boofcv.abst.sfm.d3.WrapVisOdomDualTrackPnP 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
BoofCV is an open source Java library for real-time computer vision and robotics applications.
The newest version!
/*
 * Copyright (c) 2024, 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.sfm.AccessPointTracks3D;
import boofcv.abst.tracker.PointTrack;
import boofcv.alg.feature.associate.AssociateStereo2D;
import boofcv.alg.geo.DistanceFromModelMultiView;
import boofcv.alg.geo.PerspectiveOps;
import boofcv.alg.geo.pose.PnPStereoDistanceReprojectionSq;
import boofcv.alg.geo.pose.RefinePnPStereo;
import boofcv.alg.sfm.d3.VisOdomDualTrackPnP;
import boofcv.struct.calib.StereoParameters;
import boofcv.struct.geo.Point2D3D;
import boofcv.struct.image.ImageGray;
import boofcv.struct.image.ImageType;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point3D_F64;
import georegression.struct.se.Se3_F64;
import lombok.Getter;
import org.jetbrains.annotations.Nullable;

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

/**
 * Wrapper around {@link VisOdomDualTrackPnP} for {@link StereoVisualOdometry}.
 *
 * @author Peter Abeles
 */
public class WrapVisOdomDualTrackPnP> implements StereoVisualOdometry, AccessPointTracks3D {
	@Getter @Nullable RefinePnPStereo refine;
	@Getter Se3_F64 sharedLeftToRight;
	@Getter DistanceFromModelMultiView distanceLeft;
	@Getter DistanceFromModelMultiView distanceRight;
	@Getter PnPStereoDistanceReprojectionSq distanceStereo;
	@Getter AssociateStereo2D assoc;

	VisOdomDualTrackPnP visualOdometry;

	Class imageType;

	boolean success;

	public WrapVisOdomDualTrackPnP( VisOdomDualTrackPnP visualOdometry,
									Se3_F64 sharedLeftToRight,
									DistanceFromModelMultiView distanceLeft,
									DistanceFromModelMultiView distanceRight,
									PnPStereoDistanceReprojectionSq distanceStereo,
									AssociateStereo2D assoc,
									@Nullable RefinePnPStereo refine,
									Class imageType ) {
		this.visualOdometry = visualOdometry;
		this.sharedLeftToRight = sharedLeftToRight;
		this.distanceLeft = distanceLeft;
		this.distanceRight = distanceRight;
		this.distanceStereo = distanceStereo;
		this.assoc = assoc;
		this.refine = refine;
		this.imageType = imageType;
	}

	@Override
	public boolean getTrackWorld3D( int index, Point3D_F64 world ) {
		VisOdomDualTrackPnP.TrackInfo info = visualOdometry.getVisibleTracks().get(index);
		PerspectiveOps.homogeneousTo3dPositiveZ(info.worldLoc, 1e8, 1e-8, world);
		return true;
	}

	@Override public int getTotalTracks() {return visualOdometry.getVisibleTracks().size();}

	@Override public long getTrackId( int index ) {return visualOdometry.getVisibleTracks().get(index).id;}

	@Override
	public void getTrackPixel( int index, Point2D_F64 pixel ) {
		// If this throws a null pointer exception then that means there's a bug. The only way a visible track
		// could have a null trackerTrack is if the trackerTrack was dropped. In that case it's no longer visible
		PointTrack track = Objects.requireNonNull(visualOdometry.getVisibleTracks().get(index).visualTrack);
		pixel.setTo(track.pixel);
	}

	@Override
	public List getAllTracks( @Nullable List storage ) {
		throw new RuntimeException("Not supported any more");
	}

	@Override
	public boolean isTrackInlier( int index ) {
		VisOdomDualTrackPnP.TrackInfo info = visualOdometry.getVisibleTracks().get(index);
		return info.lastInlier == visualOdometry.getFrameID();
	}

	@Override public boolean isTrackNew( int index ) {
		VisOdomDualTrackPnP.TrackInfo track = visualOdometry.getVisibleTracks().get(index);
		return Objects.requireNonNull(track.visualTrack).spawnFrameID == visualOdometry.getFrameID();
	}

	@Override
	public void setCalibration( StereoParameters parameters ) {
		parameters.getRightToLeft().invert(sharedLeftToRight);

		if (refine != null)
			refine.setLeftToRight(sharedLeftToRight);
		visualOdometry.setCalibration(parameters);

		distanceLeft.setIntrinsic(0, parameters.left);
		distanceRight.setIntrinsic(0, parameters.right);
		distanceStereo.setStereoParameters(parameters);
		assoc.setCalibration(parameters);
	}

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

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

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

	@Override
	public boolean process( T leftImage, T rightImage ) {return success = visualOdometry.process(leftImage, rightImage);}

	@Override
	public boolean isFault() {
		if (!success)
			return visualOdometry.isFault();
		else
			return false;
	}

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

	@Override
	public void setVerbose( @Nullable PrintStream out, @Nullable Set configuration ) {
		visualOdometry.setVerbose(out, configuration);
	}

	public VisOdomDualTrackPnP getAlgorithm() {
		return visualOdometry;
	}
}