Package boofcv.alg.sfm.d3.direct

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

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method 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()