boofcv.abst.sfm.d3

Class WrapVisOdomQuadPnP<T extends boofcv.struct.image.ImageGray<T>,TD extends boofcv.struct.feature.TupleDesc>

java.lang.Object

boofcv.abst.sfm.d3.WrapVisOdomQuadPnP<T,TD>

All Implemented Interfaces:

AccessPointTracks, AccessPointTracks3D, StereoVisualOdometry<T>, VisualOdometry<georegression.struct.se.Se3_F64>

public class WrapVisOdomQuadPnP<T extends boofcv.struct.image.ImageGray<T>,TD extends boofcv.struct.feature.TupleDesc>
extends java.lang.Object
implements StereoVisualOdometry<T>, AccessPointTracks3D

Wrapper around VisOdomQuadPnP for StereoVisualOdometry.

Constructor Summary

Constructors

Constructor and Description
WrapVisOdomQuadPnP(VisOdomQuadPnP<T,TD> alg, RefinePnPStereo refine, AssociateStereo2D<TD> associateStereo, PnPStereoDistanceReprojectionSq distance, boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,boofcv.struct.geo.Point2D3D> distanceMono, java.lang.Class<T> imageType)

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.
boofcv.struct.image.ImageType<T>	getImageType() Type of input 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.
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(T leftImage, T rightImage) 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.StereoParameters parameters) Specifies intrinsic and extrinsic parameters for the stereo camera system.

Methods inherited from class java.lang.Object

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

Constructor Detail

WrapVisOdomQuadPnP

public WrapVisOdomQuadPnP(VisOdomQuadPnP<T,TD> alg,
                          RefinePnPStereo refine,
                          AssociateStereo2D<TD> associateStereo,
                          PnPStereoDistanceReprojectionSq distance,
                          boofcv.alg.geo.DistanceFromModelMultiView<georegression.struct.se.Se3_F64,boofcv.struct.geo.Point2D3D> distanceMono,
                          java.lang.Class<T> imageType)

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.StereoParameters parameters)

Description copied from interface: StereoVisualOdometry

Specifies intrinsic and extrinsic parameters for the stereo camera system. Can be called at any time, but must be called at least once before StereoVisualOdometry.process(T, T) can be called.

Specified by:

setCalibration in interface StereoVisualOdometry<T extends boofcv.struct.image.ImageGray<T>>

Parameters:

parameters - stereo calibration

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>

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.

process

public boolean process(T leftImage,
                       T rightImage)

Description copied from interface: StereoVisualOdometry

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 StereoVisualOdometry<T extends boofcv.struct.image.ImageGray<T>>

Returns:

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

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.

getImageType

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

Description copied from interface: StereoVisualOdometry

Type of input images it can process.

Specified by:

getImageType in interface StereoVisualOdometry<T extends boofcv.struct.image.ImageGray<T>>

Returns:

The image type