Package boofcv.abst.sfm.d3

Interface VisualOdometry<M>

All Superinterfaces:
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 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 final String
    VERBOSE_TRACKING
    Key used to indicate that it should print out feature tracking information

  • Method Summary

    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 Details

    • VERBOSE_TRACKING

      static final String VERBOSE_TRACKING
      Key used to indicate that it should print out feature tracking information
      See Also:

  • Method Details

    • 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.