boofcv 1.0.0

class: ProjectiveStructureFromHomographies

[852:7] extends: object

ProjectiveStructureFromHomographies wraps boofcv.alg.geo.structure.ProjectiveStructureFromHomographies.

Members

• obj

Methods

• ProjectiveStructureFromHomographies ()

  Creates the projective structure estimator.

• proccess (object Homographies, object Observations, int TotalFeatures)

  Processes homographies and observations.

  • @p Homographies is a Java list of matrices.
  • @p Observations is a Java list of point observations.
  • @p TotalFeatures is total feature count.
  • @r True on success.

• getInfinityThreshold ()

  Gets infinity threshold.

  • @r The infinity threshold.

• setInfinityThreshold (double Threshold)

  Sets infinity threshold.

  • @p Threshold is the infinity threshold.

class: ConfigEpipolarScore3D

[798:7] extends: SfmConfig

ConfigEpipolarScore3D wraps boofcv.factory.structure.ConfigEpipolarScore3D.

Methods

• ConfigEpipolarScore3D (Obj = null)

  Creates or wraps an epipolar 3D score config.

  • @p Obj is an existing config or null.

• setType (string Name)

  Sets score type.

  • @p Name is MODEL_INLIERS, FUNDAMENTAL_COMPATIBLE, or FUNDAMENTAL_ROTATION.

class: LookUpCameraInfo

[450:7] extends: object

LookUpCameraInfo wraps boofcv.alg.structure.LookUpCameraInfo.

Members

• obj

Methods

• LookUpCameraInfo (Obj = null)

  Creates or wraps camera lookup metadata.

  • @p Obj is an existing lookup object or null.

• get (string Name)

  Gets a public field.

  • @p Name is idToView, viewToCamera, listCalibration, or knownCameras.
  • @r The field value.

• totalViews ()

  Gets total view count.

  • @r Number of views.

• totalCameras ()

  Gets total camera count.

  • @r Number of cameras.

• viewToCamera (string ViewId)

  Looks up the camera index for a view id.

  • @p ViewId is image/view id.
  • @r Camera index.

• lookupCalibrationIndex (int CameraIndex, object Output)

  Copies calibration by camera index.

  • @p CameraIndex is camera index.
  • @p Output is a CameraPinholeBrown wrapper.

• lookupCalibration (string ViewId, object Output)

  Copies calibration by view id.

  • @p ViewId is image/view id.
  • @p Output is a CameraPinholeBrown wrapper.

• isCameraKnown (int CameraIndex)

  Checks if a camera has known calibration.

  • @p CameraIndex is camera index.
  • @r True if known.

• lookupViewShape (string ViewId, object Shape)

  Looks up view image shape.

  • @p ViewId is image/view id.
  • @p Shape is an ImageDimension wrapper.

• addCameraCanonical (int Width, int Height, double FocalLength)

  Adds a camera with canonical calibration.

  • @p Width is image width.
  • @p Height is image height.
  • @p FocalLength is focal length.

• addView (string ViewId, int CameraIndex)

  Adds a view-to-camera mapping.

  • @p ViewId is image/view id.
  • @p CameraIndex is camera index.

class: LookUpSimilarImages

[703:7] extends: object

LookUpSimilarImages wraps boofcv.alg.structure.LookUpSimilarImages.

Members

• obj

Methods

• LookUpSimilarImages (object Obj)

  Wraps a lookup implementation.

  • @p Obj is an existing LookUpSimilarImages Java object.

• getImageIDs ()

  Gets image ids.

  • @r A Java list of image ids.

• findSimilar (string Id, object Filter, object Output)

  Finds similar images.

  • @p Id is the source image id.
  • @p Filter is a BoofCV filter callback.
  • @p Output is the output Java list.

• lookupPixelFeats (string Id, object Features)

  Looks up pixel features.

  • @p Id is the image id.
  • @p Features is output DogArray of Point2D_F64.

• lookupAssociated (string Id, object Associated)

  Looks up associated features.

  • @p Id is the image id.
  • @p Associated is output DogArray of AssociatedIndex.
  • @r True when associations were found.

class: PairwiseImageGraphMotion

[416:7] extends: object

PairwiseImageGraphMotion wraps boofcv.alg.structure.PairwiseImageGraph.Motion.

Members

• obj

Methods

• PairwiseImageGraphMotion (Obj = null)

  Creates or wraps a pairwise graph motion.

  • @p Obj is an existing motion object or null.

• get (string Name)

  Gets a public field.

  • @p Name is is3D, score3D, inliers, src, dst, or index.
  • @r The field value.

• reset ()

  Resets this motion.

