Example Visual Odometry Depth - Revision history

Peter at 03:26, 9 October 2021

2021-10-09T03:26:35Z

← Older revision		Revision as of 03:26, 9 October 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.39/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	*/		*/
	public class ExampleVisualOdometryDepth {		public class ExampleVisualOdometryDepth {

	public static void main( String[] args ) {		public static void main( String[] args ) {

	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;

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	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
	~~ConfigPKlt configKlt~~ = new ~~ConfigPKlt~~();		ConfigRgbDepthTrackPnP config = new ConfigRgbDepthTrackPnP();
	~~configKlt~~.~~pyramidLevels = ConfigDiscreteLevels.levels(4);~~		config.depthScale = 1e-3; // convert depth image distance units to meters
	~~configKlt.templateRadius = 3;~~

	~~ConfigPointDetector configDet = new ConfigPointDetector();~~
	~~configDet.type = PointDetectorTypes.SHI_TOMASI;~~
	~~configDet.shiTomasi.radius~~ = 3;
	~~configDet.general.maxFeatures = 600;~~
	~~configDet.general.radius = 3;~~
	~~configDet.general.threshold = 1;~~

	~~PointTracker<GrayU8> tracker = FactoryPointTracker.klt(configKlt, configDet, GrayU8.class, GrayS16.class);~~

	~~DepthSparse3D<GrayU16> sparseDepth~~ = ~~new DepthSparse3D~~.~~I<>(1e-~~3);		config.tracker.typeTracker = ConfigPointTracker.TrackerType.KLT;
			config.tracker.detDesc.detectPoint.type = PointDetectorTypes.SHI_TOMASI;
			config.tracker.detDesc.detectPoint.shiTomasi.radius = 3;
			config.tracker.detDesc.detectPoint.general.maxFeatures = 600;
			config.tracker.detDesc.detectPoint.general.radius = 3;
			config.tracker.detDesc.detectPoint.general.threshold = 1;

	// declares the algorithm		// declares the algorithm
	DepthVisualOdometry<GrayU8, GrayU16> visualOdometry =		DepthVisualOdometry<GrayU8, GrayU16> visualOdometry =
	FactoryVisualOdometry.~~depthDepthPnP~~(~~1.5, 120, 2, 200, 50, true,~~		FactoryVisualOdometry.rgbDepthPnP(config, GrayU8.class, GrayU16.class);
	~~sparseDepth, tracker~~, GrayU8.class, GrayU16.class);

	// Pass in intrinsic/extrinsic calibration. This can be changed in the future.		// Pass in intrinsic/extrinsic calibration. This can be changed in the future.
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	new File(directory, "depth.mpng").getPath(), ImageType.single(GrayU16.class));		new File(directory, "depth.mpng").getPath(), ImageType.single(GrayU16.class));

			long startTime = System.nanoTime();
	while (videoVisual.hasNext()) {		while (videoVisual.hasNext()) {
	GrayU8 visual = videoVisual.next();		GrayU8 visual = videoVisual.next();
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	System.out.printf("Location %8.2f %8.2f %8.2f, %s\n", T.x, T.y, T.z, trackStats(visualOdometry));		System.out.printf("Location %8.2f %8.2f %8.2f, %s\n", T.x, T.y, T.z, trackStats(visualOdometry));
	}		}
			System.out.printf("FPS %4.2f\n", videoVisual.getFrameNumber()/((System.nanoTime() - startTime)*1e-9));
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 19:52, 12 July 2021

2021-07-12T19:52:33Z

← Older revision		Revision as of 19:52, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	// load camera description and the video sequence		// load camera description and the video sequence
	VisualDepthParameters param = CalibrationIO.load(		VisualDepthParameters param = CalibrationIO.load(
	media.openFile(new File(directory , "visualdepth.yaml").getPath()));		media.openFile(new File(directory, "visualdepth.yaml").getPath()));

	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
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	// declares the algorithm		// declares the algorithm
	DepthVisualOdometry<GrayU8,GrayU16> visualOdometry =		DepthVisualOdometry<GrayU8, GrayU16> visualOdometry =
	FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, true,		FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, true,
	sparseDepth, tracker, GrayU8.class, GrayU16.class);		sparseDepth, tracker, GrayU8.class, GrayU16.class);

	// Pass in intrinsic/extrinsic calibration. This can be changed in the future.		// Pass in intrinsic/extrinsic calibration. This can be changed in the future.
	visualOdometry.setCalibration(param.visualParam,new DoNothing2Transform2_F32());		visualOdometry.setCalibration(param.visualParam, new DoNothing2Transform2_F32());

