boofcv.alg.sfm.structure

Class MetricSceneGraph.Motion

java.lang.Object

boofcv.alg.sfm.structure.MetricSceneGraph.Motion

Enclosing class:

MetricSceneGraph

public static class MetricSceneGraph.Motion
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field and Description
georegression.struct.se.Se3_F64	a_to_b
java.util.List<boofcv.struct.feature.AssociatedIndex>	associated
org.ejml.data.DMatrixRMaj	F
int	index
java.util.List<MetricSceneGraph.Feature3D>	stereoTriangulations
double	triangulationAngle
MetricSceneGraph.View	viewDst
MetricSceneGraph.View	viewSrc

Constructor Summary

Constructors

Constructor and Description
Motion()

Method Summary

Modifier and Type	Method and Description
MetricSceneGraph.View	destination(MetricSceneGraph.View src)
georegression.struct.se.Se3_F64	motionSrcToDst(MetricSceneGraph.View src)
double	scoreTriangulation() Score how well this motion can be used to provide an initial set of triangulated feature points.

Methods inherited from class java.lang.Object

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

Field Detail

a_to_b

public georegression.struct.se.Se3_F64 a_to_b

stereoTriangulations

public java.util.List<MetricSceneGraph.Feature3D> stereoTriangulations

triangulationAngle

public double triangulationAngle

index

public int index

F

public org.ejml.data.DMatrixRMaj F

associated

public java.util.List<boofcv.struct.feature.AssociatedIndex> associated

viewSrc

public MetricSceneGraph.View viewSrc

viewDst

public MetricSceneGraph.View viewDst

Constructor Detail

Motion

public Motion()

Method Detail

scoreTriangulation

public double scoreTriangulation()

Score how well this motion can be used to provide an initial set of triangulated feature points. More features the better but you want the epipolar estimate to be a better model than homography since the epipolar includes translation.

Returns:

the score

motionSrcToDst

public georegression.struct.se.Se3_F64 motionSrcToDst(MetricSceneGraph.View src)

destination

public MetricSceneGraph.View destination(MetricSceneGraph.View src)