Package boofcv.alg.sfm.d3.structure

Class MaxGeoKeyFrameManager

java.lang.Object

boofcv.alg.sfm.d3.structure.MaxGeoKeyFrameManager

All Implemented Interfaces:

VisOdomKeyFrameManager, org.ddogleg.struct.VerbosePrint

public class MaxGeoKeyFrameManager
extends java.lang.Object
implements VisOdomKeyFrameManager

Designed to be frame rate independent and maximize geometric information across frames. Old frames are kept as long as possible and attempts to drop/skip over bad frames due to motion blur.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	MaxGeoKeyFrameManager.CameraInfo

Field Summary

Fields

Modifier and Type	Field	Description
protected org.ddogleg.struct.FastArray<boofcv.abst.tracker.PointTrack>	activeTracks
protected org.ddogleg.struct.FastQueue<MaxGeoKeyFrameManager.CameraInfo>	cameras
protected org.ddogleg.struct.GrowQueue_I32	discardKeyIndices
protected boofcv.alg.misc.Histogram2D_S32	histogram
double	minimumCoverage	If the fraction of the image covered by features drops below this the current frame is a new keyframe
protected java.io.PrintStream	verbose

Constructor Summary

Constructors

Constructor	Description
MaxGeoKeyFrameManager()
MaxGeoKeyFrameManager(double minimumCoverage)

Method Summary

Modifier and Type	Method	Description
void	handleSpawnedTracks(boofcv.abst.tracker.PointTracker<?> tracker, VisOdomBundleAdjustment.BCamera camera)	After the current frame becomes a keyframe new tracks are spawned from it.
void	initialize(org.ddogleg.struct.FastAccess<VisOdomBundleAdjustment.BCamera> bundleCameras)	Resets the manager into it's initial state.
protected boolean	keepCurrentFrame(VisOdomBundleAdjustment<?> sba)	Perform different checks that attempt to see if too much has changed.
org.ddogleg.struct.GrowQueue_I32	selectFramesToDiscard(boofcv.abst.tracker.PointTracker<?> tracker, int maxKeyFrames, int newFrames, VisOdomBundleAdjustment<?> sba)	Selects frames to discard from the scene graph.
protected void	selectOldToDiscard(VisOdomBundleAdjustment<?> sba, int totalDiscard)	Selects an older frame to discard.
void	setVerbose(java.io.PrintStream out, java.util.Set<java.lang.String> configuration)

Methods inherited from class java.lang.Object

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

Field Detail

minimumCoverage

public double minimumCoverage

If the fraction of the image covered by features drops below this the current frame is a new keyframe

discardKeyIndices

protected final org.ddogleg.struct.GrowQueue_I32 discardKeyIndices

cameras

protected org.ddogleg.struct.FastQueue<MaxGeoKeyFrameManager.CameraInfo> cameras

activeTracks

protected org.ddogleg.struct.FastArray<boofcv.abst.tracker.PointTrack> activeTracks

histogram

protected boofcv.alg.misc.Histogram2D_S32 histogram

verbose

protected java.io.PrintStream verbose

Constructor Detail

MaxGeoKeyFrameManager

public MaxGeoKeyFrameManager()

MaxGeoKeyFrameManager

public MaxGeoKeyFrameManager(double minimumCoverage)

Method Detail

initialize

public void initialize(org.ddogleg.struct.FastAccess<VisOdomBundleAdjustment.BCamera> bundleCameras)

Description copied from interface: VisOdomKeyFrameManager

Resets the manager into it's initial state. Specifies number of cameras and their shape.

Specified by:

initialize in interface VisOdomKeyFrameManager

selectFramesToDiscard

public org.ddogleg.struct.GrowQueue_I32 selectFramesToDiscard(boofcv.abst.tracker.PointTracker<?> tracker,
                                                              int maxKeyFrames,
                                                              int newFrames,
                                                              VisOdomBundleAdjustment<?> sba)

Description copied from interface: VisOdomKeyFrameManager

Selects frames to discard from the scene graph. The most recent frame(s) (highest index value) is assumed to be the current tracker frame.

Specified by:

selectFramesToDiscard in interface VisOdomKeyFrameManager

Parameters:

tracker - Feature tracker

maxKeyFrames - Maximum number of allowed key frames

newFrames - Number of new frames added

sba - scene graph

Returns:

Returns a list of frames to discard. They are in sequential order from least to greatest.

keepCurrentFrame

protected boolean keepCurrentFrame(VisOdomBundleAdjustment<?> sba)

Perform different checks that attempt to see if too much has changed. If too much has changed then the current keyframe should be kept so that new features can be spawned and starvation avoided.

Returns:

true if it should keep the current frame

selectOldToDiscard

protected void selectOldToDiscard(VisOdomBundleAdjustment<?> sba,
                                  int totalDiscard)

Selects an older frame to discard. If a frame has zero features in common with the current frame it will be selected. After that it scores frames based on how many features it has in common with the other frames, excluding the current frame.

Parameters:

totalDiscard - How many need to be discarded

handleSpawnedTracks

public void handleSpawnedTracks(boofcv.abst.tracker.PointTracker<?> tracker,
                                VisOdomBundleAdjustment.BCamera camera)

Description copied from interface: VisOdomKeyFrameManager

After the current frame becomes a keyframe new tracks are spawned from it. This passes in that new information

Specified by:

handleSpawnedTracks in interface VisOdomKeyFrameManager

setVerbose

public void setVerbose(@Nullable
                       java.io.PrintStream out,
                       @Nullable
                       java.util.Set<java.lang.String> configuration)

Specified by:

setVerbose in interface org.ddogleg.struct.VerbosePrint