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

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/*
 * 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.abst.sfm.d3;

import boofcv.abst.distort.FDistort;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.struct.calib.StereoParameters;
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 StereoVisualOdometry} which scales the input images.
 *
 * @author Peter Abeles
 */
// TODO more efficient scaling algorithm
@SuppressWarnings({"NullAway.Init"})
public class StereoVisualOdometryScaleInput> implements StereoVisualOdometry {

	double scaleFactor;

	StereoParameters scaleParameter;

	T scaleLeft;
	T scaleRight;

	StereoVisualOdometry alg;

	public StereoVisualOdometryScaleInput( StereoVisualOdometry alg, double scaleFactor ) {
		this.alg = alg;
		this.scaleFactor = scaleFactor;
		scaleLeft = alg.getImageType().createImage(1, 1);
		scaleRight = alg.getImageType().createImage(1, 1);
	}

	@Override
	public void setCalibration( StereoParameters parameters ) {
		scaleParameter = new StereoParameters(parameters);

		PerspectiveOps.scaleIntrinsic(scaleParameter.left, scaleFactor);
		PerspectiveOps.scaleIntrinsic(scaleParameter.right, scaleFactor);

		scaleLeft.reshape(scaleParameter.left.width, scaleParameter.left.height);
		scaleRight.reshape(scaleParameter.right.width, scaleParameter.right.height);

		alg.setCalibration(scaleParameter);
	}

	@Override
	public boolean process( T leftImage, T rightImage ) {

		new FDistort(leftImage, scaleLeft).scaleExt().apply();
		new FDistort(rightImage, scaleRight).scaleExt().apply();

		return alg.process(scaleLeft, scaleRight);
	}

	@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 ) {
		alg.setVerbose(out, configuration);
	}
}