Example Visual Odometry Monocular Plane - Revision history

Peter at 03:27, 9 October 2021

2021-10-09T03:27:32Z

← Older revision		Revision as of 03:27, 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/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.39/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
Line 33:		Line 33:
	SimpleImageSequence<GrayU8> video = media.openVideo(		SimpleImageSequence<GrayU8> video = media.openVideo(
	new File(directory, "left.mjpeg").getPath(), ImageType.single(GrayU8.class));		new File(directory, "left.mjpeg").getPath(), ImageType.single(GrayU8.class));

			var config = new ConfigPlanarTrackPnP();

	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
	~~ConfigPKlt configKlt~~ = ~~new ConfigPKlt()~~;		config.tracker.typeTracker = ConfigPointTracker.TrackerType.KLT;
	~~configKlt~~.pyramidLevels = ConfigDiscreteLevels.levels(4);		config.tracker.klt.pyramidLevels = ConfigDiscreteLevels.levels(4);
	~~configKlt~~.templateRadius = 3;		config.tracker.klt.templateRadius = 3;
	~~ConfigPointDetector configDetector = new ConfigPointDetector();~~
	~~configDetector~~.type = PointDetectorTypes.SHI_TOMASI;		config.tracker.detDesc.detectPoint.type = PointDetectorTypes.SHI_TOMASI;
	~~configDetector~~.general.maxFeatures = 600;		config.tracker.detDesc.detectPoint.general.maxFeatures = 600;
	~~configDetector~~.general.radius = 3;		config.tracker.detDesc.detectPoint.general.radius = 3;
	~~configDetector~~.general.threshold = 1;		config.tracker.detDesc.detectPoint.general.threshold = 1;

	~~PointTracker<GrayU8> tracker~~ = ~~FactoryPointTracker~~.~~klt(configKlt, configDetector, GrayU8~~.~~class, null)~~;		// Configure how visual odometry works
			config.thresholdAdd = 75;
			config.thresholdRetire = 2;
			config.ransac.iterations = 200;
			config.ransac.inlierThreshold = 1.5;

	// declares the algorithm		// declares the algorithm
	MonocularPlaneVisualOdometry<GrayU8> visualOdometry =		MonocularPlaneVisualOdometry<GrayU8> visualOdometry = FactoryVisualOdometry.monoPlaneInfinity(config, GrayU8.class);
	FactoryVisualOdometry.monoPlaneInfinity(75, ~~2, 1.5, 200, tracker, ImageType.single(~~GrayU8.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.
Line 54:		Line 59:

	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers
			long startTime = System.nanoTime();
	while (video.hasNext()) {		while (video.hasNext()) {
	GrayU8 image = video.next();		GrayU8 image = video.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", video.getFrameNumber()/((System.nanoTime() - startTime)*1e-9));
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 19:53, 12 July 2021

2021-07-12T19:53:20Z

← Older revision		Revision as of 19:53, 12 July 2021
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
Line 50:		Line 50:
	FactoryVisualOdometry.monoPlaneInfinity(75, 2, 1.5, 200, tracker, ImageType.single(GrayU8.class));		FactoryVisualOdometry.monoPlaneInfinity(75, 2, 1.5, 200, tracker, ImageType.single(GrayU8.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(calibration);		visualOdometry.setCalibration(calibration);

Line 65:		Line 65:
	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 02:44, 22 December 2020

2020-12-22T02:44:29Z

← Older revision		Revision as of 02:44, 22 December 2020
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
Line 23:		Line 23:
	*/		*/
	public class ExampleVisualOdometryMonocularPlane {		public class ExampleVisualOdometryMonocularPlane {
			public static void main( String[] args ) {
	public static void main( String ~~args~~[] ) {

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

Line 32:		Line 30:
	// load camera description and the video sequence		// load camera description and the video sequence
	MonoPlaneParameters calibration = CalibrationIO.load(		MonoPlaneParameters calibration = CalibrationIO.load(
	media.openFile(new File(directory , "mono_plane.yaml").getPath()));		media.openFile(new File(directory, "mono_plane.yaml").getPath()));
	SimpleImageSequence<GrayU8> video = media.openVideo(		SimpleImageSequence<GrayU8> video = media.openVideo(
	new File(directory , "left.mjpeg").getPath(), ImageType.single(GrayU8.class));		new File(directory, "left.mjpeg").getPath(), ImageType.single(GrayU8.class));

