Package boofcv.abst.sfm.d3

Class StereoVisualOdometryScaleInput<T extends ImageBase<T>>

java.lang.Object

boofcv.abst.sfm.d3.StereoVisualOdometryScaleInput<T>

All Implemented Interfaces:

StereoVisualOdometry<T>, VisualOdometry<Se3_F64>, VerbosePrint

public class StereoVisualOdometryScaleInput<T extends ImageBase<T>>
extends Object
implements StereoVisualOdometry<T>

Wrapper around StereoVisualOdometry which scales the input images.

Field Summary

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

VERBOSE_TRACKING

Constructor Summary

Constructors

Constructor	Description
StereoVisualOdometryScaleInput(StereoVisualOdometry<T> alg, double scaleFactor)

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.
long	getFrameID()	Returns the ID of the most recently processed frame.
ImageType<T>	getImageType()	Type of input images it can process.
boolean	isFault()	If a fatal error occurred while updating its state then this function will return true.
boolean	process(T leftImage, T rightImage)	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(StereoParameters parameters)	Specifies intrinsic and extrinsic parameters for the stereo camera system.
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

StereoVisualOdometryScaleInput

public StereoVisualOdometryScaleInput(StereoVisualOdometry<T> alg,
 double scaleFactor)

Method Details

setCalibration

public void setCalibration(StereoParameters parameters)

Description copied from interface: StereoVisualOdometry

Specifies intrinsic and extrinsic parameters for the stereo camera system. Can be called at any time, but must be called at least once before StereoVisualOdometry.process(T, T) can be called.

Specified by:

setCalibration in interface StereoVisualOdometry<T extends ImageBase<T>>

Parameters:

parameters - stereo calibration

process

public boolean process(T leftImage,
 T rightImage)

Description copied from interface: StereoVisualOdometry

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 StereoVisualOdometry<T extends ImageBase<T>>

Returns:

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

getImageType

public ImageType<T> getImageType()

Description copied from interface: StereoVisualOdometry

Type of input images it can process.

Specified by:

getImageType in interface StereoVisualOdometry<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>>

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint