Package boofcv.abst.sfm.d3

Class StereoVisualOdometryScaleInput<T extends boofcv.struct.image.ImageBase<T>>

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      georegression.struct.se.Se3_F64 getCameraToWorld()
      Returns the estimated motion relative to the first frame in which a fatal error does not happen.
      long getFrameID()
      Returns the ID of the most recently processed frame.
      boofcv.struct.image.ImageType<T> getImageType()
      Type of input images it can process.
      boolean isFault()
      If a fatal error occurred while updating its state then this function will return true.
      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.
      void setVerbose​(java.io.PrintStream out, java.util.Set<java.lang.String> configuration)  

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • StereoVisualOdometryScaleInput

        public StereoVisualOdometryScaleInput​(StereoVisualOdometry<T> alg,
                                      double scaleFactor)

    • Method Detail

      • 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.ImageBase<T>>
        Parameters:
        parameters - stereo calibration

      • 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.ImageBase<T>>
        Returns:
        true if the motion estimate has been updated and false if not

      • 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.ImageBase<T>>
        Returns:
        The image type

      • 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>>

      • 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