	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
Line 56:		Line 54:

	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers
	while( video.hasNext() ) {		while (video.hasNext()) {
	GrayU8 image = video.next();		GrayU8 image = video.next();

	if( !visualOdometry.process(image) ) {		if (!visualOdometry.process(image)) {
	System.out.println("Fault!");		System.out.println("Fault!");
	visualOdometry.reset();		visualOdometry.reset();
Line 75:		Line 73:
	* and return a string.		* and return a string.
	*/		*/
	public static String inlierPercent(VisualOdometry<?> alg) {		public static String inlierPercent( VisualOdometry<?> alg ) {
	if( !(alg instanceof AccessPointTracks3D))		if (!(alg instanceof AccessPointTracks3D))
	return "";		return "";

Line 83:		Line 81:
	int count = 0;		int count = 0;
	int N = access.getTotalTracks();		int N = access.getTotalTracks();
	for( int i = 0; i < N; i++ ) {		for (int i = 0; i < N; i++) {
	if( access.isTrackInlier(i) )		if (access.isTrackInlier(i))
	count++;		count++;
	}		}

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

Peter at 05:19, 18 May 2020

2020-05-18T05:19:32Z

← Older revision		Revision as of 05:19, 18 May 2020
Line 3:		Line 3:

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

	Concepts:		Concepts:
Line 37:		Line 37:

	// 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;
	~~ConfigGeneralDetector~~ configDetector = new ~~ConfigGeneralDetector~~(600,3,1);		ConfigPointDetector configDetector = new ConfigPointDetector();
			configDetector.type = PointDetectorTypes.SHI_TOMASI;
			configDetector.general.maxFeatures = 600;
			configDetector.general.radius = 3;
			configDetector.general.threshold = 1;

	PointTracker<GrayU8> tracker = FactoryPointTracker.klt(configKlt, configDetector, GrayU8.class, null);		PointTracker<GrayU8> tracker = FactoryPointTracker.klt(configKlt, configDetector, GrayU8.class, null);
Line 78:		Line 82:

	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

2018-12-27T04:03:57Z

← 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/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.32/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
Line 31:		Line 31:

	// load camera description and the video sequence		// load camera description and the video sequence
	MonoPlaneParameters calibration = CalibrationIO.load(media.openFile(directory + "mono_plane.yaml"));		MonoPlaneParameters calibration = CalibrationIO.load(
	SimpleImageSequence<GrayU8> video = media.openVideo(directory + "left.mjpeg", ImageType.single(GrayU8.class));		media.openFile(new File(directory , "mono_plane.yaml").getPath()));
			SimpleImageSequence<GrayU8> video = media.openVideo(
			new File(directory , "left.mjpeg").getPath(), ImageType.single(GrayU8.class));

	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked

Peter at 16:13, 17 August 2017

2017-08-17T16:13:33Z

← Older revision		Revision as of 16:13, 17 August 2017
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
	* Plane/Homography		* Plane/Homography

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

	Related Examples:		Related Examples:
Line 34:		Line 31:

	// load camera description and the video sequence		// load camera description and the video sequence
	MonoPlaneParameters calibration = ~~UtilIO~~.~~loadXML~~(media.openFile(directory + "mono_plane.~~xml~~"));		MonoPlaneParameters calibration = CalibrationIO.load(media.openFile(directory + "mono_plane.yaml"));
	SimpleImageSequence<GrayU8> video = media.openVideo(directory + "left.mjpeg", ImageType.single(GrayU8.class));		SimpleImageSequence<GrayU8> video = media.openVideo(directory + "left.mjpeg", ImageType.single(GrayU8.class));

Peter at 12:38, 28 March 2016

2016-03-28T12:38:27Z

← Older revision		Revision as of 12:38, 28 March 2016
Line 3:		Line 3:

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

	Concepts:		Concepts:
Line 35:		Line 35:
	// load camera description and the video sequence		// load camera description and the video sequence
	MonoPlaneParameters calibration = UtilIO.loadXML(media.openFile(directory + "mono_plane.xml"));		MonoPlaneParameters calibration = UtilIO.loadXML(media.openFile(directory + "mono_plane.xml"));
	SimpleImageSequence<~~ImageUInt8~~> video = media.openVideo(directory + "left.mjpeg", ImageType.single(~~ImageUInt8~~.class));		SimpleImageSequence<GrayU8> video = media.openVideo(directory + "left.mjpeg", ImageType.single(GrayU8.class));

