Package boofcv.abst.sfm.d3

Class WrapVisOdomDualTrackPnP<T extends ImageGray<T>>

java.lang.Object

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

All Implemented Interfaces:

AccessPointTracks, AccessPointTracks3D, StereoVisualOdometry<T>, VisualOdometry<Se3_F64>, VerbosePrint

public class WrapVisOdomDualTrackPnP<T extends ImageGray<T>>
extends Object
implements StereoVisualOdometry<T>, AccessPointTracks3D

Wrapper around VisOdomDualTrackPnP for StereoVisualOdometry.

Field Summary

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

VERBOSE_TRACKING

Constructor Summary

Constructors

Constructor	Description
WrapVisOdomDualTrackPnP(VisOdomDualTrackPnP<T,?> visualOdometry, Se3_F64 sharedLeftToRight, DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceLeft, DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceRight, PnPStereoDistanceReprojectionSq distanceStereo, AssociateStereo2D<?> assoc, @Nullable RefinePnPStereo refine, Class<T> imageType)

Method Summary

Modifier and Type	Method	Description
VisOdomDualTrackPnP<T,?>	getAlgorithm()
List<Point2D_F64>	getAllTracks(@Nullable List<Point2D_F64> storage)	All the points being actively tracked in pixel coordinates.
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.
int	getTotalTracks()	Returns the total number of tracks
long	getTrackId(int index)	Used to get the track ID of an active Track
void	getTrackPixel(int index, Point2D_F64 pixel)	Gets the observed coordinate of a feature in the input image.
boolean	getTrackWorld3D(int index, Point3D_F64 world)	Returns the 3D location of the active track.
boolean	isFault()	If a fatal error occurred while updating its state then this function will return true.
boolean	isTrackInlier(int index)	True if the specified track is an inlier used in motion estimation
boolean	isTrackNew(int index)	True if the specified track was just spawned
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

WrapVisOdomDualTrackPnP

public WrapVisOdomDualTrackPnP(VisOdomDualTrackPnP<T,?> visualOdometry,
 Se3_F64 sharedLeftToRight,
 DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceLeft,
 DistanceFromModelMultiView<Se3_F64,Point2D3D> distanceRight,
 PnPStereoDistanceReprojectionSq distanceStereo,
 AssociateStereo2D<?> assoc,
 @Nullable
 @Nullable RefinePnPStereo refine,
 Class<T> imageType)

Method Details

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

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 ImageGray<T>>

Parameters:

parameters - stereo calibration

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 ImageGray<T>>

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 ImageGray<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 ImageGray<T>>

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 ImageGray<T>>

Returns:

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

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 ImageGray<T>>

Returns:

true if a fatal error has occurred.

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 ImageGray<T>>

Returns:

The image type

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint

getAlgorithm

public VisOdomDualTrackPnP<T,?> getAlgorithm()