[836:7] extends: object
ProjectiveStructureFromHomographies wraps boofcv.alg.geo.structure.ProjectiveStructureFromHomographies.
ProjectiveStructureFromHomographies ()
Creates the projective structure estimator.
proccess (object Homographies, object Observations, int TotalFeatures)
Processes homographies and observations.
Homographies is a Java list of matrices.Observations is a Java list of point observations.TotalFeatures is total feature count.True on success.getInfinityThreshold ()
Gets infinity threshold.
The infinity threshold.setInfinityThreshold (double Threshold)
Sets infinity threshold.
Threshold is the infinity threshold.[782:7] extends: SfmConfig
ConfigEpipolarScore3D wraps boofcv.factory.structure.ConfigEpipolarScore3D.
ConfigEpipolarScore3D (Obj = null)
Creates or wraps an epipolar 3D score config.
Obj is an existing config or null.setType (string Name)
Sets score type.
Name is MODEL_INLIERS, FUNDAMENTAL_COMPATIBLE, or FUNDAMENTAL_ROTATION.[434:7] extends: object
LookUpCameraInfo wraps boofcv.alg.structure.LookUpCameraInfo.
LookUpCameraInfo (Obj = null)
Creates or wraps camera lookup metadata.
Obj is an existing lookup object or null.get (string Name)
Gets a public field.
Name is idToView, viewToCamera, listCalibration, or knownCameras.The field value.totalViews ()
Gets total view count.
Number of views.totalCameras ()
Gets total camera count.
Number of cameras.viewToCamera (string ViewId)
Looks up the camera index for a view id.
ViewId is image/view id.Camera index.lookupCalibrationIndex (int CameraIndex, object Output)
Copies calibration by camera index.
CameraIndex is camera index.Output is a CameraPinholeBrown wrapper.lookupCalibration (string ViewId, object Output)
Copies calibration by view id.
ViewId is image/view id.Output is a CameraPinholeBrown wrapper.isCameraKnown (int CameraIndex)
Checks if a camera has known calibration.
CameraIndex is camera index.True if known.lookupViewShape (string ViewId, object Shape)
Looks up view image shape.
ViewId is image/view id.Shape is an ImageDimension wrapper.addCameraCanonical (int Width, int Height, double FocalLength)
Adds a camera with canonical calibration.
Width is image width.Height is image height.FocalLength is focal length.addView (string ViewId, int CameraIndex)
Adds a view-to-camera mapping.
ViewId is image/view id.CameraIndex is camera index.[687:7] extends: object
LookUpSimilarImages wraps boofcv.alg.structure.LookUpSimilarImages.
LookUpSimilarImages (object Obj)
Wraps a lookup implementation.
Obj is an existing LookUpSimilarImages Java object.getImageIDs ()
Gets image ids.
A Java list of image ids.findSimilar (string Id, object Filter, object Output)
Finds similar images.
Id is the source image id.Filter is a BoofCV filter callback.Output is the output Java list.lookupPixelFeats (string Id, object Features)
Looks up pixel features.
Id is the image id.Features is output DogArray of Point2D_F64.lookupAssociated (string Id, object Associated)
Looks up associated features.
Id is the image id.Associated is output DogArray of AssociatedIndex.True when associations were found.[400:7] extends: object
PairwiseImageGraphMotion wraps boofcv.alg.structure.PairwiseImageGraph.Motion.
PairwiseImageGraphMotion (Obj = null)
Creates or wraps a pairwise graph motion.
Obj is an existing motion object or null.get (string Name)
Gets a public field.
Name is is3D, score3D, inliers, src, dst, or index.The field value.reset ()
Resets this motion.
isConnected (object View)
Checks if a view is connected by this motion.
View is a PairwiseImageGraphView or Java object.True if connected.other (object View)
Gets the other view in this motion.
View is one endpoint.The opposite View Java object.[221:7] extends: SfmConfig
ConfigStereoMonoTrackPnP wraps boofcv.factory.sfm.ConfigStereoMonoTrackPnP.
ConfigStereoMonoTrackPnP (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.[132:7] extends: VisualOdometry
StereoVisualOdometry wraps boofcv.abst.sfm.d3.StereoVisualOdometry.
StereoVisualOdometry (object Obj)
Wraps an existing object.
Obj is the odometry object.[106:7] extends: VisualOdometry
MonocularPlaneVisualOdometry wraps boofcv.abst.sfm.d3.MonocularPlaneVisualOdometry.
MonocularPlaneVisualOdometry (object Obj)
Wraps an existing object.
