All Classes

Class	Description
AccessPointTracks	Provides access to the location of point tracks.
AccessPointTracks3D	Provides information on point feature based SFM tracking algorithm
AssociatedPairTrack
AssociateStereo2D<Desc extends boofcv.struct.feature.TupleDesc>	Association for a stereo pair where the source is the left camera and the destination is the right camera.
CameraPlaneProjection	Computes the location of a point on the plane from an observation in pixels and the reverse.
ComputeObservationAcuteAngle	Computes the acute angle between two observations.
ConfigKeyFrameManager	Configuration for implementations of VisOdomKeyFrameManager
ConfigKeyFrameManager.Type
ConfigStereoDualTrackPnP	Configuration for VisOdomDualTrackPnP
ConfigStereoMonoTrackPnP	Configuration for WrapVisOdomMonoStereoDepthPnP.
ConfigStereoQuadPnP	Configuration for WrapVisOdomDualTrackPnP.
ConfigVisOdomTrackPnP	Base class for visual odometry algorithms based on PointTracker.
CreateSyntheticOverheadView<T extends boofcv.struct.image.ImageBase<T>>	Converts a camera image into an overhead orthogonal view with known metric properties given a known transform from the plane to camera.
CreateSyntheticOverheadViewPL<T extends boofcv.struct.image.ImageGray<T>>	Implementation of CreateSyntheticOverheadView for Planar.
CreateSyntheticOverheadViewS<T extends boofcv.struct.image.ImageGray<T>>	Implementation of CreateSyntheticOverheadView for ImageGray.
DepthSparse3D<T extends boofcv.struct.image.ImageGray<T>>	Computes the 3D coordinate a point in a visual camera given a depth image.
DepthSparse3D_to_PixelTo3D<T extends boofcv.struct.image.ImageGray<T>>	Wrapper around DepthSparse3D for ImagePixelTo3D.
DepthSparse3D.F32	Implementation for GrayF32.
DepthSparse3D.I<T extends boofcv.struct.image.GrayI<T>>	Implementation for GrayI.
DepthVisualOdometry<Vis extends boofcv.struct.image.ImageBase<Vis>,Depth extends boofcv.struct.image.ImageGray<Depth>>	Visual odometry that estimate the camera's ego-motion in Euclidean space using a camera image and a depth image.
DistancePlane2DToPixelSq	Computes the difference between a predicted observation and the actual observation.
DistanceScaleTranslate2DSq	Computes distance squared between p1 after applying the ScaleTranslate2D motion model and p2.
DistanceScaleTranslateRotate2DSq	Computes distance squared between p1 after applying the ScaleTranslateRotate2D motion model and p2.
DoStuffFromPairwiseGraph	Goal: find clusters of views with 3D connections that share a large number of common features.
EstimateSceneCalibrated	Assumes the input images are in an arbitrary order and that any image can be connected to any other image.
EstimateSceneStructure<Structure extends boofcv.abst.geo.bundle.SceneStructure>	Provides an initial estimate of a scenes structure for BundleAdjustment.
EstimateSceneUncalibrated
FactoryMotion2D	Factory for creating algorithms related to 2D image motion.
FactorySfmMisc	Factory for creating classes which don't go anywhere else.
FactoryStitchingTransform	Factory for creating StitchingTransform of different motion models.
FactoryVisualOdometry	Factory for creating visual odometry algorithms.
FeatureSpatialDiversity_F32	Checks to see if the features being tracked form
GeneratePairwiseImageGraph	Given a graph of images with similar appearance, create a graph in which images with a geometric relationship are connected to each other.
GenerateScaleTranslate2D	Estimates a ScaleTranslate2D from two 2D point correspondences.
GenerateScaleTranslateRotate2D	Estimates a ScaleTranslateRotate2D from three 2D point correspondences.
GenerateSe2_PlanePtPixel	Uses MotionTransformPoint to estimate the rigid body motion from key-frame to current-frame in 2D between two observations of a point on the plane.
ImageMotion2D<I extends boofcv.struct.image.ImageBase<I>,IT extends georegression.struct.InvertibleTransform>	Estimates the 2D motion of images in a video sequence.
ImageMotionPointTrackerKey<I extends boofcv.struct.image.ImageBase<I>,IT extends georegression.struct.InvertibleTransform>	Computes the transform from the first image in a sequence to the current frame.
ImageMotionPtkSmartRespawn<I extends boofcv.struct.image.ImageBase<I>,IT extends georegression.struct.InvertibleTransform>	Examines tracks inside of ImageMotionPointTrackerKey and decides when new feature tracks should be respawned.
ImagePixelTo3D	Generalized interface for sensors which allow pixels in an image to be converted into 3D world coordinates.
