Examples with DescribeRegionPoint boofcv.abst.feature.describe.DescribeRegionPoint used on opensource projects

Example 11 with DescribeRegionPoint

use of boofcv.abst.feature.describe.DescribeRegionPoint in project BoofCV by lessthanoptimal.

the class TestWrapVisOdomDualTrackPnP method createAlgorithm.

@Override
public StereoVisualOdometry<GrayF32> createAlgorithm() {
    ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 2, 1);
    PkltConfig kltConfig = new PkltConfig();
    kltConfig.templateRadius = 3;
    kltConfig.pyramidScaling = new int[] { 1, 2, 4, 8 };
    PointTracker<GrayF32> trackerLeft = FactoryPointTracker.klt(kltConfig, configDetector, GrayF32.class, GrayF32.class);
    PointTracker<GrayF32> trackerRight = FactoryPointTracker.klt(kltConfig, configDetector, GrayF32.class, GrayF32.class);
    DescribeRegionPoint describe = FactoryDescribeRegionPoint.surfFast(null, GrayF32.class);
    return FactoryVisualOdometry.stereoDualTrackerPnP(90, 2, 1.5, 1.5, 200, 50, trackerLeft, trackerRight, describe, GrayF32.class);
}