boofcv.abst.sfm.d3

Class PyramidDirectColorDepth_to_DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,Depth extends boofcv.struct.image.ImageGray<Depth>>

java.lang.Object

boofcv.abst.sfm.d3.PyramidDirectColorDepth_to_DepthVisualOdometry<T,Depth>

All Implemented Interfaces:

DepthVisualOdometry<T,Depth>, VisualOdometry<georegression.struct.se.Se3_F64>

public class PyramidDirectColorDepth_to_DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,Depth extends boofcv.struct.image.ImageGray<Depth>>
extends java.lang.Object
implements DepthVisualOdometry<T,Depth>

TODO write

Constructor Summary

Constructors

Constructor and Description
PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D, boofcv.core.image.ConvertImageFilter<T,?> convertImage, PyramidDirectColorDepth alg, java.lang.Class<Depth> depthType)
PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D, PyramidDirectColorDepth alg, java.lang.Class<Depth> depthType)

Method Summary

Modifier and Type	Method and Description
georegression.struct.se.Se3_F64	getCameraToWorld() Returns the estimated motion relative to the first frame in which a fatal error does not happen.
java.lang.Class<Depth>	getDepthType() Type of depth images it can process.
double	getFractionInBounds()
boofcv.struct.image.Planar	getUndistorted()
boofcv.struct.image.ImageType<T>	getVisualType() Type of visual images it can process.
boolean	isFault() If a fatal error occurred while updating its state then this function will return true.
boolean	process(T visual, Depth depth) Process the new image and update the motion estimate.
void	reset() Forget past history and tracking results, returning it to its initial state.
void	setCalibration(boofcv.struct.calib.CameraPinholeRadial paramVisual, boofcv.struct.distort.Point2Transform2_F32 visToDepth) Specifies the intrinsic parameters for the visual camera and the transform from visual to depth pixels.

Methods inherited from class java.lang.Object

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

Constructor Detail

PyramidDirectColorDepth_to_DepthVisualOdometry

public PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D,
                                                      PyramidDirectColorDepth alg,
                                                      java.lang.Class<Depth> depthType)

PyramidDirectColorDepth_to_DepthVisualOdometry

public PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D,
                                                      boofcv.core.image.ConvertImageFilter<T,?> convertImage,
                                                      PyramidDirectColorDepth alg,
                                                      java.lang.Class<Depth> depthType)

Method Detail

reset

public void reset()

Description copied from interface: VisualOdometry

Forget past history and tracking results, returning it to its initial state.

Specified by:

reset in interface VisualOdometry<georegression.struct.se.Se3_F64>

isFault

public boolean isFault()

Description copied from interface: VisualOdometry

If a fatal error occurred while updating its state then this function will return true. Before more images can be processed VisualOdometry.reset() must be called. Only needs to be called if process returns false.

Specified by:

isFault in interface VisualOdometry<georegression.struct.se.Se3_F64>

Returns:

true if a fatal error has occurred.

getCameraToWorld

public georegression.struct.se.Se3_F64 getCameraToWorld()

Description copied from interface: VisualOdometry

Returns the estimated motion relative to the first frame in which a fatal error does not happen.

Specified by:

getCameraToWorld in interface VisualOdometry<georegression.struct.se.Se3_F64>

Returns:

Found pose.

setCalibration

public void setCalibration(boofcv.struct.calib.CameraPinholeRadial paramVisual,
                           boofcv.struct.distort.Point2Transform2_F32 visToDepth)

Description copied from interface: DepthVisualOdometry

Specifies the intrinsic parameters for the visual camera and the transform from visual to depth pixels.

Specified by:

setCalibration in interface DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,Depth extends boofcv.struct.image.ImageGray<Depth>>

Parameters:

paramVisual - Intrinsic parameters for visual camera

visToDepth - Transform from visual camera pixels into depth camera pixels

process

public boolean process(T visual,
                       Depth depth)

Description copied from interface: DepthVisualOdometry

Process the new image and update the motion estimate. The return value must be checked to see if the estimate was actually updated. If false is returned then VisualOdometry.isFault() also needs to be checked to see if the pose estimate has been reset.

Specified by:

process in interface DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,Depth extends boofcv.struct.image.ImageGray<Depth>>

Parameters:

visual - Image from visual camera

depth - Image from depth sensor

Returns:

true if the motion estimate has been updated and false if not

getFractionInBounds

public double getFractionInBounds()

getVisualType

public boofcv.struct.image.ImageType<T> getVisualType()

Description copied from interface: DepthVisualOdometry

Type of visual images it can process.

Specified by:

getVisualType in interface DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,Depth extends boofcv.struct.image.ImageGray<Depth>>

Returns:

The image type

getDepthType

public java.lang.Class<Depth> getDepthType()

Description copied from interface: DepthVisualOdometry

Type of depth images it can process.

Specified by:

getDepthType in interface DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,Depth extends boofcv.struct.image.ImageGray<Depth>>

Returns:

The image type

getUndistorted

public boofcv.struct.image.Planar getUndistorted()