Package boofcv.alg.sfm.d3

Class VisOdomDualTrackPnP<T extends boofcv.struct.image.ImageBase<T>,Desc extends boofcv.struct.feature.TupleDesc>

java.lang.Object

boofcv.alg.sfm.d3.VisOdomBundlePnPBase<VisOdomDualTrackPnP.TrackInfo>

boofcv.alg.sfm.d3.VisOdomDualTrackPnP<T,Desc>

All Implemented Interfaces:

org.ddogleg.struct.VerbosePrint

public class VisOdomDualTrackPnP<T extends boofcv.struct.image.ImageBase<T>,Desc extends boofcv.struct.feature.TupleDesc>
extends VisOdomBundlePnPBase<VisOdomDualTrackPnP.TrackInfo>

Stereo visual odometry algorithm which relies on tracking features independently in the left and right images and then matching those tracks together. The idea behind this tracker is that the expensive task of association features between left and right cameras only needs to be done once when track is spawned. Triangulation is used to estimate each feature's 3D location. Motion is estimated robustly using a RANSAC type algorithm provided by the user which internally uses PnP type algorithm. Estimated motion is relative to left camera. FUTURE WORK: Save visual tracks without stereo matches and do monocular tracking on them. This is useful for stereo systems with only a little bit of overlap.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	VisOdomDualTrackPnP.TrackInfo	A coupled track between the left and right cameras.

Nested classes/interfaces inherited from class boofcv.alg.sfm.d3.VisOdomBundlePnPBase

VisOdomBundlePnPBase.CameraModel

Field Summary

Fields

Modifier and Type	Field	Description
static int	CAMERA_LEFT
static int	CAMERA_RIGHT

Fields inherited from class boofcv.alg.sfm.d3.VisOdomBundlePnPBase

cameraLoc, cameraModels, current_to_previous, current_to_world, first, found3D, frameManager, initialVisible, inlierTracks, listOf_world_to_frame, maxKeyFrames, minObservationsNotVisible, minObservationsTriangulate, observationsNorm, previous_to_current, profileOut, scene, thresholdRetireTracks, totalDroppedTracksBadBundle, triangulateN, verbose, visibleTracks, world_to_frame

Constructor Summary

Constructors

Constructor

Description

VisOdomDualTrackPnP(double epilolarTol, boofcv.abst.tracker.PointTracker<T> trackerLeft, boofcv.abst.tracker.PointTracker<T> trackerRight, boofcv.abst.feature.describe.DescribeRegionPoint<T,Desc> describe, boofcv.abst.feature.associate.AssociateDescription2D<Desc> assocL2R, boofcv.abst.geo.Triangulate2ViewsMetric triangulate2, org.ddogleg.fitting.modelset.ModelMatcher<georegression.struct.se.Se3_F64,Stereo2D3D> matcher, org.ddogleg.fitting.modelset.ModelFitter<georegression.struct.se.Se3_F64,Stereo2D3D> modelRefiner, boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric> bundleAdjustment)

Specifies internal algorithms and parameters

Method Summary

Modifier and Type	Method	Description
protected void	dropVisualTrack(boofcv.abst.tracker.PointTrack left)	Given the BTrack drop all visual tracks which belong to it.
long	getFrameID()
boolean	isFault()	If there are no candidates then a fault happened.
boolean	process(T left, T right)	Updates motion estimate using the stereo pair.
void	reset()	Resets the algorithm into its original state
void	setCalibration(boofcv.struct.calib.StereoParameters param)	Specifies the stereo parameters.

Methods inherited from class boofcv.alg.sfm.d3.VisOdomBundlePnPBase

dropFramesFromScene, dropTracksNotVisibleAndTooFewObservations, getCurrentToWorld, performKeyFrameMaintenance, setVerbose, triangulateNotSelectedBundleTracks, updateListOfVisibleTracksForOutput

Methods inherited from class java.lang.Object

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

Field Detail

CAMERA_LEFT

public static final int CAMERA_LEFT

See Also:

Constant Field Values

CAMERA_RIGHT

public static final int CAMERA_RIGHT

See Also:

Constant Field Values

Constructor Detail

VisOdomDualTrackPnP

public VisOdomDualTrackPnP(double epilolarTol,
                           boofcv.abst.tracker.PointTracker<T> trackerLeft,
                           boofcv.abst.tracker.PointTracker<T> trackerRight,
                           boofcv.abst.feature.describe.DescribeRegionPoint<T,Desc> describe,
                           boofcv.abst.feature.associate.AssociateDescription2D<Desc> assocL2R,
                           boofcv.abst.geo.Triangulate2ViewsMetric triangulate2,
                           org.ddogleg.fitting.modelset.ModelMatcher<georegression.struct.se.Se3_F64,Stereo2D3D> matcher,
                           org.ddogleg.fitting.modelset.ModelFitter<georegression.struct.se.Se3_F64,Stereo2D3D> modelRefiner,
                           boofcv.abst.geo.bundle.BundleAdjustment<boofcv.abst.geo.bundle.SceneStructureMetric> bundleAdjustment)

Specifies internal algorithms and parameters

Parameters:

epilolarTol - Tolerance in pixels for enforcing the epipolar constraint

trackerLeft - Tracker used for left camera

trackerRight - Tracker used for right camera

describe - Describes features in tracks

assocL2R - Assocation for left to right

triangulate2 - Triangulation for estimating 3D location from stereo pair

matcher - Robust motion model estimation with outlier rejection

modelRefiner - Non-linear refinement of motion model

Method Detail

setCalibration

public void setCalibration(boofcv.struct.calib.StereoParameters param)

Specifies the stereo parameters. Note that classes which are passed into constructor are maintained outside. Example, the RANSAC distance model might need to have stereo parameters passed to it externally since there's no generic way to handle that.

reset

public void reset()

Resets the algorithm into its original state

Overrides:

reset in class VisOdomBundlePnPBase<VisOdomDualTrackPnP.TrackInfo>

process

public boolean process(T left,
                       T right)

Updates motion estimate using the stereo pair.

Parameters:

left - Image from left camera

right - Image from right camera

Returns:

true if motion estimate was updated and false if not

getFrameID

public long getFrameID()

Specified by:

getFrameID in class VisOdomBundlePnPBase<VisOdomDualTrackPnP.TrackInfo>

isFault

public boolean isFault()

If there are no candidates then a fault happened.

Returns:

true if fault. false is no fault

dropVisualTrack

protected void dropVisualTrack(boofcv.abst.tracker.PointTrack left)

Description copied from class: VisOdomBundlePnPBase

Given the BTrack drop all visual tracks which belong to it.

Specified by:

dropVisualTrack in class VisOdomBundlePnPBase<VisOdomDualTrackPnP.TrackInfo>