• isConnected (object View)

  Checks if a view is connected by this motion.

  • @p View is a PairwiseImageGraphView or Java object.
  • @r True if connected.

• other (object View)

  Gets the other view in this motion.

  • @p View is one endpoint.
  • @r The opposite View Java object.

class: ConfigStereoMonoTrackPnP

[237:7] extends: SfmConfig

ConfigStereoMonoTrackPnP wraps boofcv.factory.sfm.ConfigStereoMonoTrackPnP.

Methods

• ConfigStereoMonoTrackPnP (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

class: StereoVisualOdometry

[148:7] extends: VisualOdometry

StereoVisualOdometry wraps boofcv.abst.sfm.d3.StereoVisualOdometry.

Methods

• StereoVisualOdometry (object Obj)

  Wraps an existing object.

  • @p Obj is the odometry object.

class: MonocularPlaneVisualOdometry

[122:7] extends: VisualOdometry

MonocularPlaneVisualOdometry wraps boofcv.abst.sfm.d3.MonocularPlaneVisualOdometry.

Methods

• MonocularPlaneVisualOdometry (object Obj)

  Wraps an existing object.

  • @p Obj is the odometry object.

class: SceneWorkingGraph

[521:7] extends: object

SceneWorkingGraph wraps boofcv.alg.structure.SceneWorkingGraph.

Members

• obj

Methods

• SceneWorkingGraph (Obj = null)

  Creates or wraps a scene working graph.

  • @p Obj is an existing graph object or null.

• get (string Name)

  Gets a public field.

  • @p Name is cameras, listCameras, views, listViews, exploredViews, index, open, or numSeedViews.
  • @r The field value.

• reset ()

  Resets the graph.

• setTo (object Graph)

  Copies another graph.

  • @p Graph is a SceneWorkingGraph wrapper or Java object.

• containsView (string ViewId)

  Checks if a view id exists.

  • @p ViewId is image/view id.
  • @r True if present.

• lookupView (string ViewId)

  Looks up a view.

  • @p ViewId is image/view id.
  • @r A SceneWorkingGraph.View Java object or null.

• isSeedSet (string ViewId)

  Checks if a view is part of the seed set.

  • @p ViewId is image/view id.
  • @r True if seed.

• isKnown (object View)

  Checks if a pairwise view is known in this graph.

  • @p View is a PairwiseImageGraph.View Java object.
  • @r True if known.

• addCamera (int IndexDB)

  Adds a camera.

  • @p IndexDB is database camera index.
  • @r A SceneWorkingGraph.Camera Java object.

• addCameraCopy (object Camera)

  Adds a copy of an existing camera.

  • @p Camera is a SceneWorkingGraph.Camera Java object.
  • @r A SceneWorkingGraph.Camera Java object.

• addView (object PairwiseView, object Camera)

  Adds a view.

  • @p PairwiseView is a PairwiseImageGraph.View Java object.
  • @p Camera is a SceneWorkingGraph.Camera Java object.
  • @r A SceneWorkingGraph.View Java object.

• getAllViews ()

  Gets all views.

  • @r A Java list of SceneWorkingGraph.View objects.

• getViewCamera (object View)

  Gets the camera for a view.

  • @p View is a SceneWorkingGraph.View Java object.
  • @r A SceneWorkingGraph.Camera Java object.

class: DepthVisualOdometry

[161:7] extends: VisualOdometry

DepthVisualOdometry wraps boofcv.abst.sfm.d3.DepthVisualOdometry.

Methods

• DepthVisualOdometry (object Obj)

  Wraps an existing object.

  • @p Obj is the odometry object.

class: PairwiseImageGraph

[339:7] extends: object

PairwiseImageGraph wraps boofcv.alg.structure.PairwiseImageGraph.

Members

• obj

Methods

• PairwiseImageGraph (Obj = null)

  Creates or wraps a pairwise image graph.

  • @p Obj is an existing graph or null.

• reset ()

  Resets the graph.

• createNode (string Id)

  Creates a graph node.

  • @p Id is the image id.
  • @r A raw View Java object.

• lookupNode (string Id)

  Looks up a graph node.

  • @p Id is the image id.
  • @r A raw View Java object or null.

• connect (object A, object B)

  Connects two graph views.

  • @p A is the first View.
  • @p B is the second View.
  • @r A raw Motion Java object.

• get (string Name)

  Gets a public graph field.

  • @p Name is nodes, edges, or mapNodes.
  • @r The field value.

class: SceneWorkingGraphCamera

[602:7] extends: object

SceneWorkingGraphCamera wraps SceneWorkingGraph.Camera.

