boofcv.alg.sfm.d3.direct

Class VisOdomDirectColorDepth<I extends boofcv.struct.image.ImageGray<I>,D extends boofcv.struct.image.ImageGray<D>>

java.lang.Object

boofcv.alg.sfm.d3.direct.VisOdomDirectColorDepth<I,D>

public class VisOdomDirectColorDepth<I extends boofcv.struct.image.ImageGray<I>,D extends boofcv.struct.image.ImageGray<D>>
extends java.lang.Object

TODO Fill in

Constructor Summary

Constructors

Constructor and Description
VisOdomDirectColorDepth(int numBands, java.lang.Class<I> imageType, java.lang.Class<D> derivType) Declares internal data structures and specifies the type of input images to expect

Method Summary

Modifier and Type	Method and Description
double	computeFeatureDiversity(georegression.struct.se.Se3_F32 keyToCurrent) Computes the diversity of valid pixels in keyframe to the location in the current frame.
boolean	estimateMotion(boofcv.struct.image.Planar<I> input, georegression.struct.se.Se3_F32 hintKeyToInput) Estimates the motion relative to the key frame.
boofcv.struct.image.ImageType<boofcv.struct.image.Planar<D>>	getDerivType()
float	getErrorOptical()
boofcv.struct.image.ImageType<boofcv.struct.image.Planar<I>>	getImageType()
int	getInboundsPixels()
int	getKeyframePixels()
georegression.struct.se.Se3_F32	getKeyToCurrent()
void	setCameraParameters(float fx, float fy, float cx, float cy, int width, int height) Specifies intrinsic camera parameters.
void	setConvergence(float convergenceTol, int maxIterations) Specifies convergence parameters
void	setInterpolation(double inputMin, double inputMax, double derivMin, double derivMax, boofcv.alg.interpolate.InterpolationType type) Used to change interpolation method.

Methods inherited from class java.lang.Object

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

Constructor Detail

VisOdomDirectColorDepth

public VisOdomDirectColorDepth(int numBands,
                               java.lang.Class<I> imageType,
                               java.lang.Class<D> derivType)

Declares internal data structures and specifies the type of input images to expect

Parameters:

imageType - Input image type

derivType - Type of image to store the derivative in

Method Detail

setCameraParameters

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

Specifies intrinsic camera parameters. Must be called.

Parameters:

fx - focal length x (pixels)

fy - focal length y (pixels)

cx - principle point x (pixels)

cy - principle point y (pixels)

width - Width of the image

height - Height of the image

setInterpolation

public void setInterpolation(double inputMin,
                             double inputMax,
                             double derivMin,
                             double derivMax,
                             boofcv.alg.interpolate.InterpolationType type)

Used to change interpolation method. Probably don't want to do this.

Parameters:

inputMin - min value for input pixels. 0 is typical

inputMax - max value for input pixels. 255 is typical

derivMin - min value for the derivative of input pixels

derivMax - max value for the derivative of input pixels

type - Type of interpolation method to use

setConvergence

public void setConvergence(float convergenceTol,
                           int maxIterations)

Specifies convergence parameters

Parameters:

convergenceTol - When change in error is less than this fraction stop. Try 1e-6

maxIterations - When this number of iterations has been exceeded stop. Try 10

computeFeatureDiversity

public double computeFeatureDiversity(georegression.struct.se.Se3_F32 keyToCurrent)

Computes the diversity of valid pixels in keyframe to the location in the current frame.

Returns:

Angular spread along the smallest axis in radians

estimateMotion

public boolean estimateMotion(boofcv.struct.image.Planar<I> input,
                              georegression.struct.se.Se3_F32 hintKeyToInput)

Estimates the motion relative to the key frame.

Parameters:

input - Next image in the sequence

hintKeyToInput - estimated transform from keyframe to the current input image

Returns:

true if it was successful at estimating the motion or false if it failed for some reason

getErrorOptical

public float getErrorOptical()

getInboundsPixels

public int getInboundsPixels()

getKeyframePixels

public int getKeyframePixels()

getKeyToCurrent

public georegression.struct.se.Se3_F32 getKeyToCurrent()

getImageType

public boofcv.struct.image.ImageType<boofcv.struct.image.Planar<I>> getImageType()

getDerivType

public boofcv.struct.image.ImageType<boofcv.struct.image.Planar<D>> getDerivType()