MonoPlaneInfinity_to_MonocularPlaneVisualOdometry (sfm 0.18 API)

java.lang.Object
- boofcv.abst.sfm.d3.MonoPlaneInfinity_to_MonocularPlaneVisualOdometry<T>

All Implemented Interfaces:

AccessPointTracks, AccessPointTracks3D, MonocularPlaneVisualOdometry<T>, VisualOdometry<georegression.struct.se.Se3_F64>
```
public class MonoPlaneInfinity_to_MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase>
extends java.lang.Object
implements MonocularPlaneVisualOdometry<T>, AccessPointTracks3D
```
Wrapper around VisOdomMonoPlaneInfinity for MonocularPlaneVisualOdometry.

Constructor Summary

Constructors
Constructor and Description
`MonoPlaneInfinity_to_MonocularPlaneVisualOdometry(VisOdomMonoPlaneInfinity<T> alg, DistancePlane2DToPixelSq distance, GenerateSe2_PlanePtPixel generator, boofcv.struct.image.ImageType<T> imageType)`

Method Summary

Methods
Modifier and Type	Method and Description
`java.util.List<georegression.struct.point.Point2D_F64>`	`getAllTracks()` All the points being actively tracked in pixel coordinates.
`georegression.struct.se.Se3_F64`	`getCameraToWorld()` Returns the estimated motion relative to the first frame in which a fatal error does not happen.
`boofcv.struct.image.ImageType<T>`	`getImageType()` Type of input images it can process.
`long`	`getTrackId(int index)` Used to get the track ID of an active Track
`georegression.struct.point.Point3D_F64`	`getTrackLocation(int index)` 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`	`isInlier(int index)` True if the specified track is an inlier used in motion estimation
`boolean`	`isNew(int index)` True if the specified track was just spawned
`boolean`	`process(T input)` 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(boofcv.struct.calib.MonoPlaneParameters param)` Specifies the camera's intrinsic and extrinsic parameters.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - MonoPlaneInfinity_to_MonocularPlaneVisualOdometry
```
public MonoPlaneInfinity_to_MonocularPlaneVisualOdometry(VisOdomMonoPlaneInfinity<T> alg,
                                                 DistancePlane2DToPixelSq distance,
                                                 GenerateSe2_PlanePtPixel generator,
                                                 boofcv.struct.image.ImageType<T> imageType)
```
- Method Detail
  - setCalibration
```
public void setCalibration(boofcv.struct.calib.MonoPlaneParameters param)
```
    Description copied from interface: MonocularPlaneVisualOdometry
    
    Specifies the camera's intrinsic and extrinsic parameters. Can be changed at any time.
    
    Specified by:
    
    setCalibration in interface MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase>
    
    Parameters:
    param - Camera calibration parameters
  - process
```
public boolean process(T input)
```
    Description copied from interface: MonocularPlaneVisualOdometry
    
    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 MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase>
    
    Parameters:
    input - Next image in the sequence.
    
    Returns:
    If the motion estimate has been updated or not
  - getImageType
```
public boofcv.struct.image.ImageType<T> getImageType()
```
    Description copied from interface: MonocularPlaneVisualOdometry
    
    Type of input images it can process.
    
    Specified by:
    
    getImageType in interface MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase>
    
    Returns:
    The image type
  - 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<georegression.struct.se.Se3_F64>
  - 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<georegression.struct.se.Se3_F64>
    
    Returns:
    true if a fatal error has occurred.
  - getCameraToWorld
```
public georegression.struct.se.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<georegression.struct.se.Se3_F64>
    
    Returns:
    Found pose.
  - getTrackLocation
```
public georegression.struct.point.Point3D_F64 getTrackLocation(int index)
```
    Description copied from interface: AccessPointTracks3D
    
    Returns the 3D location of the active track. If there is no location estimate yet then return null.
    
    Specified by:
    
    getTrackLocation in interface AccessPointTracks3D
    
    Parameters:
    index - The track's index in the active list
    
    Returns:
    Location of the track or null otherwise
  - 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
  - getAllTracks
```
public java.util.List<georegression.struct.point.Point2D_F64> getAllTracks()
```
    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
  - isInlier
```
public boolean isInlier(int index)
```
    Description copied from interface: AccessPointTracks
    
    True if the specified track is an inlier used in motion estimation
    
    Specified by:
    
    isInlier in interface AccessPointTracks
    
    Parameters:
    index - The index in all
    
    Returns:
    if it is an inlier or not
  - isNew
```
public boolean isNew(int index)
```
    Description copied from interface: AccessPointTracks
    
    True if the specified track was just spawned
    
    Specified by:
    
    isNew in interface AccessPointTracks
    
    Parameters:
    index - The index in all
    
    Returns:
    if it is new or not

Class MonoPlaneInfinity_to_MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase>

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

MonoPlaneInfinity_to_MonocularPlaneVisualOdometry

Method Detail

setCalibration

process

getImageType

reset

isFault

getCameraToWorld

getTrackLocation

getTrackId

getAllTracks

isInlier

isNew