	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers
	SimpleImageSequence<GrayU8> videoVisual = media.openVideo(		SimpleImageSequence<GrayU8> videoVisual = media.openVideo(
	new File(directory ,"rgb.mjpeg").getPath(), ImageType.single(GrayU8.class));		new File(directory, "rgb.mjpeg").getPath(), ImageType.single(GrayU8.class));
	SimpleImageSequence<GrayU16> videoDepth = media.openVideo(		SimpleImageSequence<GrayU16> videoDepth = media.openVideo(
	new File(directory , "depth.mpng").getPath(), ImageType.single(GrayU16.class));		new File(directory, "depth.mpng").getPath(), ImageType.single(GrayU16.class));

	while( videoVisual.hasNext() ) {		while (videoVisual.hasNext()) {
	GrayU8 visual = videoVisual.next();		GrayU8 visual = videoVisual.next();
	GrayU16 depth = videoDepth.next();		GrayU16 depth = videoDepth.next();

	if( !visualOdometry.process(visual,depth) ) {		if (!visualOdometry.process(visual, depth)) {
	throw new RuntimeException("VO Failed!");		throw new RuntimeException("VO Failed!");
	}		}
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	Vector3D_F64 T = leftToWorld.getT();		Vector3D_F64 T = leftToWorld.getT();

	System.out.printf("Location %8.2f %8.2f %8.2f ~~inliers~~ %s\n", T.x, T.y, T.z, ~~inlierPercent~~(visualOdometry));		System.out.printf("Location %8.2f %8.2f %8.2f, %s\n", T.x, T.y, T.z, trackStats(visualOdometry));
	}		}
	}

	/**
	* If the algorithm implements AccessPointTracks3D, then count the number of inlier features
	* and return a string.
	*/
	~~public static String inlierPercent(VisualOdometry alg) {~~
	~~if( !(alg instanceof AccessPointTracks3D))~~
	~~return "";~~

	~~AccessPointTracks3D access = (AccessPointTracks3D)alg;~~

	~~int count = 0;~~
	~~int N = access.getTotalTracks();~~
	~~for( int i = 0; i < N; i++ ) {~~
	~~if( access.isTrackInlier(i) )~~
	~~count++;~~
	}

	~~return String.format("%%%5.3f", 100.0 * count / N);~~
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 02:43, 22 December 2020

2020-12-22T02:43:44Z

← Older revision		Revision as of 02:43, 22 December 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	public class ExampleVisualOdometryDepth {		public class ExampleVisualOdometryDepth {

	public static void main( String ~~args~~[] ) ~~throws IOException~~ {		public static void main( String[] args ) {

	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;
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	configKlt.templateRadius = 3;		configKlt.templateRadius = 3;

	~~PointTrackerTwoPass~~<GrayU8> tracker =		ConfigPointDetector configDet = new ConfigPointDetector();
	~~FactoryPointTrackerTwoPass~~.klt(configKlt, ~~new ConfigGeneralDetector(600, 3~~, ~~1),~~		configDet.type = PointDetectorTypes.SHI_TOMASI;
	GrayU8.class, GrayS16.class);		configDet.shiTomasi.radius = 3;
			configDet.general.maxFeatures = 600;
			configDet.general.radius = 3;
			configDet.general.threshold = 1;

			PointTracker<GrayU8> tracker = FactoryPointTracker.klt(configKlt, configDet, GrayU8.class, GrayS16.class);

	DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(1e-3);		DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(1e-3);

Peter at 05:18, 18 May 2020

2020-05-18T05:18:45Z

← Older revision		Revision as of 05:18, 18 May 2020
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
	~~PkltConfig~~ configKlt = new ~~PkltConfig~~();		ConfigPKlt configKlt = new ConfigPKlt();
	configKlt.~~pyramidScaling~~ = ~~new int[]{1, 2,~~ 4~~, 8}~~;		configKlt.pyramidLevels = ConfigDiscreteLevels.levels(4);
	configKlt.templateRadius = 3;		configKlt.templateRadius = 3;

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	int count = 0;		int count = 0;
	int N = access.~~getAllTracks().size~~();		int N = access.getTotalTracks();
	for( int i = 0; i < N; i++ ) {		for( int i = 0; i < N; i++ ) {
	if( access.~~isInlier~~(i) )		if( access.isTrackInlier(i) )
	count++;		count++;
	}		}

Peter at 04:03, 27 December 2018

2018-12-27T04:03:29Z

← Older revision		Revision as of 04:03, 27 December 2018
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	// load camera description and the video sequence		// load camera description and the video sequence
	VisualDepthParameters param = CalibrationIO.load(media.openFile(directory + "visualdepth.yaml"));		VisualDepthParameters param = CalibrationIO.load(
			media.openFile(new File(directory , "visualdepth.yaml").getPath()));

	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
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	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers
	SimpleImageSequence<GrayU8> videoVisual = media.openVideo(directory+"rgb.mjpeg", ImageType.single(GrayU8.class));		SimpleImageSequence<GrayU8> videoVisual = media.openVideo(
	SimpleImageSequence<GrayU16> videoDepth = media.openVideo(directory + "depth.mpng", ImageType.single(GrayU16.class));		new File(directory ,"rgb.mjpeg").getPath(), ImageType.single(GrayU8.class));
			SimpleImageSequence<GrayU16> videoDepth = media.openVideo(
			new File(directory , "depth.mpng").getPath(), ImageType.single(GrayU16.class));

	while( videoVisual.hasNext() ) {		while( videoVisual.hasNext() ) {

Peter at 16:12, 17 August 2017

2017-08-17T16:12:59Z

← Older revision		Revision as of 16:12, 17 August 2017
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:

