Package boofcv.alg.sfm.d3.structure

Class VisOdomBundleAdjustment<T extends VisOdomBundleAdjustment.BTrack>

java.lang.Object

boofcv.alg.sfm.d3.structure.VisOdomBundleAdjustment<T>

public class VisOdomBundleAdjustment<T extends VisOdomBundleAdjustment.BTrack>
extends java.lang.Object

Bundle adjustment specifically intended for use with visual odometry algorithms.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	VisOdomBundleAdjustment.BCamera
static class	VisOdomBundleAdjustment.BFrame	A BFrame is a key frame.
static class	VisOdomBundleAdjustment.BObservation
static class	VisOdomBundleAdjustment.BTrack

Field Summary

Fields

Modifier and Type	Field	Description
boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric>	bundleAdjustment
org.ddogleg.struct.FastQueue<VisOdomBundleAdjustment.BCamera>	cameras	List of all the cameras
org.ddogleg.struct.FastQueue<VisOdomBundleAdjustment.BFrame>	frames	List of all frames that can be feed into bundle adjustment
boofcv.abst.geo.bundle.SceneObservations	observations
java.util.List<VisOdomBundleAdjustment.BTrack>	selectedTracks
boofcv.abst.geo.bundle.SceneStructureMetric	structure
org.ddogleg.struct.FastQueue<T>	tracks	List of all tracks that can be feed into bundle adjustment

Constructor Summary

Constructors

Constructor	Description
VisOdomBundleAdjustment(boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric> bundleAdjustment, org.ddogleg.struct.Factory<T> factoryTracks)

Method Summary

Modifier and Type	Method	Description
VisOdomBundleAdjustment.BCamera	addCamera(boofcv.struct.calib.CameraPinholeBrown camera)	Adds a new camera to the scene
VisOdomBundleAdjustment.BFrame	addFrame(int cameraIndex, long id)
VisOdomBundleAdjustment.BFrame	addFrame(long id)
void	addObservation(VisOdomBundleAdjustment.BFrame frame, T track, double pixelX, double pixelY)
T	addTrack(double x, double y, double z, double w)
T	findByTrackerTrack(boofcv.abst.tracker.PointTrack target)	Searches for a track that has the following tracker track.
VisOdomBundleAdjustment.BCamera	getCamera(int index)
VisOdomBundleAdjustment.BFrame	getFirstFrame()
VisOdomBundleAdjustment.BFrame	getLastFrame()
boolean	isOptimizeActive()	Returns true if it is configured to be optimized
void	optimize()	Performs bundle adjustment on the scene and updates parameters
void	removeFrame(VisOdomBundleAdjustment.BFrame frame, java.util.List<boofcv.abst.tracker.PointTrack> removedVisualTracks)	Removes the frame and all references to it.
void	reset()	Returns to its original state with new views.
void	sanityCheck()	Sees if the graph structure is internally consistent.

Methods inherited from class java.lang.Object

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

Field Detail

tracks

public final org.ddogleg.struct.FastQueue<T extends VisOdomBundleAdjustment.BTrack> tracks

List of all tracks that can be feed into bundle adjustment

frames

public final org.ddogleg.struct.FastQueue<VisOdomBundleAdjustment.BFrame> frames

List of all frames that can be feed into bundle adjustment

cameras

public final org.ddogleg.struct.FastQueue<VisOdomBundleAdjustment.BCamera> cameras

List of all the cameras

structure

public boofcv.abst.geo.bundle.SceneStructureMetric structure

observations

public boofcv.abst.geo.bundle.SceneObservations observations

bundleAdjustment

public boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric> bundleAdjustment

selectedTracks

public java.util.List<VisOdomBundleAdjustment.BTrack> selectedTracks

Constructor Detail

VisOdomBundleAdjustment

public VisOdomBundleAdjustment(boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric> bundleAdjustment,
                               org.ddogleg.struct.Factory<T> factoryTracks)

Method Detail

optimize

public void optimize()

Performs bundle adjustment on the scene and updates parameters

isOptimizeActive

public boolean isOptimizeActive()

Returns true if it is configured to be optimized

addCamera

public VisOdomBundleAdjustment.BCamera addCamera(boofcv.struct.calib.CameraPinholeBrown camera)

Adds a new camera to the scene

reset

public void reset()

Returns to its original state with new views. The camera model is saved

addObservation

public void addObservation(VisOdomBundleAdjustment.BFrame frame,
                           T track,
                           double pixelX,
                           double pixelY)

findByTrackerTrack

public T findByTrackerTrack(boofcv.abst.tracker.PointTrack target)

Searches for a track that has the following tracker track. null is none were found

addTrack

public T addTrack(double x,
                  double y,
                  double z,
                  double w)

addFrame

public VisOdomBundleAdjustment.BFrame addFrame(long id)

addFrame

public VisOdomBundleAdjustment.BFrame addFrame(int cameraIndex,
                                               long id)

removeFrame

public void removeFrame(VisOdomBundleAdjustment.BFrame frame,
                        java.util.List<boofcv.abst.tracker.PointTrack> removedVisualTracks)

Removes the frame and all references to it. If a track has no observations after this it is also removed from the master list.

Parameters:

removedVisualTracks - List of tracks which were removed and were being visually tracked because they had no more observations. Cleared each call.

getLastFrame

public VisOdomBundleAdjustment.BFrame getLastFrame()

getFirstFrame

public VisOdomBundleAdjustment.BFrame getFirstFrame()

getCamera

public VisOdomBundleAdjustment.BCamera getCamera(int index)

sanityCheck

public void sanityCheck()

Sees if the graph structure is internally consistent. Used for debugging