Members

• obj

Methods

• SceneWorkingGraphCamera (Obj = null)

  Creates or wraps a SceneWorkingGraph camera.

  • @p Obj is an existing camera object or null.

• get (string Name)

  Gets a public field.

  • @p Name is localIndex, indexDB, prior, or intrinsic.
  • @r The field value.

• reset ()

  Resets this camera.

• setTo (object Camera)

  Copies another camera.

  • @p Camera is a SceneWorkingGraphCamera wrapper or Java object.

class: FactoryVisualOdometry

[23:14] static extends: object

Static wrappers for boofcv.factory.sfm.FactoryVisualOdometry.

Methods

• monoPlaneInfinity (object Config, string ImageClassName)

  Creates monocular plane visual odometry.

  • @p Config is ConfigPlanarTrackPnP.
  • @p ImageClassName is an image class or short name such as u8 or f32.
  • @r A MonocularPlaneVisualOdometry wrapper.

• stereoMonoPnP (object Config, string ImageClassName)

  Creates stereo mono-track PnP visual odometry.

  • @p Config is ConfigStereoMonoTrackPnP.
  • @p ImageClassName is an image class or short name such as u8 or f32.
  • @r A StereoVisualOdometry wrapper.

• stereoDualTrackerPnP (object Config, string ImageClassName)

  Creates stereo dual-track PnP visual odometry.

  • @p Config is ConfigStereoDualTrackPnP.
  • @p ImageClassName is an image class or short name such as u8 or f32.
  • @r A StereoVisualOdometry wrapper.

• stereoQuadPnP (object Config, string ImageClassName)

  Creates stereo quad PnP visual odometry.

  • @p Config is ConfigStereoQuadPnP.
  • @p ImageClassName is an image class or short name such as u8 or f32.
  • @r A StereoVisualOdometry wrapper.

• rgbDepthPnP (object Config, string VisualClassName, string DepthClassName)

  Creates RGB-depth PnP visual odometry.

  • @p Config is ConfigRgbDepthTrackPnP.
  • @p VisualClassName is the visible gray image class or short name.
  • @p DepthClassName is the depth gray image class or short name.
  • @r A DepthVisualOdometry wrapper.

• depthDirect (object DepthSparse, object ImageType, string DepthClassName)

  Creates direct depth visual odometry.

  • @p DepthSparse is a DepthSparse3D object.
  • @p ImageType is an ImageType wrapper.
  • @p DepthClassName is the depth gray image class or short name.
  • @r A DepthVisualOdometry wrapper.

• scaleInput (object Odometry, double Scale)

  Scales stereo visual odometry input.

  • @p Odometry is StereoVisualOdometry or raw Java object.
  • @p Scale is the input scale.
  • @r The scaled raw Java odometry object.

class: SfmConfig

[174:7] extends: object

Generic wrapper for SFM configuration classes.

Members

• obj

Methods

• SfmConfig (string ClassName, Obj = null)

  Creates or wraps an SFM config.

  • @p ClassName is a full Java config class name.
  • @p Obj is an existing config or null.

• get (string Name)

  Gets a public config field.

  • @p Name is a field on the BoofCV config, such as scene, tracker, pnp, ransac, or depthScale.
  • @r The field value.

• set (string Name, Value)

  Sets a public config field.

  • @p Name is a field on the BoofCV config.
  • @p Value is the new value or wrapper.

• checkValidity ()

  Validates this config.

class: ConfigRgbDepthTrackPnP

[288:7] extends: SfmConfig

ConfigRgbDepthTrackPnP wraps boofcv.factory.sfm.ConfigRgbDepthTrackPnP.

Methods

• ConfigRgbDepthTrackPnP (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

class: MetricFromUncalibratedPairwiseGraph

[740:7] extends: object

MetricFromUncalibratedPairwiseGraph wraps boofcv.alg.structure.MetricFromUncalibratedPairwiseGraph.

Members

• obj

Methods

• MetricFromUncalibratedPairwiseGraph (Obj = null)

  Creates or wraps the metric reconstruction algorithm.

  • @p Obj is an existing object or null.

• process (object LookupImages, object LookupCamera, object Graph)

  Processes a pairwise graph.

  • @p LookupImages is LookUpSimilarImages.
  • @p LookupCamera is LookUpCameraInfo.
  • @p Graph is PairwiseImageGraph.
  • @r True on success.

• getLargestScene ()

  Gets largest reconstructed scene.

  • @r A raw SceneWorkingGraph Java object.

• getScenes ()

  Gets all scenes.

  • @r A DogArray of scenes.

class: MonocularVisualOdometry

[135:7] extends: VisualOdometry

MonocularVisualOdometry wraps boofcv.abst.sfm.d3.MonocularVisualOdometry.

