boofcv.abst.sfm.d3

Class VisOdomPixelDepthPnP_to_DepthVisualOdometry<Vis extends boofcv.struct.image.ImageBase<Vis>,Depth extends boofcv.struct.image.ImageGray<Depth>>

java.lang.Object

boofcv.abst.sfm.d3.VisOdomPixelDepthPnP_to_DepthVisualOdometry<Vis,Depth>

All Implemented Interfaces:

AccessPointTracks, AccessPointTracks3D, DepthVisualOdometry<Vis,Depth>, VisualOdometry<georegression.struct.se.Se3_F64>

public class VisOdomPixelDepthPnP_to_DepthVisualOdometry<Vis extends boofcv.struct.image.ImageBase<Vis>,Depth extends boofcv.struct.image.ImageGray<Depth>>
extends java.lang.Object
implements DepthVisualOdometry<Vis,Depth>, AccessPointTracks3D

Wrapper around VisOdomPixelDepthPnP for DepthVisualOdometry.

Constructor Summary

Constructors

Constructor and Description
VisOdomPixelDepthPnP_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D, VisOdomPixelDepthPnP<Vis> alg, boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,boofcv.struct.geo.Point2D3D> distance, boofcv.struct.image.ImageType<Vis> visualType, java.lang.Class<Depth> depthType)

Method Summary

Modifier and Type	Method and Description
java.util.List<georegression.struct.point.Point2D_F64>	getAllTracks() All the points being actively tracked in pixel coordinates.
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.
long	getTrackId(int index) Used to get the track ID of an active Track
georegression.struct.point.Point3D_F64	getTrackLocation(int index) Returns the 3D location of the active track.
boofcv.struct.image.ImageType<Vis>	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	isInlier(int index) True if the specified track is an inlier used in motion estimation
boolean	isNew(int index) True if the specified track was just spawned
boolean	process(Vis 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

VisOdomPixelDepthPnP_to_DepthVisualOdometry

public VisOdomPixelDepthPnP_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D,
                                                   VisOdomPixelDepthPnP<Vis> alg,
                                                   boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,boofcv.struct.geo.Point2D3D> distance,
                                                   boofcv.struct.image.ImageType<Vis> visualType,
                                                   java.lang.Class<Depth> depthType)

Method Detail

getTrackLocation

public georegression.struct.point.Point3D_F64 getTrackLocation(int index)

Description copied from interface: AccessPointTracks3D

Returns the 3D location of the active track. If there is no location estimate yet then return null.

Specified by:

getTrackLocation in interface AccessPointTracks3D

Parameters:

index - The track's index in the active list

Returns:

Location of the track or null otherwise

getTrackId

public long getTrackId(int index)

Description copied from interface: AccessPointTracks

Used to get the track ID of an active Track

Specified by:

getTrackId in interface AccessPointTracks

Parameters:

index - which track

Returns:

The track's ID

getAllTracks

public java.util.List<georegression.struct.point.Point2D_F64> getAllTracks()

Description copied from interface: AccessPointTracks

All the points being actively tracked in pixel coordinates.

Specified by:

getAllTracks in interface AccessPointTracks

Returns:

all active tracks in pixel coordinates

isInlier

public boolean isInlier(int index)

Description copied from interface: AccessPointTracks

True if the specified track is an inlier used in motion estimation

Specified by:

isInlier in interface AccessPointTracks

Parameters:

index - The index in all

Returns:

if it is an inlier or not

isNew

public boolean isNew(int index)

Description copied from interface: AccessPointTracks

True if the specified track was just spawned

Specified by:

isNew in interface AccessPointTracks

Parameters:

index - The index in all

Returns:

if it is new or not

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<Vis extends boofcv.struct.image.ImageBase<Vis>,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(Vis 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<Vis extends boofcv.struct.image.ImageBase<Vis>,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

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.

getVisualType

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

Description copied from interface: DepthVisualOdometry

Type of visual images it can process.

Specified by:

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

Returns:

The image type