boofcv.abst.sfm.d3

Interface VisualOdometry<M>

All Known Subinterfaces:

DepthVisualOdometry<Vis,Depth>, MonocularPlaneVisualOdometry<T>, MonocularVisualOdometry<T>, StereoVisualOdometry<T>

All Known Implementing Classes:

MonocularPlaneVisualOdometryScaleInput, MonoOverhead_to_MonocularPlaneVisualOdometry, MonoPlaneInfinity_to_MonocularPlaneVisualOdometry, PyramidDirectColorDepth_to_DepthVisualOdometry, StereoVisualOdometryScaleInput, VisOdomPixelDepthPnP_to_DepthVisualOdometry, WrapVisOdomDualTrackPnP, WrapVisOdomPixelDepthPnP, WrapVisOdomQuadPnP

public interface VisualOdometry<M>

Interface for Visual Odometry (VO) algorithms. VO estimates the camera's motion (egomotion) by tracking the locations of image features and by applying geometric constraints. The motion estimate is relative to the camera's reference frame. In a multi-camera system the specific implementation specifies which camera the motion is relative to.

Method Summary

Modifier and Type	Method and Description
M	getCameraToWorld() Returns the estimated motion relative to the first frame in which a fatal error does not happen.
boolean	isFault() If a fatal error occurred while updating its state then this function will return true.
void	reset() Forget past history and tracking results, returning it to its initial state.

Method Detail

reset

void reset()

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

isFault

boolean isFault()

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

Returns:

true if a fatal error has occurred.

getCameraToWorld

M getCameraToWorld()

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

Returns:

Found pose.