Package boofcv.abst.sfm.d3

Class PyramidDirectColorDepth_to_DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,​Depth extends boofcv.struct.image.ImageGray<Depth>>

  • All Implemented Interfaces:
    DepthVisualOdometry<T,​Depth>, VisualOdometry<georegression.struct.se.Se3_F64>, org.ddogleg.struct.VerbosePrint
    public class PyramidDirectColorDepth_to_DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,​Depth extends boofcv.struct.image.ImageGray<Depth>>
extends java.lang.Object
implements DepthVisualOdometry<T,​Depth>
    TODO write

    • Constructor Detail

      • PyramidDirectColorDepth_to_DepthVisualOdometry

        public PyramidDirectColorDepth_to_DepthVisualOdometry​(DepthSparse3D<Depth> sparse3D,
                                                      boofcv.core.image.ConvertImageFilter<T,​?> convertImage,
                                                      PyramidDirectColorDepth alg,
                                                      java.lang.Class<Depth> depthType)

    • Method Detail

      • 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<T extends boofcv.struct.image.ImageBase<T>>

      • 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<T extends boofcv.struct.image.ImageBase<T>>
        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<T extends boofcv.struct.image.ImageBase<T>>
        Returns:
        Found pose.

      • getFrameID

        public long getFrameID()
        Description copied from interface: VisualOdometry
        Returns the ID of the most recently processed frame. Starts at zero and increments with each call to process.
        Specified by:
        getFrameID in interface VisualOdometry<T extends boofcv.struct.image.ImageBase<T>>

      • setCalibration

        public void setCalibration​(boofcv.struct.calib.CameraPinholeBrown 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<T extends boofcv.struct.image.ImageBase<T>,​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​(T 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<T extends boofcv.struct.image.ImageBase<T>,​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

      • getFractionInBounds

        public double getFractionInBounds()

      • getVisualType

        public boofcv.struct.image.ImageType<T> getVisualType()
        Description copied from interface: DepthVisualOdometry
        Type of visual images it can process.
        Specified by:
        getVisualType in interface DepthVisualOdometry<T extends boofcv.struct.image.ImageBase<T>,​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<T extends boofcv.struct.image.ImageBase<T>,​Depth extends boofcv.struct.image.ImageGray<Depth>>
        Returns:
        The image type

      • getUndistorted

        public boofcv.struct.image.Planar getUndistorted()

      • setVerbose

        public void setVerbose​(@Nullable
                       java.io.PrintStream out,
                       @Nullable
                       java.util.Set<java.lang.String> configuration)
        Specified by:
        setVerbose in interface org.ddogleg.struct.VerbosePrint