Class MonoOverhead_to_MonocularPlaneVisualOdometry<T extends ImageBase<T>>

java.lang.Object
boofcv.abst.sfm.d3.MonoOverhead_to_MonocularPlaneVisualOdometry<T>
All Implemented Interfaces:
AccessPointTracks, AccessPointTracks3D, MonocularPlaneVisualOdometry<T>, VisualOdometry<Se3_F64>, VerbosePrint

public class MonoOverhead_to_MonocularPlaneVisualOdometry<T extends ImageBase<T>>
extends Object
implements MonocularPlaneVisualOdometry<T>, AccessPointTracks3D
  • Constructor Details

  • Method Details

    • setCalibration

      public void setCalibration​(MonoPlaneParameters param)
      Description copied from interface: MonocularPlaneVisualOdometry
      Specifies the camera's intrinsic and extrinsic parameters. Can be changed at any time.
      Specified by:
      setCalibration in interface MonocularPlaneVisualOdometry<T extends ImageBase<T>>
      Parameters:
      param - Camera calibration parameters
    • process

      public boolean process​(T input)
      Description copied from interface: MonocularPlaneVisualOdometry
      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 MonocularPlaneVisualOdometry<T extends ImageBase<T>>
      Parameters:
      input - Next image in the sequence.
      Returns:
      If the motion estimate has been updated or not
    • getImageType

      public ImageType<T> getImageType()
      Description copied from interface: MonocularPlaneVisualOdometry
      Type of input images it can process.
      Specified by:
      getImageType in interface MonocularPlaneVisualOdometry<T extends 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 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 ImageBase<T>>
      Returns:
      true if a fatal error has occurred.
    • getCameraToWorld

      public 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 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 ImageBase<T>>
    • getTrackWorld3D

      public boolean getTrackWorld3D​(int index, Point3D_F64 world)
      Description copied from interface: AccessPointTracks3D
      Returns the 3D location of the active track.
      Specified by:
      getTrackWorld3D in interface AccessPointTracks3D
      Parameters:
      index - The track's index in the active list
      world - The world coordinate of the track
      Returns:
      true if there's a location estimate or false if there isn't
    • getTotalTracks

      public int getTotalTracks()
      Description copied from interface: AccessPointTracks
      Returns the total number of tracks
      Specified by:
      getTotalTracks in interface AccessPointTracks
    • getTrackId

      public long getTrackId​(int index)
      Description copied from interface: AccessPointTracks
      Used to get the track ID of an active Track
      Specified by:
      getTrackId in interface AccessPointTracks
      Parameters:
      index - which track
      Returns:
      The track's ID
    • getTrackPixel

      public void getTrackPixel​(int index, Point2D_F64 pixel)
      Description copied from interface: AccessPointTracks
      Gets the observed coordinate of a feature in the input image.
      Specified by:
      getTrackPixel in interface AccessPointTracks
      Parameters:
      index - Which point in the list
      pixel - Where the coordinate will be writen to.
    • getAllTracks

      public List<Point2D_F64> getAllTracks​(@Nullable @Nullable List<Point2D_F64> storage)
      Description copied from interface: AccessPointTracks
      All the points being actively tracked in pixel coordinates.
      Specified by:
      getAllTracks in interface AccessPointTracks
      Returns:
      all active tracks in pixel coordinates
    • isTrackInlier

      public boolean isTrackInlier​(int index)
      Description copied from interface: AccessPointTracks
      True if the specified track is an inlier used in motion estimation
      Specified by:
      isTrackInlier in interface AccessPointTracks
      Parameters:
      index - The index in all
      Returns:
      if it is an inlier or not
    • isTrackNew

      public boolean isTrackNew​(int index)
      Description copied from interface: AccessPointTracks
      True if the specified track was just spawned
      Specified by:
      isTrackNew in interface AccessPointTracks
      Parameters:
      index - The index in all
      Returns:
      if it is new or not
    • setVerbose

      public void setVerbose​(@Nullable @Nullable PrintStream out, @Nullable @Nullable Set<String> configuration)
      Specified by:
      setVerbose in interface VerbosePrint