Obj is the odometry object.[505:7] extends: object
SceneWorkingGraph wraps boofcv.alg.structure.SceneWorkingGraph.
SceneWorkingGraph (Obj = null)
Creates or wraps a scene working graph.
Obj is an existing graph object or null.get (string Name)
Gets a public field.
Name is cameras, listCameras, views, listViews, exploredViews, index, open, or numSeedViews.The field value.reset ()
Resets the graph.
setTo (object Graph)
Copies another graph.
Graph is a SceneWorkingGraph wrapper or Java object.containsView (string ViewId)
Checks if a view id exists.
ViewId is image/view id.True if present.lookupView (string ViewId)
Looks up a view.
ViewId is image/view id.A SceneWorkingGraph.View Java object or null.isSeedSet (string ViewId)
Checks if a view is part of the seed set.
ViewId is image/view id.True if seed.isKnown (object View)
Checks if a pairwise view is known in this graph.
View is a PairwiseImageGraph.View Java object.True if known.addCamera (int IndexDB)
Adds a camera.
IndexDB is database camera index.A SceneWorkingGraph.Camera Java object.addCameraCopy (object Camera)
Adds a copy of an existing camera.
Camera is a SceneWorkingGraph.Camera Java object.A SceneWorkingGraph.Camera Java object.addView (object PairwiseView, object Camera)
Adds a view.
PairwiseView is a PairwiseImageGraph.View Java object.Camera is a SceneWorkingGraph.Camera Java object.A SceneWorkingGraph.View Java object.getAllViews ()
Gets all views.
A Java list of SceneWorkingGraph.View objects.getViewCamera (object View)
Gets the camera for a view.
View is a SceneWorkingGraph.View Java object.A SceneWorkingGraph.Camera Java object.[145:7] extends: VisualOdometry
DepthVisualOdometry wraps boofcv.abst.sfm.d3.DepthVisualOdometry.
DepthVisualOdometry (object Obj)
Wraps an existing object.
Obj is the odometry object.[323:7] extends: object
PairwiseImageGraph wraps boofcv.alg.structure.PairwiseImageGraph.
PairwiseImageGraph (Obj = null)
Creates or wraps a pairwise image graph.
Obj is an existing graph or null.reset ()
Resets the graph.
createNode (string Id)
Creates a graph node.
Id is the image id.A raw View Java object.lookupNode (string Id)
Looks up a graph node.
Id is the image id.A raw View Java object or null.connect (object A, object B)
Connects two graph views.
A is the first View.B is the second View.A raw Motion Java object.get (string Name)
Gets a public graph field.
Name is nodes, edges, or mapNodes.The field value.[586:7] extends: object
SceneWorkingGraphCamera wraps SceneWorkingGraph.Camera.
SceneWorkingGraphCamera (Obj = null)
Creates or wraps a SceneWorkingGraph camera.
Obj is an existing camera object or null.get (string Name)
Gets a public field.
Name is localIndex, indexDB, prior, or intrinsic.The field value.reset ()
Resets this camera.
setTo (object Camera)
Copies another camera.
Camera is a SceneWorkingGraphCamera wrapper or Java object.[7:14] static extends: object
Static wrappers for boofcv.factory.sfm.FactoryVisualOdometry.
monoPlaneInfinity (object Config, string ImageClassName)
Creates monocular plane visual odometry.
Config is ConfigPlanarTrackPnP.ImageClassName is an image class or short name such as u8 or f32.A MonocularPlaneVisualOdometry wrapper.stereoMonoPnP (object Config, string ImageClassName)
Creates stereo mono-track PnP visual odometry.
Config is ConfigStereoMonoTrackPnP.ImageClassName is an image class or short name such as u8 or f32.A StereoVisualOdometry wrapper.stereoDualTrackerPnP (object Config, string ImageClassName)
Creates stereo dual-track PnP visual odometry.
Config is ConfigStereoDualTrackPnP.ImageClassName is an image class or short name such as u8 or f32.A StereoVisualOdometry wrapper.stereoQuadPnP (object Config, string ImageClassName)
Creates stereo quad PnP visual odometry.
Config is ConfigStereoQuadPnP.ImageClassName is an image class or short name such as u8 or f32.A StereoVisualOdometry wrapper.rgbDepthPnP (object Config, string VisualClassName, string DepthClassName)
Creates RGB-depth PnP visual odometry.
Config is ConfigRgbDepthTrackPnP.VisualClassName is the visible gray image class or short name.DepthClassName is the depth gray image class or short name.A DepthVisualOdometry wrapper.depthDirect (object DepthSparse, object ImageType, string DepthClassName)
Creates direct depth visual odometry.