Methods

• MonocularVisualOdometry (object Obj)

  Wraps an existing object.

  • @p Obj is the odometry object.

class: GeneratePairwiseImageGraph

[770:7] extends: object

GeneratePairwiseImageGraph wraps boofcv.alg.structure.GeneratePairwiseImageGraph.

Members

• obj

Methods

• GeneratePairwiseImageGraph (object Score)

  Creates a pairwise image graph generator.

  • @p Score is an EpipolarScore3D Java object.

• process (object Similar, object Cameras)

  Generates a pairwise graph.

  • @p Similar is a LookUpSimilarImages implementation.
  • @p Cameras is a LookUpCameraInfo wrapper.

• getGraph ()

  Gets generated graph.

  • @r A PairwiseImageGraph Java object.

• getEpipolarScore ()

  Gets the epipolar score implementation.

  • @r An EpipolarScore3D Java object.

class: ConfigPlanarTrackPnP

[220:7] extends: SfmConfig

ConfigPlanarTrackPnP wraps boofcv.factory.sfm.ConfigPlanarTrackPnP.

Methods

• ConfigPlanarTrackPnP (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

class: ConfigGeneratePairwiseImageGraph

[956:7] extends: object

ConfigGeneratePairwiseImageGraph wraps boofcv.factory.structure.ConfigGeneratePairwiseImageGraph.

Members

• obj

Methods

• ConfigGeneratePairwiseImageGraph (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

• get (string Name)

  Gets a public config field.

  • @p Name is score.
  • @r The field value.

• checkValidity ()

  Validates this config.

class: ConfigStereoQuadPnP

[271:7] extends: SfmConfig

ConfigStereoQuadPnP wraps boofcv.factory.sfm.ConfigStereoQuadPnP.

Methods

• ConfigStereoQuadPnP (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

class: PairwiseImageGraphView

[380:7] extends: object

PairwiseImageGraphView wraps boofcv.alg.structure.PairwiseImageGraph.View.

Members

• obj

Methods

• PairwiseImageGraphView (Id = null)

  Creates or wraps a pairwise graph view.

  • @p Id is optional view id or an existing view object.

• get (string Name)

  Gets a public field.

  • @p Name is id, index, totalObservations, or connections.
  • @r The field value.

• connection (int Index)

  Gets one connection by index.

  • @p Index is connection index.
  • @r A PairwiseImageGraph.Motion Java object.

• findMotion (object View)

  Finds motion to another view.

  • @p View is a PairwiseImageGraphView or Java object.
  • @r A Motion Java object or null.

• findMotionIdx (object View)

  Finds motion index to another view.

  • @p View is a PairwiseImageGraphView or Java object.
  • @r Motion index or -1.

class: ConfigBundleUtils

[322:7] extends: SfmConfig

ConfigBundleUtils wraps boofcv.factory.sfm.ConfigBundleUtils.

Methods

• ConfigBundleUtils (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

class: VisualOdometry

[80:7] extends: object

Shared wrapper for BoofCV visual odometry interfaces.

Members

• obj

Methods

• VisualOdometry (object Obj)

  Wraps a visual odometry Java object.

  • @p Obj is an existing visual odometry object.

• process (...)

  Processes one frame.

  • @p Args are the images required by the concrete odometry.
  • @r True if the frame was accepted.

• setCalibration (...)

  Sets camera calibration.

  • @p Args are the calibration objects required by the concrete odometry.

• getCameraToWorld ()

  Gets camera-to-world pose.

  • @r A raw Se3_F64 Java object.

• getFrameID ()

  Gets the current frame ID.

  • @r The frame ID.

• isFault ()

  Gets whether odometry is in a fault state.

  • @r True if faulted.

• reset ()

  Resets the odometry state.

class: ConfigMultiviewStereo

[305:7] extends: SfmConfig

ConfigMultiviewStereo wraps boofcv.factory.sfm.ConfigMultiviewStereo.

Methods

• ConfigMultiviewStereo (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

class: SceneWorkingGraphView

[629:7] extends: object

SceneWorkingGraphView wraps SceneWorkingGraph.View.

Members

• obj

Methods

• SceneWorkingGraphView (Obj = null)

  Creates or wraps a SceneWorkingGraph view.

  • @p Obj is an existing view object or null.

• get (string Name)

  Gets a public field.

  • @p Name is pview, inliers, projective, world_to_view, cameraIdx, or index.
  • @r The field value.

• getBestInlierScore ()

  Gets best inlier score.

  • @r Best geometric score.

