Package boofcv.factory.sfm

Class ConfigVisOdomTrackPnP

java.lang.Object

boofcv.factory.sfm.ConfigVisOdomTrackPnP

All Implemented Interfaces:

Configuration, Serializable

public class ConfigVisOdomTrackPnP
extends Object
implements Configuration

Base class for visual odometry algorithms based on PointTracker.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
ConfigBundleAdjustment	bundle	Configuration for Bundle Adjustment
ConfigConverge	bundleConverge	Convergence criteria for bundle adjustment.
int	bundleMaxFeaturesPerFrame	Maximum number of features optimized in bundle adjustment per key frame.
int	bundleMinObservations	Minimum number of observations a track must have before it is included in bundle adjustment.
int	dropOutlierTracks	Drop tracks if they have been outliers for this many frames in a row
ConfigKeyFrameManager	keyframes	Specifies when a new key frame is created
int	maxKeyFrames	Maximum number of key frames it will save.
EnumPNP	pnp	Which PNP solution to use
ConfigRansac	ransac	Configuration for RANSAC.
int	refineIterations	Number of iterations to perform when refining the initial frame-to-frame motion estimate.

Constructor Summary

Constructors

Constructor	Description
ConfigVisOdomTrackPnP()

Method Summary

Modifier and Type	Method	Description
void	checkValidity()	Checks to see if the configuration is valid.
ConfigVisOdomTrackPnP	setTo(ConfigVisOdomTrackPnP src)

Methods inherited from class java.lang.Object

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

Methods inherited from interface boofcv.struct.Configuration

serializeActiveFields, serializeInitialize

Field Details

bundle

public ConfigBundleAdjustment bundle

Configuration for Bundle Adjustment

bundleConverge

public ConfigConverge bundleConverge

Convergence criteria for bundle adjustment. Set max iterations to ≤ 0 to disable

bundleMaxFeaturesPerFrame

public int bundleMaxFeaturesPerFrame

Maximum number of features optimized in bundle adjustment per key frame. This is a very good way to limit the amount of CPU used. If not positive then unlimited. ≤ 0 to disable.

bundleMinObservations

public int bundleMinObservations

Minimum number of observations a track must have before it is included in bundle adjustment. Has to be ≥ 2 and it's strongly recommended that this is set to 3 or higher. Due to ambiguity along epipolar lines there can be lots of false positives with just two views. With three views there is a unique solution and that tends to remove most false positives.

dropOutlierTracks

public int dropOutlierTracks

Drop tracks if they have been outliers for this many frames in a row

maxKeyFrames

public int maxKeyFrames

Maximum number of key frames it will save. Must be at least 4

ransac

public ConfigRansac ransac

Configuration for RANSAC. Used to robustly estimate frame-to-frame motion

refineIterations

public int refineIterations

Number of iterations to perform when refining the initial frame-to-frame motion estimate. Disable ≤ 0

pnp

public EnumPNP pnp

Which PNP solution to use

keyframes

public ConfigKeyFrameManager keyframes

Specifies when a new key frame is created

Constructor Details

ConfigVisOdomTrackPnP

public ConfigVisOdomTrackPnP()

Method Details

checkValidity

public void checkValidity()

Description copied from interface: Configuration

Checks to see if the configuration is valid. If it is invalid, throw an exception explaining what is incorrect.

Specified by:

checkValidity in interface Configuration

setTo

public ConfigVisOdomTrackPnP setTo(ConfigVisOdomTrackPnP src)