Peter at 16:10, 17 August 2017

2017-08-17T16:10:38Z

← Older revision		Revision as of 16:10, 17 August 2017
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	// load camera description and the video sequence		// load camera description and the video sequence
	VisualDepthParameters param = ~~UtilIO~~.~~loadXML~~(media.openFile(directory + "visualdepth.~~xml~~"));		VisualDepthParameters param = CalibrationIO.load(media.openFile(directory + "visualdepth.yaml"));

	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
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	// Pass in intrinsic/extrinsic calibration. This can be changed in the future.		// Pass in intrinsic/extrinsic calibration. This can be changed in the future.
	visualOdometry.setCalibration(param.visualParam,new ~~DoNothingPixelTransform_F32~~());		visualOdometry.setCalibration(param.visualParam,new DoNothing2Transform2_F32());

	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers

Peter at 00:56, 2 December 2016

2016-12-02T00:56:04Z

← Older revision		Revision as of 00:56, 2 December 2016
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	Relevant Videos:		Relevant Videos:
	* [http://www.youtube.com/watch?v=kOGXsf1tP3A\| YouTube]		* [http://www.youtube.com/watch?v=kOGXsf1tP3A\| YouTube]

	~~Relevant Applets:~~
	* [[Applet Visual Odometry Depth\| Visual Odometry Depth]]

	Related Examples:		Related Examples:
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	GrayU8.class, GrayS16.class);		GrayU8.class, GrayS16.class);

	DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<~~GrayU16~~>(1e-3);		DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(1e-3);

	// declares the algorithm		// declares the algorithm

Peter at 12:37, 28 March 2016

2016-03-28T12:37:38Z

← Older revision		Revision as of 12:37, 28 March 2016
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	configKlt.templateRadius = 3;		configKlt.templateRadius = 3;

	PointTrackerTwoPass<~~ImageUInt8~~> tracker =		PointTrackerTwoPass<GrayU8> tracker =
	FactoryPointTrackerTwoPass.klt(configKlt, new ConfigGeneralDetector(600, 3, 1),		FactoryPointTrackerTwoPass.klt(configKlt, new ConfigGeneralDetector(600, 3, 1),
	~~ImageUInt8~~.class, ~~ImageSInt16~~.class);		GrayU8.class, GrayS16.class);

	DepthSparse3D<~~ImageUInt16~~> sparseDepth = new DepthSparse3D.I<~~ImageUInt16~~>(1e-3);		DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<GrayU16>(1e-3);

	// declares the algorithm		// declares the algorithm
	DepthVisualOdometry<~~ImageUInt8~~,~~ImageUInt16~~> visualOdometry =		DepthVisualOdometry<GrayU8,GrayU16> visualOdometry =
	FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, true,		FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, true,
	sparseDepth, tracker, ~~ImageUInt8~~.class, ~~ImageUInt16~~.class);		sparseDepth, tracker, GrayU8.class, GrayU16.class);

	// Pass in intrinsic/extrinsic calibration. This can be changed in the future.		// Pass in intrinsic/extrinsic calibration. This can be changed in the future.
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	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers
	SimpleImageSequence<~~ImageUInt8~~> videoVisual = media.openVideo(directory+"rgb.mjpeg", ImageType.single(~~ImageUInt8~~.class));		SimpleImageSequence<GrayU8> videoVisual = media.openVideo(directory+"rgb.mjpeg", ImageType.single(GrayU8.class));
	SimpleImageSequence<~~ImageUInt16~~> videoDepth = media.openVideo(directory + "depth.mpng", ImageType.single(~~ImageUInt16~~.class));		SimpleImageSequence<GrayU16> videoDepth = media.openVideo(directory + "depth.mpng", ImageType.single(GrayU16.class));

	while( videoVisual.hasNext() ) {		while( videoVisual.hasNext() ) {
	~~ImageUInt8~~ visual = videoVisual.next();		GrayU8 visual = videoVisual.next();
	~~ImageUInt16~~ depth = videoDepth.next();		GrayU16 depth = videoDepth.next();

	if( !visualOdometry.process(visual,depth) ) {		if( !visualOdometry.process(visual,depth) ) {

Peter at 17:55, 9 November 2015

2015-11-09T17:55:04Z

← Older revision		Revision as of 17:55, 9 November 2015
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.18/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/sfm/ExampleVisualOdometryDepth.java ExampleVisualOdometryDepth.java]

	Concepts:		Concepts:
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	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;

	String directory = "~~../data/applet/~~kinect/straight/";		String directory = UtilIO.pathExample("kinect/straight");

	// load camera description and the video sequence		// load camera description and the video sequence