DepthSparse is a DepthSparse3D object.ImageType is an ImageType wrapper.DepthClassName is the depth gray image class or short name.A DepthVisualOdometry wrapper.scaleInput (object Odometry, double Scale)
Scales stereo visual odometry input.
Odometry is StereoVisualOdometry or raw Java object.Scale is the input scale.The scaled raw Java odometry object.[158:7] extends: object
Generic wrapper for SFM configuration classes.
SfmConfig (string ClassName, Obj = null)
Creates or wraps an SFM config.
ClassName is a full Java config class name.Obj is an existing config or null.get (string Name)
Gets a public config field.
Name is a field on the BoofCV config, such as scene, tracker, pnp, ransac, or depthScale.The field value.set (string Name, Value)
Sets a public config field.
Name is a field on the BoofCV config.Value is the new value or wrapper.checkValidity ()
Validates this config.
[272:7] extends: SfmConfig
ConfigRgbDepthTrackPnP wraps boofcv.factory.sfm.ConfigRgbDepthTrackPnP.
ConfigRgbDepthTrackPnP (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.[724:7] extends: object
MetricFromUncalibratedPairwiseGraph wraps boofcv.alg.structure.MetricFromUncalibratedPairwiseGraph.
MetricFromUncalibratedPairwiseGraph (Obj = null)
Creates or wraps the metric reconstruction algorithm.
Obj is an existing object or null.process (object LookupImages, object LookupCamera, object Graph)
Processes a pairwise graph.
LookupImages is LookUpSimilarImages.LookupCamera is LookUpCameraInfo.Graph is PairwiseImageGraph.True on success.getLargestScene ()
Gets largest reconstructed scene.
A raw SceneWorkingGraph Java object.getScenes ()
Gets all scenes.
A DogArray of scenes.[119:7] extends: VisualOdometry
MonocularVisualOdometry wraps boofcv.abst.sfm.d3.MonocularVisualOdometry.
MonocularVisualOdometry (object Obj)
Wraps an existing object.
Obj is the odometry object.[754:7] extends: object
GeneratePairwiseImageGraph wraps boofcv.alg.structure.GeneratePairwiseImageGraph.
GeneratePairwiseImageGraph (object Score)
Creates a pairwise image graph generator.
Score is an EpipolarScore3D Java object.process (object Similar, object Cameras)
Generates a pairwise graph.
Similar is a LookUpSimilarImages implementation.Cameras is a LookUpCameraInfo wrapper.getGraph ()
Gets generated graph.
A PairwiseImageGraph Java object.getEpipolarScore ()
Gets the epipolar score implementation.
An EpipolarScore3D Java object.[204:7] extends: SfmConfig
ConfigPlanarTrackPnP wraps boofcv.factory.sfm.ConfigPlanarTrackPnP.
ConfigPlanarTrackPnP (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.[940:7] extends: object
ConfigGeneratePairwiseImageGraph wraps boofcv.factory.structure.ConfigGeneratePairwiseImageGraph.
ConfigGeneratePairwiseImageGraph (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.get (string Name)
Gets a public config field.
Name is score.The field value.checkValidity ()
Validates this config.
[255:7] extends: SfmConfig
ConfigStereoQuadPnP wraps boofcv.factory.sfm.ConfigStereoQuadPnP.
ConfigStereoQuadPnP (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.[364:7] extends: object
PairwiseImageGraphView wraps boofcv.alg.structure.PairwiseImageGraph.View.
PairwiseImageGraphView (Id = null)
Creates or wraps a pairwise graph view.
Id is optional view id or an existing view object.get (string Name)
Gets a public field.
Name is id, index, totalObservations, or connections.The field value.connection (int Index)
Gets one connection by index.
Index is connection index.A PairwiseImageGraph.Motion Java object.findMotion (object View)
Finds motion to another view.
View is a PairwiseImageGraphView or Java object.A Motion Java object or null.findMotionIdx (object View)
Finds motion index to another view.
View is a PairwiseImageGraphView or Java object.Motion index or -1.[306:7] extends: SfmConfig
ConfigBundleUtils wraps boofcv.factory.sfm.ConfigBundleUtils.
ConfigBundleUtils (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.[64:7] extends: object
Shared wrapper for BoofCV visual odometry interfaces.
VisualOdometry (object Obj)
Wraps a visual odometry Java object.
Obj is an existing visual odometry object.process (...)
Processes one frame.
Args are the images required by the concrete odometry.True if the frame was accepted.setCalibration (...)
Sets camera calibration.
