Package boofcv.alg.sfm.d3.direct

Class PyramidDirectColorDepth<T extends boofcv.struct.image.ImageGray<T>>

java.lang.Object

boofcv.alg.sfm.d3.direct.PyramidDirectColorDepth<T>

public class PyramidDirectColorDepth<T extends boofcv.struct.image.ImageGray<T>>
extends java.lang.Object

Adds a pyramidal implementation on top of VisOdomDirectColorDepth to enable it to handle larger motions which its local approach couldn't handle in a single layer. Highest layers (lowest resolution) are processed first. Their estimated motion is then passed into the next layers for its initial guess.

Selection of keyframes is a critical problem. A global keyframe is used for all pixels. if Keyframes are selected too often then performance will be degraded and not often enough can cause it to fail completely. A new keyframe is selected when the number of trackable pixels drops below a threshold or the it's spatial diversity has dropped too low

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	PyramidDirectColorDepth.LayerTo3D

Constructor Summary

Constructors

Constructor	Description
PyramidDirectColorDepth(boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.Planar<T>> pyramid)

Method Summary

Modifier and Type	Method	Description
protected boolean	estimateMotion()
double	getFractionInBounds()
boofcv.struct.image.ImageType<boofcv.struct.image.Planar<T>>	getInputType()
boolean	isFatalError()
boolean	process(boofcv.struct.image.Planar<T> input, ImagePixelTo3D inputDepth)
void	reset()
void	setCameraParameters(float fx, float fy, float cx, float cy, int width, int height)
void	setDiversityThreshold(double diversityThreshold)
protected void	setKeyFrame(ImagePixelTo3D inputDepth)
georegression.struct.se.Se3_F32	worldToCurrent()

Methods inherited from class java.lang.Object

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

Constructor Detail

PyramidDirectColorDepth

public PyramidDirectColorDepth(boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.Planar<T>> pyramid)

Method Detail

setCameraParameters

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

process

public boolean process(boofcv.struct.image.Planar<T> input,
                       ImagePixelTo3D inputDepth)

setKeyFrame

protected void setKeyFrame(ImagePixelTo3D inputDepth)

estimateMotion

protected boolean estimateMotion()

isFatalError

public boolean isFatalError()

worldToCurrent

public georegression.struct.se.Se3_F32 worldToCurrent()

getInputType

public boofcv.struct.image.ImageType<boofcv.struct.image.Planar<T>> getInputType()

reset

public void reset()

setDiversityThreshold

public void setDiversityThreshold(double diversityThreshold)

getFractionInBounds

public double getFractionInBounds()