Package boofcv.abst.sfm.d3

Interface MonocularPlaneVisualOdometry<T extends ImageBase<T>>

All Superinterfaces:
VerbosePrint, VisualOdometry<Se3_F64>
All Known Implementing Classes:
MonocularPlaneVisualOdometryScaleInput, MonoOverhead_to_MonocularPlaneVisualOdometry, MonoPlaneInfinity_to_MonocularPlaneVisualOdometry
public interface MonocularPlaneVisualOdometry<T extends ImageBase<T>> extends VisualOdometry<Se3_F64>
Estimates the camera's motion relative to the ground plane. The world being viewed is assumed to be planar. The transform from the ground plane to the camera view is assumed to be known. Both the intrinsic and extrinsic parameters are allowed to change between image frames. Since the transform between the ground and camera is known, there is no scale ambiguity.

  • Method Details

    • setCalibration

      void setCalibration(MonoPlaneParameters param)
      Specifies the camera's intrinsic and extrinsic parameters. Can be changed at any time.
      Parameters:
      param - Camera calibration parameters

    • process

      boolean process(T input)
      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.
      Parameters:
      input - Next image in the sequence.
      Returns:
      If the motion estimate has been updated or not

    • getImageType

      ImageType<T> getImageType()
      Type of input images it can process.
      Returns:
      The image type