VisualOdometry (boofcv-sfm 0.36 API)

All Superinterfaces:

org.ddogleg.struct.VerbosePrint

All Known Subinterfaces:

DepthVisualOdometry<Vis,Depth>, MonocularPlaneVisualOdometry<T>, MonocularVisualOdometry<T>, StereoVisualOdometry<T>

All Known Implementing Classes:

MonocularPlaneVisualOdometryScaleInput, MonoOverhead_to_MonocularPlaneVisualOdometry, MonoPlaneInfinity_to_MonocularPlaneVisualOdometry, PyramidDirectColorDepth_to_DepthVisualOdometry, StereoVisualOdometryScaleInput, VisOdomPixelDepthPnP_to_DepthVisualOdometry, WrapVisOdomDualTrackPnP, WrapVisOdomMonoStereoDepthPnP, WrapVisOdomQuadPnP
```
public interface VisualOdometry<M>
extends org.ddogleg.struct.VerbosePrint
```
Interface for Visual Odometry (VO) algorithms. VO estimates the camera's motion (egomotion) by tracking the locations of image features and by applying geometric constraints. The motion estimate is relative to the camera's reference frame. In a multi-camera system the specific implementation specifies which camera the motion is relative to.

Field Summary

Fields
Modifier and Type	Field	Description
`static java.lang.String`	`VERBOSE_RUNTIME`	Key used to indicate that it should print out profile information
`static java.lang.String`	`VERBOSE_TRACKING`	Key used to indicate that it should print out feature tracking information

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method	Description
`M`	`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.
`boolean`	`isFault()`	If a fatal error occurred while updating its state then this function will return true.
`void`	`reset()`	Forget past history and tracking results, returning it to its initial state.

Methods inherited from interface org.ddogleg.struct.VerbosePrint
setVerbose

- Field Detail
  - VERBOSE_RUNTIME
```
static final java.lang.String VERBOSE_RUNTIME
```
    Key used to indicate that it should print out profile information
    
    See Also:
    
    Constant Field Values
  - VERBOSE_TRACKING
```
static final java.lang.String VERBOSE_TRACKING
```
    Key used to indicate that it should print out feature tracking information
    
    See Also:
    
    Constant Field Values
- Method Detail
  - reset
```
void reset()
```
    Forget past history and tracking results, returning it to its initial state.
  - isFault
```
boolean isFault()
```
    If a fatal error occurred while updating its state then this function will return true. Before more images can be processed reset() must be called. Only needs to be called if process returns false.
    
    Returns:
    
    true if a fatal error has occurred.
  - getCameraToWorld
```
M getCameraToWorld()
```
    Returns the estimated motion relative to the first frame in which a fatal error does not happen.
    
    Returns:
    
    Found pose.
  - getFrameID
```
long getFrameID()
```
    Returns the ID of the most recently processed frame. Starts at zero and increments with each call to process.