• getBestInliers ()

  Gets best inlier set.

  • @r A SceneWorkingGraph.InlierInfo Java object.

• reset ()

  Resets this view.

• setTo (object View)

  Copies another view.

  • @p View is a SceneWorkingGraphView wrapper or Java object.

class: RefineMetricGraphSubset

[918:7] extends: object

RefineMetricGraphSubset wraps boofcv.alg.structure.RefineMetricGraphSubset.

Members

• obj

Methods

• RefineMetricGraphSubset ()

  Creates a metric graph subset refiner.

• setSubset (object Graph, object Views)

  Sets the subset.

  • @p Graph is a SceneWorkingGraph.
  • @p Views is a Java list of views.

• setViewKnown (string Id)

  Marks a view as known.

  • @p Id is the view id.

• process (object LookupImages)

  Processes refinement.

  • @p LookupImages is a LookUpSimilarImages implementation.
  • @r True on success.

• getLocal_to_world ()

  Gets local-to-world transform.

  • @r A Se3_F64 Java object.

• getScaleLocalToWorld ()

  Gets local-to-world scale.

  • @r The scale.

class: ConfigStereoDualTrackPnP

[254:7] extends: SfmConfig

ConfigStereoDualTrackPnP wraps boofcv.factory.sfm.ConfigStereoDualTrackPnP.

Methods

• ConfigStereoDualTrackPnP (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.

class: ProjectiveStructureByFactorization

[881:7] extends: object

ProjectiveStructureByFactorization wraps boofcv.alg.geo.structure.ProjectiveStructureByFactorization.

Members

• obj

Methods

• ProjectiveStructureByFactorization ()

  Creates the factorization estimator.

• initialize (int NumViews, int NumFeatures)

  Initializes matrix dimensions.

  • @p NumViews is view count.
  • @p NumFeatures is feature count.

• setAllDepths (double Depth)

  Sets all depths to a value.

  • @p Depth is the depth value.

• process ()

  Runs factorization.

  • @r True on success.

• getMaxIterations ()

  Gets max iterations.

  • @r The max iteration count.

• setMaxIterations (int MaxIterations)

  Sets max iterations.

  • @p MaxIterations is the max iteration count.

class: FactorySceneReconstruction

[814:14] static extends: object

FactorySceneReconstruction wraps boofcv.factory.structure.FactorySceneReconstruction.

Methods

• bundleUtils (object Config)

  Creates bundle adjustment utilities.

  • @p Config is ConfigBundleUtils.
  • @r A MetricBundleAdjustmentUtils Java object.

• generatePairwise (object Config)

  Creates a pairwise image graph generator.

  • @p Config is ConfigGeneratePairwiseImageGraph.
  • @r A GeneratePairwiseImageGraph wrapper.

• epipolarScore3D (object Config)

  Creates an epipolar 3D scorer.

  • @p Config is ConfigEpipolarScore3D.
  • @r An EpipolarScore3D Java object.

• sparseSceneToDenseCloud (object Config, object ImageType)

  Creates a sparse-scene-to-dense-cloud pipeline.

  • @p Config is ConfigSparseToDenseCloud.
  • @p ImageType is an ImageType wrapper.
  • @r A SparseSceneToDenseCloud wrapper.

• frameSelector3D (object Config, object ImageType)

  Creates a 3D frame selector.

  • @p Config is ConfigSelectFrames3D.
  • @p ImageType is an ImageType wrapper.
  • @r A raw SelectFramesForReconstruction3D Java object.

class: SceneWorkingGraphInlierInfo

[666:7] extends: object

SceneWorkingGraphInlierInfo wraps SceneWorkingGraph.InlierInfo.

Members

• obj

Methods

• SceneWorkingGraphInlierInfo (Obj = null)

  Creates or wraps inlier info.

  • @p Obj is an existing inlier info object or null.

• get (string Name)

  Gets a public field.

  • @p Name is views, observations, or scoreGeometric.
  • @r The field value.

• isEmpty ()

  Checks if empty.

  • @r True if no inliers.

• getInlierCount ()

  Gets inlier count.

  • @r The inlier count.

• setTo (object Info)

  Copies another inlier info.

  • @p Info is a SceneWorkingGraphInlierInfo wrapper or Java object.

• reset ()

  Resets this inlier info.

class: ConfigVisOdomTrackPnP

[203:7] extends: SfmConfig

ConfigVisOdomTrackPnP wraps boofcv.factory.sfm.ConfigVisOdomTrackPnP.

Methods

• ConfigVisOdomTrackPnP (Obj = null)

  Creates or wraps the config.

  • @p Obj is an existing config or null.