public interface MonocularVisualOdometry<T extends boofcv.struct.image.ImageBase<T>> extends VisualOdometry<georegression.struct.se.Se3_F64>
Interface for visual odometry from a single camera that provides 6-DOF pose. The camera is assumed to be calibrated so that the "true" Euclidean motion can be extracted, up to a scale factor. Motion can only be found up to a scale factor because it is impossible to distinguish between a large motion and distant objects against a small motion and close objects when using a single camera.
Each time a new image arrives the function process(T) should be invoked and its return value
checked. If false is returned then VisualOdometry.isFault() needs to be called to see if a fatal error
occurred. If a fatal error occurred then the motion estimate has been reset relative to the first
frame in which VisualOdometry.isFault() returns false.
| Modifier and Type | Method and Description |
|---|---|
boofcv.struct.image.ImageType<T> |
getImageType()
Type of input images it can process.
|
boolean |
process(T input)
Process the new image and update the motion estimate.
|
void |
setIntrinsic(boofcv.struct.calib.CameraPinholeRadial param)
Specifies the intrinsic parameters for the camera.
|
getCameraToWorld, isFault, resetvoid setIntrinsic(boofcv.struct.calib.CameraPinholeRadial param)
param - Intrinsic parameters for cameraboolean process(T input)
VisualOdometry.isFault()
also needs to be checked to see if the pose estimate has been reset.input - Next image in the sequence.boofcv.struct.image.ImageType<T> getImageType()