Args are the calibration objects required by the concrete odometry.getCameraToWorld ()
Gets camera-to-world pose.
A raw Se3_F64 Java object.getFrameID ()
Gets the current frame ID.
The frame ID.isFault ()
Gets whether odometry is in a fault state.
True if faulted.reset ()
Resets the odometry state.
[289:7] extends: SfmConfig
ConfigMultiviewStereo wraps boofcv.factory.sfm.ConfigMultiviewStereo.
ConfigMultiviewStereo (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.[613:7] extends: object
SceneWorkingGraphView wraps SceneWorkingGraph.View.
SceneWorkingGraphView (Obj = null)
Creates or wraps a SceneWorkingGraph view.
Obj is an existing view object or null.get (string Name)
Gets a public field.
Name is pview, inliers, projective, world_to_view, cameraIdx, or index.The field value.getBestInlierScore ()
Gets best inlier score.
Best geometric score.getBestInliers ()
Gets best inlier set.
A SceneWorkingGraph.InlierInfo Java object.reset ()
Resets this view.
setTo (object View)
Copies another view.
View is a SceneWorkingGraphView wrapper or Java object.[902:7] extends: object
RefineMetricGraphSubset wraps boofcv.alg.structure.RefineMetricGraphSubset.
RefineMetricGraphSubset ()
Creates a metric graph subset refiner.
setSubset (object Graph, object Views)
Sets the subset.
Graph is a SceneWorkingGraph.Views is a Java list of views.setViewKnown (string Id)
Marks a view as known.
Id is the view id.process (object LookupImages)
Processes refinement.
LookupImages is a LookUpSimilarImages implementation.True on success.getLocal_to_world ()
Gets local-to-world transform.
A Se3_F64 Java object.getScaleLocalToWorld ()
Gets local-to-world scale.
The scale.[238:7] extends: SfmConfig
ConfigStereoDualTrackPnP wraps boofcv.factory.sfm.ConfigStereoDualTrackPnP.
ConfigStereoDualTrackPnP (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.[865:7] extends: object
ProjectiveStructureByFactorization wraps boofcv.alg.geo.structure.ProjectiveStructureByFactorization.
ProjectiveStructureByFactorization ()
Creates the factorization estimator.
initialize (int NumViews, int NumFeatures)
Initializes matrix dimensions.
NumViews is view count.NumFeatures is feature count.setAllDepths (double Depth)
Sets all depths to a value.
Depth is the depth value.process ()
Runs factorization.
True on success.getMaxIterations ()
Gets max iterations.
The max iteration count.setMaxIterations (int MaxIterations)
Sets max iterations.
MaxIterations is the max iteration count.[798:14] static extends: object
FactorySceneReconstruction wraps boofcv.factory.structure.FactorySceneReconstruction.
bundleUtils (object Config)
Creates bundle adjustment utilities.
Config is ConfigBundleUtils.A MetricBundleAdjustmentUtils Java object.generatePairwise (object Config)
Creates a pairwise image graph generator.
Config is ConfigGeneratePairwiseImageGraph.A GeneratePairwiseImageGraph wrapper.epipolarScore3D (object Config)
Creates an epipolar 3D scorer.
Config is ConfigEpipolarScore3D.An EpipolarScore3D Java object.sparseSceneToDenseCloud (object Config, object ImageType)
Creates a sparse-scene-to-dense-cloud pipeline.
Config is ConfigSparseToDenseCloud.ImageType is an ImageType wrapper.A SparseSceneToDenseCloud wrapper.frameSelector3D (object Config, object ImageType)
Creates a 3D frame selector.
Config is ConfigSelectFrames3D.ImageType is an ImageType wrapper.A raw SelectFramesForReconstruction3D Java object.[650:7] extends: object
SceneWorkingGraphInlierInfo wraps SceneWorkingGraph.InlierInfo.
SceneWorkingGraphInlierInfo (Obj = null)
Creates or wraps inlier info.
Obj is an existing inlier info object or null.get (string Name)
Gets a public field.
Name is views, observations, or scoreGeometric.The field value.isEmpty ()
Checks if empty.
True if no inliers.getInlierCount ()
Gets inlier count.
The inlier count.setTo (object Info)
Copies another inlier info.
Info is a SceneWorkingGraphInlierInfo wrapper or Java object.reset ()
Resets this inlier info.
[187:7] extends: SfmConfig
ConfigVisOdomTrackPnP wraps boofcv.factory.sfm.ConfigVisOdomTrackPnP.
ConfigVisOdomTrackPnP (Obj = null)
Creates or wraps the config.
Obj is an existing config or null.
