boofcv.alg.sfm.structure

Class PruneStructureFromScene

java.lang.Object

boofcv.alg.sfm.structure.PruneStructureFromScene

public class PruneStructureFromScene
extends java.lang.Object

makes it easy to removing elements from the scene's structure. Different criteria can be specified for each type of element you wish to remove.

Constructor Summary

Constructors

Constructor and Description
PruneStructureFromScene(boofcv.abst.geo.bundle.SceneStructureMetric structure, boofcv.abst.geo.bundle.SceneObservations observations)

Method Summary

Modifier and Type	Method and Description
void	pruneObservationsBehindCamera() Check to see if a point is behind the camera which is viewing it.
void	pruneObservationsByErrorRank(double inlierFraction) Computes reprojection error for all features.
void	prunePoints(int count) Prunes Points/features with less than 'count' observations.
void	prunePoints(int neighbors, double distance) Prune a feature it has fewer than X neighbors within Y distance.
void	pruneUnusedCameras() Prunes cameras that are not referenced by any views.
void	pruneViews(int count) Removes views with less than 'count' features visible.

Methods inherited from class java.lang.Object

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

Constructor Detail

PruneStructureFromScene

public PruneStructureFromScene(boofcv.abst.geo.bundle.SceneStructureMetric structure,
                               boofcv.abst.geo.bundle.SceneObservations observations)

Method Detail

pruneObservationsByErrorRank

public void pruneObservationsByErrorRank(double inlierFraction)

Computes reprojection error for all features. Sorts the resulting residuals by magnitude. Prunes observations which have the largest errors first. After calling this function you should call prunePoints(int) and pruneViews(int) to ensure the scene is still valid.

Parameters:

inlierFraction - Fraction of observations to keep. 0 to 1. 1 = no change. 0 = everything is pruned.

pruneObservationsBehindCamera

public void pruneObservationsBehindCamera()

Check to see if a point is behind the camera which is viewing it. If it is remove that observation since it can't possibly be observed.

prunePoints

public void prunePoints(int count)

Prunes Points/features with less than 'count' observations. Observations of the points are also removed. Call pruneViews(int) to ensure that all views have points in view

Parameters:

count - Minimum number of observations

prunePoints

public void prunePoints(int neighbors,
                        double distance)

Prune a feature it has fewer than X neighbors within Y distance. Observations associated with this feature are also pruned. Call pruneViews(int) to makes sure the graph is valid.

Parameters:

neighbors - Number of other features which need to be near by

distance - Maximum distance a point can be to be considered a feature

pruneViews

public void pruneViews(int count)

Removes views with less than 'count' features visible. Observations of features in removed views are also removed.

Parameters:

count - Prune if it has this number of views or less

pruneUnusedCameras

public void pruneUnusedCameras()

Prunes cameras that are not referenced by any views.