boofcv.abst.sfm.d3

Interface MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase>

All Superinterfaces:

VisualOdometry<georegression.struct.se.Se3_F64>

All Known Implementing Classes:

MonocularPlaneVisualOdometryScaleInput, MonoOverhead_to_MonocularPlaneVisualOdometry, MonoPlaneInfinity_to_MonocularPlaneVisualOdometry

public interface MonocularPlaneVisualOdometry<T extends boofcv.struct.image.ImageBase>
extends VisualOdometry<georegression.struct.se.Se3_F64>

Estimates the camera's motion relative to the ground plane. The world being viewed is assumed to be planar. The transform from the ground plane to the camera view is assumed to be known. Both the intrinsic and extrinsic parameters are allowed to change between image frames. Since the transform between the ground and camera is known, there is no scale ambiguity.

Method Summary

Methods

Modifier and Type	Method and Description
boofcv.struct.image.ImageType<T>	getImageType() Type of input images it can process.
boolean	process(T input) Process the new image and update the motion estimate.
void	setCalibration(boofcv.struct.calib.MonoPlaneParameters param) Specifies the camera's intrinsic and extrinsic parameters.

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

getCameraToWorld, isFault, reset

Method Detail

setCalibration

void setCalibration(boofcv.struct.calib.MonoPlaneParameters param)

Specifies the camera's intrinsic and extrinsic parameters. Can be changed at any time.

Parameters:

param - Camera calibration parameters

process

boolean process(T input)

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.

Parameters:

input - Next image in the sequence.

Returns:

If the motion estimate has been updated or not

getImageType

boofcv.struct.image.ImageType<T> getImageType()

Type of input images it can process.

Returns:

The image type