

      public void setTo​(SceneWorkingGraph.View src)
    • toString

      public String toString()
      toString in class Object