boofcv.abst.sfm.d3.WrapVisOdomMonoStereoDepthPnP 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.sfm.AccessPointTracks3D;
import boofcv.abst.tracker.PointTrack;
import boofcv.alg.geo.DistanceFromModelMultiView;
import boofcv.alg.sfm.StereoSparse3D;
import boofcv.alg.sfm.d3.VisOdomMonoDepthPnP;
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.point.Point4D_F64;
import georegression.struct.se.Se3_F64;
import org.jetbrains.annotations.Nullable;

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

/**
 * Wrapper around {@link VisOdomMonoDepthPnP} for {@link StereoVisualOdometry}.
 *
 * @author Peter Abeles
 */
// TODO WARNING! active list has been modified by dropping and adding tracks
// this is probably true of other SFM algorithms
public class WrapVisOdomMonoStereoDepthPnP>
		implements StereoVisualOdometry, AccessPointTracks3D {

	// low level algorithm
	VisOdomMonoDepthPnP alg;
	StereoSparse3D stereo;
	DistanceFromModelMultiView distance;
	Class imageType;
	boolean success;

	List active = new ArrayList<>();

	public WrapVisOdomMonoStereoDepthPnP( VisOdomMonoDepthPnP alg,
										  StereoSparse3D stereo,
										  DistanceFromModelMultiView distance,
										  Class imageType ) {
		this.alg = alg;
		this.stereo = stereo;
		this.distance = distance;
		this.imageType = imageType;
	}

	@Override
	public boolean getTrackWorld3D( int index, Point3D_F64 world ) {
		Point4D_F64 p = alg.getVisibleTracks().get(index).worldLoc;
		world.setTo(p.x/p.w, p.y/p.w, p.z/p.w);
		return true;
	}

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

	@Override
	public long getTrackId( int index ) {
		return alg.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(alg.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 ) {
		return alg.getInlierTracks().contains(alg.getVisibleTracks().get(index));
	}

	@Override
	public boolean isTrackNew( int index ) {
		VisOdomMonoDepthPnP.Track track = alg.getVisibleTracks().get(index);
		return Objects.requireNonNull(track.visualTrack).spawnFrameID == alg.getFrameID();
	}

	@Override
	public void setCalibration( StereoParameters parameters ) {
		stereo.setCalibration(parameters);
		alg.setCamera(parameters.left);
		distance.setIntrinsic(0, parameters.left);
	}

	@Override
	public boolean process( T leftImage, T rightImage ) {
		stereo.setImages(leftImage, rightImage);
		success = alg.process(leftImage);

		active.clear();
		alg.getTracker().getActiveTracks(active);

		return success;
	}

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

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

	@Override
	public boolean isFault() {
		return !success;
	}

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

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

	public VisOdomMonoDepthPnP getAlgorithm() {
		return alg;
	}

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