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
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Field Summary
Fields Modifier and Type Field Description ConfigBundleAdjustment
bundle
Configuration for Bundle AdjustmentConfigConverge
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 rowConfigKeyFrameManager
keyframes
Specifies when a new key frame is createdint
maxKeyFrames
Maximum number of key frames it will save.EnumPNP
pnp
Which PNP solution to useConfigRansac
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()
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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
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Field Details
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bundle
Configuration for Bundle Adjustment -
bundleConverge
Convergence criteria for bundle adjustment. Set max iterations to ≤ 0 to disable -
bundleMaxFeaturesPerFrame
public int bundleMaxFeaturesPerFrameMaximum 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 bundleMinObservationsMinimum 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 dropOutlierTracksDrop tracks if they have been outliers for this many frames in a row -
maxKeyFrames
public int maxKeyFramesMaximum number of key frames it will save. Must be at least 4 -
ransac
Configuration for RANSAC. Used to robustly estimate frame-to-frame motion -
refineIterations
public int refineIterationsNumber of iterations to perform when refining the initial frame-to-frame motion estimate. Disable ≤ 0 -
pnp
Which PNP solution to use -
keyframes
Specifies when a new key frame is created
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Constructor Details
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ConfigVisOdomTrackPnP
public ConfigVisOdomTrackPnP()
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Method Details
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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 interfaceConfiguration
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setTo
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