boofcv.abst.sfm.d3.MonocularVisualOdometry Maven / Gradle / Ivy
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/*
* Copyright (c) 2011-2017, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.abst.sfm.d3;
import boofcv.struct.calib.CameraPinholeRadial;
import boofcv.struct.image.ImageBase;
import boofcv.struct.image.ImageType;
import georegression.struct.se.Se3_F64;
/**
*
* Interface for visual odometry from a single camera that provides 6-DOF pose. The camera is assumed
* to be calibrated so that the "true" Euclidean motion can be extracted, up to a scale factor.
* Motion can only be found up to a scale factor because it is impossible to distinguish between a
* large motion and distant objects against a small motion and close objects when using a single camera.
*
*
*
* Each time a new image arrives the function {@link #process} should be invoked and its return value
* checked. If false is returned then {@link #isFault()} needs to be called to see if a fatal error
* occurred. If a fatal error occurred then the motion estimate has been reset relative to the first
* frame in which {@link #isFault} returns false.
*
*
* @author Peter Abeles
*/
public interface MonocularVisualOdometry> extends VisualOdometry {
/**
* Specifies the intrinsic parameters for the camera.
*
* @param param Intrinsic parameters for camera
*/
public void setIntrinsic( CameraPinholeRadial param );
/**
* 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 {@link #isFault}
* also needs to be checked to see if the pose estimate has been reset.
*
* @param input Next image in the sequence.
* @return If the motion estimate has been updated or not
*/
public boolean process( T input );
/**
* Type of input images it can process.
*
* @return The image type
*/
public ImageType getImageType();
}