Package boofcv.alg.sfm.d3

Class VisOdomMonoDepthPnP<T extends ImageBase<T>>

java.lang.Object

boofcv.alg.sfm.d3.VisOdomBundlePnPBase<VisOdomMonoDepthPnP.Track>

boofcv.alg.sfm.d3.VisOdomMonoDepthPnP<T>

All Implemented Interfaces:

VerbosePrint

public class VisOdomMonoDepthPnP<T extends ImageBase<T>>
extends VisOdomBundlePnPBase<VisOdomMonoDepthPnP.Track>

Full 6-DOF visual odometry where a ranging device is assumed for pixels in the primary view and the motion is estimated using a Estimate1ofPnP. Range is usually estimated using stereo cameras, structured light or time of flight sensors. New features are added and removed as needed. Features are removed if they are not part of the inlier feature set for some number of consecutive frames. New features are detected and added if the inlier set falls below a threshold or every turn. Non-linear refinement is optional and appears to provide a very modest improvement in performance. It is recommended that motion is estimated using a P3P algorithm, which is the minimal case. Adding features every frame can be computationally expensive, but having too few features being tracked will degrade accuracy. The algorithm was designed to minimize magic numbers and to be insensitive to small changes in their values. Due to the level of abstraction, it can't take full advantage of the sensors used to estimate 3D feature locations. For example if a stereo camera is used then 3-view geometry can't be used to improve performance.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	VisOdomMonoDepthPnP.Track

Nested classes/interfaces inherited from class boofcv.alg.sfm.d3.VisOdomBundlePnPBase

VisOdomBundlePnPBase.CameraModel

Field Summary

Fields inherited from class boofcv.alg.sfm.d3.VisOdomBundlePnPBase

bundleViso, cameraLoc, cameraModels, current_to_previous, current_to_world, first, found3D, frameManager, initialVisible, inlierTracks, listOf_world_to_frame, maxKeyFrames, minObservationsNotVisible, minObservationsTriangulate, observationsNorm, previous_to_current, profileOut, thresholdRetireTracks, totalDroppedTracksBadBundle, triangulateN, verbose, visibleTracks, world_to_frame

Constructor Summary

Constructors

Constructor	Description
VisOdomMonoDepthPnP(ModelMatcher<Se3_F64,Point2D3D> motionEstimator, ImagePixelTo3D pixelTo3D, @Nullable RefinePnP refine, PointTracker<T> tracker)	Configures magic numbers and estimation algorithms.

Method Summary

Modifier and Type	Method	Description
protected void	dropVisualTrack(PointTrack track)	Given the BTrack drop all visual tracks which belong to it.
long	getFrameID()
boolean	process(T image)	Estimates the motion given the left camera image.
void	reset()	Resets the algorithm into its original state
void	setCamera(CameraPinholeBrown camera)	Sets the known fixed camera parameters

Methods inherited from class boofcv.alg.sfm.d3.VisOdomBundlePnPBase

dropFramesFromScene, dropTracksNotVisibleAndTooFewObservations, getCurrentToWorld, performKeyFrameMaintenance, setVerbose, triangulateNotSelectedBundleTracks, updateListOfVisibleTracksForOutput

Methods inherited from class java.lang.Object

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

Constructor Details

VisOdomMonoDepthPnP

public VisOdomMonoDepthPnP(ModelMatcher<Se3_F64,Point2D3D> motionEstimator,
 ImagePixelTo3D pixelTo3D,
 @Nullable
 @Nullable RefinePnP refine,
 PointTracker<T> tracker)

Configures magic numbers and estimation algorithms.

Parameters:

motionEstimator - PnP motion estimator. P3P algorithm is recommended/

pixelTo3D - Computes the 3D location of pixels.

refine - Optional algorithm for refining the pose estimate. Can be null.

tracker - Point feature tracker.

Method Details

reset

public void reset()

Resets the algorithm into its original state

Overrides:

reset in class VisOdomBundlePnPBase<VisOdomMonoDepthPnP.Track>

process

public boolean process(T image)

Estimates the motion given the left camera image. The latest information required by ImagePixelTo3D should be passed to the class before invoking this function.

Parameters:

image - Camera image.

Returns:

true if successful or false if it failed

dropVisualTrack

protected void dropVisualTrack(PointTrack track)

Description copied from class: VisOdomBundlePnPBase

Given the BTrack drop all visual tracks which belong to it.

Specified by:

dropVisualTrack in class VisOdomBundlePnPBase<VisOdomMonoDepthPnP.Track>

setCamera

public void setCamera(CameraPinholeBrown camera)

Sets the known fixed camera parameters

getFrameID

public long getFrameID()

Specified by:

getFrameID in class VisOdomBundlePnPBase<VisOdomMonoDepthPnP.Track>