boofcv.alg.sfm.d3

Class VisOdomMonoOverheadMotion2D<T extends ImageBase>

java.lang.Object

boofcv.alg.sfm.d3.VisOdomMonoOverheadMotion2D<T>

public class VisOdomMonoOverheadMotion2D<T extends ImageBase>
extends java.lang.Object

Estimates the motion of a monocular camera using the known transform between the camera and the ground plane. The camera's image is converted into an orthogonal overhead view. Features are tracked inside the overhead image and the 2D rigid body motion found. The output can be either the 2D motion or the 3D motion of the camera. There is no scale ambiguity since the transform from the plane to camera is known. The advantage of tracking inside the overhead view instead of the camera image is that the overhead view lacks perspective distortion and is crops the image which does not contain the plane. Features without perspective distortion are easier to track and many false positives are removed by removing many features not on the plane. The plane which is being viewed is defined by the 'planeToCamera' transform. In the plane's reference frame the plane lies along the x-z axis and contains point (0,0,0). See CreateSyntheticOverheadView for more information about the ground plane coordinates and overhead image..

Constructor Summary

Constructors

Constructor and Description
VisOdomMonoOverheadMotion2D(double cellSize, double maxCellsPerPixel, double mapHeightFraction, ImageMotion2D<T,Se2_F64> motion2D, ImageType<T> imageType) Configures motion estimation algorithm.

Method Summary

Modifier and Type	Method and Description
void	configureCamera(IntrinsicParameters intrinsic, Se3_F64 planeToCamera) Camera the camera's intrinsic and extrinsic parameters.
ImageMotion2D<T,Se2_F64>	getMotion2D() 2D motion algorithm
OverheadView<T>	getOverhead() Overhead image view
Se2_F64	getWorldToCurr2D() 2D motion.
Se3_F64	getWorldToCurr3D() 3D motion.
boolean	process(T image) Estimates the motion which the camera undergoes relative to the first frame processed.
void	reset() Resets the algorithm into its initial state

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

VisOdomMonoOverheadMotion2D

public VisOdomMonoOverheadMotion2D(double cellSize,
                                   double maxCellsPerPixel,
                                   double mapHeightFraction,
                                   ImageMotion2D<T,Se2_F64> motion2D,
                                   ImageType<T> imageType)

Configures motion estimation algorithm.

Parameters:

cellSize - Size of cells in plane in world units

maxCellsPerPixel - Specifies minimum resolution of a region in overhead image. A pixel in the camera can't overlap more than this number of map cells. Higher values allow lower resolution regions. Try 4.

mapHeightFraction - Reduce the map height by this fraction to avoid excessive unusable image space. Set to 1.0 to maximize the viewing area and any value less than one to crop it.

motion2D - Estimates motion inside the overhead image.

Method Detail

configureCamera

public void configureCamera(IntrinsicParameters intrinsic,
                            Se3_F64 planeToCamera)

Camera the camera's intrinsic and extrinsic parameters. Can be called at any time.

Parameters:

intrinsic - Intrinsic camera parameters

planeToCamera - Transform from the plane to camera.

reset

public void reset()

Resets the algorithm into its initial state

process

public boolean process(T image)

Estimates the motion which the camera undergoes relative to the first frame processed.

Parameters:

image - Most recent camera image.

Returns:

true if motion was estimated or false if a fault occurred. Should reset after a fault.

getWorldToCurr2D

public Se2_F64 getWorldToCurr2D()

2D motion.

Returns:

from world to current frame.

getWorldToCurr3D

public Se3_F64 getWorldToCurr3D()

3D motion.

Returns:

from world to current frame.

getOverhead

public OverheadView<T> getOverhead()

Overhead image view

getMotion2D

public ImageMotion2D<T,Se2_F64> getMotion2D()

2D motion algorithm