	// specify how the image features are going to be tracked		// specify how the image features are going to be tracked
Line 43:		Line 43:
	ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600,3,1);		ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600,3,1);

	PointTracker<~~ImageUInt8~~> tracker = FactoryPointTracker.klt(configKlt, configDetector, ~~ImageUInt8~~.class, null);		PointTracker<GrayU8> tracker = FactoryPointTracker.klt(configKlt, configDetector, GrayU8.class, null);

	// declares the algorithm		// declares the algorithm
	MonocularPlaneVisualOdometry<~~ImageUInt8~~> visualOdometry =		MonocularPlaneVisualOdometry<GrayU8> visualOdometry =
	FactoryVisualOdometry.monoPlaneInfinity(75, 2, 1.5, 200, tracker, ImageType.single(~~ImageUInt8~~.class));		FactoryVisualOdometry.monoPlaneInfinity(75, 2, 1.5, 200, tracker, ImageType.single(GrayU8.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.
Line 54:		Line 54:
	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers
	while( video.hasNext() ) {		while( video.hasNext() ) {
	~~ImageUInt8~~ image = video.next();		GrayU8 image = video.next();

	if( !visualOdometry.process(image) ) {		if( !visualOdometry.process(image) ) {

Peter at 17:55, 9 November 2015

2015-11-09T17:55:54Z

← 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/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
Line 31:		Line 31:
	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;

	String directory = "~~../data/applet/~~vo/drc/";		String directory = UtilIO.pathExample("vo/drc/");

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

Peter at 22:07, 22 September 2014

2014-09-22T22:07:09Z

← Older revision		Revision as of 22:07, 22 September 2014
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.17/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.18/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
Line 41:		Line 41:
	configKlt.pyramidScaling = new int[]{1, 2, 4, 8};		configKlt.pyramidScaling = new int[]{1, 2, 4, 8};
	configKlt.templateRadius = 3;		configKlt.templateRadius = 3;
			ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600,3,1);

	~~PointTrackerTwoPass~~<ImageUInt8> tracker =		PointTracker<ImageUInt8> tracker = FactoryPointTracker.klt(configKlt, configDetector, ImageUInt8.class, null);
	~~FactoryPointTrackerTwoPass~~.klt(configKlt, ~~new ConfigGeneralDetector(600~~, ~~3, 1),~~
	ImageUInt8.class, ~~ImageSInt16.class~~);

	// declares the algorithm		// declares the algorithm
Line 55:		Line 54:
	// Process the video sequence and output the location plus number of inliers		// Process the video sequence and output the location plus number of inliers
	while( video.hasNext() ) {		while( video.hasNext() ) {
	ImageUInt8 ~~left~~ = video.next();		ImageUInt8 image = video.next();

	if( !visualOdometry.process(~~left~~) ) {		if( !visualOdometry.process(image) ) {
	~~throw new RuntimeException~~("~~VO Failed~~!");		System.out.println("Fault!");
			visualOdometry.reset();
	}		}

Peter at 21:07, 19 June 2014

2014-06-19T21:07:30Z

← Older revision		Revision as of 21:07, 19 June 2014
Line 3:		Line 3:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.16/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.17/examples/src/boofcv/examples/sfm/ExampleVisualOdometryMonocularPlane.java ExampleVisualOdometryMonocularPlane.java]

	Concepts:		Concepts:
Line 34:		Line 34:

	// load camera description and the video sequence		// load camera description and the video sequence
	MonoPlaneParameters calibration = ~~BoofMiscOps~~.loadXML(media.openFile(directory + "mono_plane.xml"));		MonoPlaneParameters calibration = UtilIO.loadXML(media.openFile(directory + "mono_plane.xml"));
	SimpleImageSequence<ImageUInt8> video = media.openVideo(directory + "left.mjpeg", ImageType.single(ImageUInt8.class));		SimpleImageSequence<ImageUInt8> video = media.openVideo(directory + "left.mjpeg", ImageType.single(ImageUInt8.class));