Examples with PkltConfig boofcv.alg.tracker.klt.PkltConfig used on opensource projects

Example 16 with PkltConfig

use of boofcv.alg.tracker.klt.PkltConfig in project BoofCV by lessthanoptimal.

the class TestMonoMotion2D_to_MonocularPlaneVisualOdometry method createAlgorithm.

protected MonocularPlaneVisualOdometry<GrayU8> createAlgorithm() {
    PkltConfig config = new PkltConfig();
    config.pyramidScaling = new int[] { 1, 2, 4, 8 };
    config.templateRadius = 3;
    ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
    PointTracker<GrayU8> tracker = FactoryPointTracker.klt(config, configDetector, GrayU8.class, GrayS16.class);
    return FactoryVisualOdometry.monoPlaneInfinity(50, 2, 1.5, 300, tracker, ImageType.single(GrayU8.class));
}

Example 17 with PkltConfig

use of boofcv.alg.tracker.klt.PkltConfig in project BoofCV by lessthanoptimal.

the class TestVisOdomPixelDepthPnP_to_DepthVisualOdometry method createAlgorithm.

protected DepthVisualOdometry<GrayU8, GrayU16> createAlgorithm() {
    PkltConfig config = new PkltConfig();
    config.pyramidScaling = new int[] { 1, 2, 4, 8 };
    config.templateRadius = 3;
    ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
    PointTrackerTwoPass<GrayU8> tracker = FactoryPointTrackerTwoPass.klt(config, configDetector, GrayU8.class, GrayS16.class);
    DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(depthUnits);
    return FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, false, sparseDepth, tracker, GrayU8.class, GrayU16.class);
}

Example 18 with PkltConfig

use of boofcv.alg.tracker.klt.PkltConfig 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);
}