boofcv.factory.sfm.ConfigRgbDepthTrackPnP Maven / Gradle / Ivy
Go to download
Show more of this group Show more artifacts with this name
Show all versions of boofcv-sfm Show documentation
Show all versions of boofcv-sfm Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2021, 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.factory.sfm;
import boofcv.factory.tracker.ConfigPointTracker;
import boofcv.struct.Configuration;
/**
* Configuration for visual odometry from RGB-D image using PnP style approach.
*
* @author Peter Abeles
*/
public class ConfigRgbDepthTrackPnP implements Configuration {
/** Configuration for building and optimizing a local scene */
public ConfigVisOdomTrackPnP scene = new ConfigVisOdomTrackPnP();
/** Tracker configuration for left camera */
public ConfigPointTracker tracker = new ConfigPointTracker();
/** Used to adjust units in the depth image to something more manageable. E.g. millimeters to meters */
public double depthScale = 1.0;
@Override public void checkValidity() {
scene.checkValidity();
tracker.checkValidity();
}
public ConfigRgbDepthTrackPnP setTo( ConfigRgbDepthTrackPnP src ) {
this.scene.setTo(src.scene);
this.tracker.setTo(src.tracker);
this.depthScale = src.depthScale;
return this;
}
}