Serialized Form

Package boofcv.alg.feature.associate

Class boofcv.alg.feature.associate.AssociateSurfBasic.Helper extends boofcv.struct.feature.TupleDesc_F64 implements Serializable

Serialized Fields

index

int index

Package boofcv.factory.sfm

Class boofcv.factory.sfm.ConfigKeyFrameManager extends java.lang.Object implements Serializable

Serialized Fields

geoMinCoverage

double geoMinCoverage

For MaxGeoKeyFrameManager only. When coverage drops below this number a new keyframe is created. 0.0 to 1.0

tickPeriod

int tickPeriod

For TickTockKeyFrameManager only. Period at which new keyframes are created.

type

ConfigKeyFrameManager.Type type

Specifies the specific algorithm.

Class boofcv.factory.sfm.ConfigStereoDualTrackPnP extends java.lang.Object implements Serializable

Serialized Fields

epipolarTol

double epipolarTol

Tolerance for matching stereo features along epipolar line in Pixels

scene

ConfigVisOdomTrackPnP scene

Configuration for building and optimizing a local scene

stereoDescribe

boofcv.factory.feature.describe.ConfigDescribeRegionPoint stereoDescribe

Feature descriptor for stereo association

stereoRadius

double stereoRadius

Radius used when computing feature descriptors for stereo matching

tracker

boofcv.factory.tracker.ConfigPointTracker tracker

Used to track features in each camera independently

Class boofcv.factory.sfm.ConfigStereoMonoTrackPnP extends java.lang.Object implements Serializable

Serialized Fields

disparity

boofcv.factory.feature.disparity.ConfigDisparityBM disparity

Configuration for stereo disparity calculation

scene

ConfigVisOdomTrackPnP scene

Configuration for building and optimizing a local scene

tracker

boofcv.factory.tracker.ConfigPointTracker tracker

Tracker configuration for left camera

Class boofcv.factory.sfm.ConfigStereoQuadPnP extends java.lang.Object implements Serializable

Serialized Fields

associateF2F

boofcv.factory.feature.associate.ConfigAssociateGreedy associateF2F

Association approach for matching frames across time steps

associateL2R

boofcv.factory.feature.associate.ConfigAssociateGreedy associateL2R

Association approach for matching stereo pairs

bundle

boofcv.factory.geo.ConfigBundleAdjustment bundle

Configuration for Bundle Adjustment

bundleConverge

boofcv.misc.ConfigConverge bundleConverge

Convergence criteria for bundle adjustment. Set max iterations to ≤ 0 to disable

detectDescribe

boofcv.factory.feature.detdesc.ConfigDetectDescribe detectDescribe

Which feature detector / descriptor should it use

epipolarTol

double epipolarTol

Tolerance for matching stereo features along epipolar line in Pixels

pnp

boofcv.factory.geo.EnumPNP pnp

Which PNP solution to use

ransac

boofcv.factory.geo.ConfigRansac ransac

Configuration for RANSAC. Used to robustly estimate frame-to-frame motion

refineIterations

int refineIterations

Number of iterations to perform when refining the initial frame-to-frame motion estimate. Disable ≤ 0

Class boofcv.factory.sfm.ConfigVisOdomTrackPnP extends java.lang.Object implements Serializable

Serialized Fields

bundle

boofcv.factory.geo.ConfigBundleAdjustment bundle

Configuration for Bundle Adjustment

bundleConverge

boofcv.misc.ConfigConverge bundleConverge

Convergence criteria for bundle adjustment. Set max iterations to ≤ 0 to disable

bundleMaxFeaturesPerFrame

int bundleMaxFeaturesPerFrame

Maximum number of features optimized in bundle adjustment per key frame. This is a very good way to limit the amount of CPU used. If not positive then unlimited. ≤ 0 to disable.

bundleMinObservations

int bundleMinObservations

Minimum number of observations a track must have before it is included in bundle adjustment. Has to be ≥ 2 and it's strongly recommended that this is set to 3 or higher. Due to ambiguity along epipolar lines there can be lots of false positives with just two views. With three views there is a unique solution and that tends to remove most false positives.

dropOutlierTracks

int dropOutlierTracks

Drop tracks if they have been outliers for this many frames in a row

keyframes

ConfigKeyFrameManager keyframes

Specifies when a new key frame is created

maxKeyFrames

int maxKeyFrames

Maximum number of key frames it will save. Must be at least 4

pnp

boofcv.factory.geo.EnumPNP pnp

Which PNP solution to use

ransac

boofcv.factory.geo.ConfigRansac ransac

Configuration for RANSAC. Used to robustly estimate frame-to-frame motion

refineIterations

int refineIterations

Number of iterations to perform when refining the initial frame-to-frame motion estimate. Disable ≤ 0