Package boofcv.abst.sfm.d3

Class VisOdomPixelDepthPnP_to_DepthVisualOdometry<Vis extends ImageBase<Vis>,Depth extends ImageGray<Depth>>

java.lang.Object

boofcv.abst.sfm.d3.VisOdomPixelDepthPnP_to_DepthVisualOdometry<Vis,Depth>

All Implemented Interfaces:

AccessPointTracks, AccessPointTracks3D, DepthVisualOdometry<Vis,Depth>, VisualOdometry<Se3_F64>, VerbosePrint

public class VisOdomPixelDepthPnP_to_DepthVisualOdometry<Vis extends ImageBase<Vis>,Depth extends ImageGray<Depth>>
extends Object
implements DepthVisualOdometry<Vis,Depth>, AccessPointTracks3D

Wrapper around VisOdomMonoDepthPnP for DepthVisualOdometry.

Field Summary

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

VERBOSE_TRACKING

Constructor Summary

Constructors

Constructor	Description
VisOdomPixelDepthPnP_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D, VisOdomMonoDepthPnP<Vis> alg, DistanceFromModelMultiView<Se3_F64,Point2D3D> distance, ImageType<Vis> visualType, Class<Depth> depthType)

Method Summary

Modifier and Type	Method	Description
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.
Class<Depth>	getDepthType()	Type of depth images it can process.
long	getFrameID()	Returns the ID of the most recently processed frame.
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.
ImageType<Vis>	getVisualType()	Type of visual images it can process.
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(Vis visual, Depth depth)	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(CameraPinholeBrown paramVisual, Point2Transform2_F32 visToDepth)	Specifies the intrinsic parameters for the visual camera and the transform from visual to depth pixels.
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

VisOdomPixelDepthPnP_to_DepthVisualOdometry

public VisOdomPixelDepthPnP_to_DepthVisualOdometry(DepthSparse3D<Depth> sparse3D,
 VisOdomMonoDepthPnP<Vis> alg,
 DistanceFromModelMultiView<Se3_F64,Point2D3D> distance,
 ImageType<Vis> visualType,
 Class<Depth> depthType)

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(CameraPinholeBrown paramVisual,
 Point2Transform2_F32 visToDepth)

Description copied from interface: DepthVisualOdometry

Specifies the intrinsic parameters for the visual camera and the transform from visual to depth pixels.

Specified by:

setCalibration in interface DepthVisualOdometry<Vis extends ImageBase<Vis>,Depth extends ImageGray<Depth>>

Parameters:

paramVisual - Intrinsic parameters for visual camera

visToDepth - Transform from visual camera pixels into depth camera pixels

process

public boolean process(Vis visual,
 Depth depth)

Description copied from interface: DepthVisualOdometry

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 DepthVisualOdometry<Vis extends ImageBase<Vis>,Depth extends ImageGray<Depth>>

Parameters:

visual - Image from visual camera

depth - Image from depth sensor

Returns:

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

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<Vis extends ImageBase<Vis>>

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<Vis extends ImageBase<Vis>>

Returns:

true if a fatal error has occurred.

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<Vis extends ImageBase<Vis>>

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<Vis extends ImageBase<Vis>>

getVisualType

public ImageType<Vis> getVisualType()

Description copied from interface: DepthVisualOdometry

Type of visual images it can process.

Specified by:

getVisualType in interface DepthVisualOdometry<Vis extends ImageBase<Vis>,Depth extends ImageGray<Depth>>

Returns:

The image type

getDepthType

public Class<Depth> getDepthType()

Description copied from interface: DepthVisualOdometry

Type of depth images it can process.

Specified by:

getDepthType in interface DepthVisualOdometry<Vis extends ImageBase<Vis>,Depth extends ImageGray<Depth>>

Returns:

The image type

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint