Package boofcv.abst.sfm.d3

Class PyramidDirectColorDepth_to_DepthVisualOdometry<T extends ImageBase<T>,Depth extends ImageGray<Depth>>

java.lang.Object

boofcv.abst.sfm.d3.PyramidDirectColorDepth_to_DepthVisualOdometry<T,Depth>

All Implemented Interfaces:

DepthVisualOdometry<T,Depth>, VisualOdometry<Se3_F64>, VerbosePrint

public class PyramidDirectColorDepth_to_DepthVisualOdometry<T extends ImageBase<T>,Depth extends ImageGray<Depth>>
extends Object
implements DepthVisualOdometry<T,Depth>

TODO write

Field Summary

Fields inherited from interface boofcv.abst.sfm.d3.VisualOdometry

VERBOSE_TRACKING

Constructor Summary

Constructors

Constructor	Description
PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D, PyramidDirectColorDepth alg, Class<Depth> depthType)
PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D, ConvertImageFilter<T,?> convertImage, PyramidDirectColorDepth alg, Class<Depth> depthType)

Method Summary

Modifier and Type	Method	Description
Se3_F64	getCameraToWorld()	Returns the estimated motion relative to the first frame in which a fatal error does not happen.
Class<Depth>	getDepthType()	Type of depth images it can process.
double	getFractionInBounds()
long	getFrameID()	Returns the ID of the most recently processed frame.
Planar	getUndistorted()
ImageType<T>	getVisualType()	Type of visual images it can process.
boolean	isFault()	If a fatal error occurred while updating its state then this function will return true.
boolean	process(T visual, Depth depth)	Process the new image and update the motion estimate.
void	reset()	Forget past history and tracking results, returning it to its initial state.
void	setCalibration(CameraPinholeBrown paramVisual, Point2Transform2_F32 visToDepth)	Specifies the intrinsic parameters for the visual camera and the transform from visual to depth pixels.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Constructor Details

PyramidDirectColorDepth_to_DepthVisualOdometry

public PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D,
 PyramidDirectColorDepth alg,
 Class<Depth> depthType)

PyramidDirectColorDepth_to_DepthVisualOdometry

public PyramidDirectColorDepth_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D,
 ConvertImageFilter<T,?> convertImage,
 PyramidDirectColorDepth alg,
 Class<Depth> depthType)

Method Details

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>>

setCalibration

public void setCalibration(CameraPinholeBrown paramVisual,
 Point2Transform2_F32 visToDepth)

Description copied from interface: DepthVisualOdometry

Specifies the intrinsic parameters for the visual camera and the transform from visual to depth pixels.

Specified by:

setCalibration in interface DepthVisualOdometry<T extends ImageBase<T>,Depth extends ImageGray<Depth>>

Parameters:

paramVisual - Intrinsic parameters for visual camera

visToDepth - Transform from visual camera pixels into depth camera pixels

process

public boolean process(T visual,
 Depth depth)

Description copied from interface: DepthVisualOdometry

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 DepthVisualOdometry<T extends ImageBase<T>,Depth extends ImageGray<Depth>>

Parameters:

visual - Image from visual camera

depth - Image from depth sensor

Returns:

true if the motion estimate has been updated and false if not

getFractionInBounds

public double getFractionInBounds()

getVisualType

public ImageType<T> getVisualType()

Description copied from interface: DepthVisualOdometry

Type of visual images it can process.

Specified by:

getVisualType in interface DepthVisualOdometry<T extends ImageBase<T>,Depth extends ImageGray<Depth>>

Returns:

The image type

getDepthType

public Class<Depth> getDepthType()

Description copied from interface: DepthVisualOdometry

Type of depth images it can process.

Specified by:

getDepthType in interface DepthVisualOdometry<T extends ImageBase<T>,Depth extends ImageGray<Depth>>

Returns:

The image type

getUndistorted

public Planar getUndistorted()

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint