boofcv.abst.sfm.d3.MonocularPlaneVisualOdometryScaleInput Maven / Gradle / Ivy

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/*
 * Copyright (c) 2020, 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.abst.distort.FDistort;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.struct.calib.CameraPinholeBrown;
import boofcv.struct.calib.MonoPlaneParameters;
import boofcv.struct.image.ImageBase;
import boofcv.struct.image.ImageType;
import georegression.struct.se.Se3_F64;
import org.jetbrains.annotations.Nullable;

import java.io.PrintStream;
import java.util.Set;

/**
 * * Wrapper around {@link MonocularPlaneVisualOdometry} which scales the input images.
 *
 * @author Peter Abeles
 */
// TODO more efficient scaling algorithm
public class MonocularPlaneVisualOdometryScaleInput> implements MonocularPlaneVisualOdometry {

	double scaleFactor;

	MonoPlaneParameters scaleParameter = new MonoPlaneParameters();

	T scaled;

	MonocularPlaneVisualOdometry alg;

	public MonocularPlaneVisualOdometryScaleInput( MonocularPlaneVisualOdometry alg, double scaleFactor ) {
		this.alg = alg;
		this.scaleFactor = scaleFactor;
		scaled = alg.getImageType().createImage(1, 1);
	}

	@Override
	public void setCalibration( MonoPlaneParameters param ) {
		scaleParameter.intrinsic = new CameraPinholeBrown(param.intrinsic);
		scaleParameter.planeToCamera = param.planeToCamera.copy();

		PerspectiveOps.scaleIntrinsic(scaleParameter.intrinsic, scaleFactor);

		scaled.reshape(scaleParameter.intrinsic.width, scaleParameter.intrinsic.height);

		alg.setCalibration(scaleParameter);
	}

	@Override
	public boolean process( T leftImage ) {

		new FDistort(leftImage, scaled).scaleExt().apply();

		return alg.process(scaled);
	}

	@Override
	public ImageType getImageType() {
		return alg.getImageType();
	}

	@Override
	public void reset() {
		alg.reset();
	}

	@Override
	public boolean isFault() {
		return alg.isFault();
	}

	@Override
	public Se3_F64 getCameraToWorld() {
		return alg.getCameraToWorld();
	}

	@Override
	public long getFrameID() {
		return alg.getFrameID();
	}

	@Override
	public void setVerbose( @Nullable PrintStream out, @Nullable Set configuration ) {

	}
}