LookupSimilarImages	Interface for finding images with a similar appearance by some metric.
MaxGeoKeyFrameManager	Designed to be frame rate independent and maximize geometric information across frames.
MaxGeoKeyFrameManager.CameraInfo
MetricSceneGraph	Graph describing the relationship between image features and 3D points.
MetricSceneGraph.Feature3D
MetricSceneGraph.Motion
MetricSceneGraph.View
ModelManagerScaleTranslate2D	ModelManager for ScaleTranslate2D
ModelManagerScaleTranslateRotate2D	ModelManager for ScaleTranslateRotate2D.
MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase<T>>	Estimates the camera's motion relative to the ground plane.
MonocularPlaneVisualOdometryScaleInput<T extends boofcv.struct.image.ImageBase<T>>	* Wrapper around MonocularPlaneVisualOdometry which scales the input images.
MonocularVisualOdometry<T extends boofcv.struct.image.ImageBase<T>>	Interface for visual odometry from a single camera that provides 6-DOF pose.
MonoOverhead_to_MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase<T>>	Wrapper around VisOdomMonoOverheadMotion2D for MonocularPlaneVisualOdometry.
MonoPlaneInfinity_to_MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase<T>>	Wrapper around VisOdomMonoPlaneInfinity for MonocularPlaneVisualOdometry.
OverheadView<T extends boofcv.struct.image.ImageBase<T>>	Data structure for an overhead orthogonal view with known metric properties.
PairwiseImageGraph	Graph describing the relationship between image features using matching features from epipolar geometry.
PairwiseImageGraph2	Graph describing the relationship between image features using matching features from epipolar geometry.
PairwiseImageGraph2.Motion
PairwiseImageGraph2.View
PairwiseImageMatching<T extends boofcv.struct.image.ImageBase<T>>	Determines connectivity between images by exhaustively considering all possible combination of views.
PlanePtPixel	Storage for a point on a 2D plane in the key-frame and the observed normalized image coordinate in the current frame
PlToGrayMotion2D<T extends boofcv.struct.image.ImageGray<T>,IT extends georegression.struct.InvertibleTransform>	Wrapper which converts a planar image into a gray scale image before computing its image motion.
PnPStereoDistanceReprojectionSq	Computes sum of reprojection error squared in pixels for a pair of stereo observations.
PnPStereoEstimator	Computes the left camera pose from a fully calibrated stereo camera system using a PnP algorithm.
PnPStereoJacobianRodrigues	Computes the Jacobian of the error function in PnPResidualReprojection.
PnPStereoRefineRodrigues	Minimizes the reprojection residual error for a pose estimate (left camera) in a calibrated stereo camera.
PnPStereoResidualReprojection	Computes the predicted residual as a simple geometric distance between the observed and predicted point observation in normalized pixel coordinates.
Point2D3DTrack	Adds track maintenance information for Point2D3D.
ProjectiveExpandToNeighbors	Finds the projective camera for all 3D neighbors of the seed.
ProjectiveInitializeAllCommon	Given a set of views and a set of features which are visible in all views, estimate their structure up to a projective transform.
PyramidDirectColorDepth<T extends boofcv.struct.image.ImageGray<T>>	Adds a pyramidal implementation on top of VisOdomDirectColorDepth to enable it to handle larger motions which its local approach couldn't handle in a single layer.
PyramidDirectColorDepth_to_DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,Depth extends boofcv.struct.image.ImageGray<Depth>>	TODO write
PyramidDirectColorDepth.LayerTo3D
RefinePnPStereo	Refines a pose estimate given a set of stereo observations and associated 3D point in world coordinates.
ScaleTranslate2D	Motion model for scale and translation: (x',y') = (x,y)*scale + (tranX , tranY)
ScaleTranslateRotate2D	Motion model for scale, translation, and rotation: (x',y') = (x,y)*R*scale + (tranX , tranY) R is rotation matrix.
SceneWorkingGraph
Se3ToStereoPoseCodec	Allows a ModelCodec for Se3_F64 to be used by StereoPose.
SelectOverheadParameters	Give a camera's intrinsic and extrinsic parameters, selects a reasonable overhead view to render the image onto.
SelectTracksInFrameForBundleAdjustment	Attempts to ensure spatial diversity within an image by forcing a more uniform distribution of features per-area.
Stereo2D3D
StereoConsistencyCheck	Checks to see if two observations from a left to right stereo camera are consistent.
StereoPose	Specifies the pose of a stereo camera system as a kinematic chain relative to camera 0.
StereoProcessingBase<T extends boofcv.struct.image.ImageGray<T>>	Base class that configures stereo processing.
