boofcv.alg.sfm.d3.direct

Class PyramidDirectColorDepth<T extends boofcv.struct.image.ImageGray<T>>

java.lang.Object

boofcv.alg.sfm.d3.direct.PyramidDirectColorDepth<T>

public class PyramidDirectColorDepth<T extends boofcv.struct.image.ImageGray<T>>
extends java.lang.Object

Adds a pyramidal implementation on top of VisOdomDirectColorDepth to enable it to handle larger motions which its local approach couldn't handle in a single layer. Highest layers (lowest resolution) are processed first. Their estimated motion is then passed into the next layers for its initial guess.

Selection of keyframes is a critical problem. A global keyframe is used for all pixels. if Keyframes are selected too often then performance will be degraded and not often enough can cause it to fail completely. A new keyframe is selected when the number of trackable pixels drops below a threshold or the it's spatial diversity has dropped too low

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PyramidDirectColorDepth.LayerTo3D

Constructor Summary

Constructors

Constructor and Description
PyramidDirectColorDepth(boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.Planar<T>> pyramid)

Method Summary

Modifier and Type	Method and Description
protected boolean	estimateMotion(boofcv.struct.image.Planar<T> input)
double	getFractionInBounds()
boofcv.struct.image.ImageType<boofcv.struct.image.Planar<T>>	getInputType()
boolean	isFatalError()
boolean	process(boofcv.struct.image.Planar<T> input, ImagePixelTo3D inputDepth)
void	reset()
void	setCameraParameters(float fx, float fy, float cx, float cy, int width, int height)
void	setDiversityThreshold(double diversityThreshold)
protected void	setKeyFrame(boofcv.struct.image.Planar<T> input, ImagePixelTo3D inputDepth)
georegression.struct.se.Se3_F32	worldToCurrent()

Methods inherited from class java.lang.Object

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

Constructor Detail

PyramidDirectColorDepth

public PyramidDirectColorDepth(boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.Planar<T>> pyramid)

Method Detail

setCameraParameters

public void setCameraParameters(float fx,
                                float fy,
                                float cx,
                                float cy,
                                int width,
                                int height)

process

public boolean process(boofcv.struct.image.Planar<T> input,
                       ImagePixelTo3D inputDepth)

setKeyFrame

protected void setKeyFrame(boofcv.struct.image.Planar<T> input,
                           ImagePixelTo3D inputDepth)

estimateMotion

protected boolean estimateMotion(boofcv.struct.image.Planar<T> input)

isFatalError

public boolean isFatalError()

worldToCurrent

public georegression.struct.se.Se3_F32 worldToCurrent()

getInputType

public boofcv.struct.image.ImageType<boofcv.struct.image.Planar<T>> getInputType()

reset

public void reset()

setDiversityThreshold

public void setDiversityThreshold(double diversityThreshold)

getFractionInBounds

public double getFractionInBounds()