Package boofcv.alg.sfm.d3.structure

Class VisOdomBundleAdjustment.BTrack

java.lang.Object

boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment.BTrack

Direct Known Subclasses:

VisOdomDualTrackPnP.TrackInfo, VisOdomMonoDepthPnP.Track

Enclosing class:

VisOdomBundleAdjustment<T extends VisOdomBundleAdjustment.BTrack>

public static class VisOdomBundleAdjustment.BTrack
extends java.lang.Object

Field Summary

Fields

Modifier and Type	Field	Description
boolean	hasBeenInlier	if true then the track has been an inlier at least once and should be considered for optimization
long	id
org.ddogleg.struct.FastQueue<VisOdomBundleAdjustment.BObservation>	observations
boolean	selected	true if it was selected for inclusion in the optimization
boofcv.abst.tracker.PointTrack	visualTrack	Reference to the a track in the image based tracker if null that means the track is no longer being tracked by the tracker
georegression.struct.point.Point4D_F64	worldLoc

Constructor Summary

Constructors

Constructor	Description
BTrack()

Method Summary

Modifier and Type	Method	Description
boolean	equals(java.lang.Object obj)
VisOdomBundleAdjustment.BObservation	findObservationBy(VisOdomBundleAdjustment.BFrame frame)
boolean	isObservedBy(VisOdomBundleAdjustment.BFrame frame)
boolean	removeRef(VisOdomBundleAdjustment.BFrame frame)	Removes the observations to the specified frame
void	reset()

Methods inherited from class java.lang.Object

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

Field Detail

id

public long id

visualTrack

public boofcv.abst.tracker.PointTrack visualTrack

Reference to the a track in the image based tracker if null that means the track is no longer being tracked by the tracker

worldLoc

public final georegression.struct.point.Point4D_F64 worldLoc

observations

public final org.ddogleg.struct.FastQueue<VisOdomBundleAdjustment.BObservation> observations

hasBeenInlier

public boolean hasBeenInlier

if true then the track has been an inlier at least once and should be considered for optimization

selected

public boolean selected

true if it was selected for inclusion in the optimization

Constructor Detail

BTrack

public BTrack()

Method Detail

isObservedBy

public boolean isObservedBy(VisOdomBundleAdjustment.BFrame frame)

findObservationBy

public VisOdomBundleAdjustment.BObservation findObservationBy(VisOdomBundleAdjustment.BFrame frame)

reset

public void reset()

removeRef

public boolean removeRef(VisOdomBundleAdjustment.BFrame frame)

Removes the observations to the specified frame

Returns:

true if a match was found and removed. False otherwise.

equals

public boolean equals(java.lang.Object obj)

Overrides:

equals in class java.lang.Object