StereoSparse3D<T extends boofcv.struct.image.ImageGray<T>>	Computes stereo disparity on a per pixel basis as requested.
StereoVisualOdometry<T extends boofcv.struct.image.ImageBase<T>>	Stereo visual odometry algorithms that estimate the camera's ego-motion in Euclidean space using a pair of stereo images.
StereoVisualOdometryScaleInput<T extends boofcv.struct.image.ImageBase<T>>	Wrapper around StereoVisualOdometry which scales the input images.
StitchingFromMotion2D<I extends boofcv.struct.image.ImageBase<I>,IT extends georegression.struct.InvertibleTransform>	Stitches together sequences of images using ImageMotion2D, typically used for image stabilization and creating mosaics.
StitchingFromMotion2D.Corners
StitchingTransform<IT extends georegression.struct.InvertibleTransform>	TODO Comment
ThreeViewEstimateMetricScene	Estimates the metric scene's structure given a set of sparse features associations from three views.
TickTockKeyFrameManager	This key frame manager performs its maintenance at a constant fixed rate independent of observations.
UtilImageMotion
VisOdomBundleAdjustment<T extends VisOdomBundleAdjustment.BTrack>	Bundle adjustment specifically intended for use with visual odometry algorithms.
VisOdomBundleAdjustment.BCamera
VisOdomBundleAdjustment.BFrame	A BFrame is a key frame.
VisOdomBundleAdjustment.BObservation
VisOdomBundleAdjustment.BTrack
VisOdomBundlePnPBase<Track extends VisOdomBundleAdjustment.BTrack>	Base class for all visual odometry algorithms based on PNP and use bundle adjustment.
VisOdomBundlePnPBase.CameraModel	Contains the camera's lens distortion model
VisOdomDirectColorDepth<I extends boofcv.struct.image.ImageGray<I>,D extends boofcv.struct.image.ImageGray<D>>	TODO Fill in
VisOdomDualTrackPnP<T extends boofcv.struct.image.ImageBase<T>,Desc extends boofcv.struct.feature.TupleDesc>	Stereo visual odometry algorithm which relies on tracking features independently in the left and right images and then matching those tracks together.
VisOdomDualTrackPnP.TrackInfo	A coupled track between the left and right cameras.
VisOdomKeyFrameManager	Decides when new key frames should be created and when an old key frame should be removed
VisOdomMonoDepthPnP<T extends boofcv.struct.image.ImageBase<T>>	Full 6-DOF visual odometry where a ranging device is assumed for pixels in the primary view and the motion is estimated using a Estimate1ofPnP.
VisOdomMonoDepthPnP.Track
VisOdomMonoOverheadMotion2D<T extends boofcv.struct.image.ImageBase<T>>	Estimates the motion of a monocular camera using the known transform between the camera and the ground plane.
VisOdomMonoPlaneInfinity<T extends boofcv.struct.image.ImageBase<T>>	Estimates camera ego-motion by assuming the camera is viewing a flat plane and that off plane points are at infinity.
VisOdomMonoPlaneInfinity.VoTrack	Additional track information for use in motion estimation
VisOdomPixelDepthPnP_to_DepthVisualOdometry<Vis extends boofcv.struct.image.ImageBase<Vis>,Depth extends boofcv.struct.image.ImageGray<Depth>>	Wrapper around VisOdomMonoDepthPnP for DepthVisualOdometry.
VisOdomStereoQuadPnP<T extends boofcv.struct.image.ImageGray<T>,TD extends boofcv.struct.feature.TupleDesc>	Stereo visual odometry algorithm which associates image features across two stereo pairs for a total of four images.
VisOdomStereoQuadPnP.ImageInfo<TD>	Storage for detected features inside an image
VisOdomStereoQuadPnP.SetMatches	Correspondences between images
VisOdomStereoQuadPnP.TrackQuad	3D coordinate of the feature and its observed location in each image
VisualDepthOps	Various functions and operations specific to visual depth sensors.
VisualOdometry<M>	Interface for Visual Odometry (VO) algorithms.
WrapImageMotionPtkSmartRespawn<T extends boofcv.struct.image.ImageBase<T>,IT extends georegression.struct.InvertibleTransform>	Wrapper around ImageMotionPtkSmartRespawn for ImageMotion2D.
WrapVisOdomDualTrackPnP<T extends boofcv.struct.image.ImageGray<T>>	TODO comment
WrapVisOdomMonoStereoDepthPnP<T extends boofcv.struct.image.ImageGray<T>>
WrapVisOdomQuadPnP<T extends boofcv.struct.image.ImageGray<T>,TD extends boofcv.struct.feature.TupleDesc>	Wrapper around VisOdomStereoQuadPnP for StereoVisualOdometry.