Examples with Point2D3DTrack boofcv.struct.sfm.Point2D3DTrack used on opensource projects

Example 1 with Point2D3DTrack

use of boofcv.struct.sfm.Point2D3DTrack in project BoofCV by lessthanoptimal.

the class VisOdomPixelDepthPnP method changePoseToReference.

/**
 * Updates the relative position of all points so that the current frame is the reference frame.  Mathematically
 * this is not needed, but should help keep numbers from getting too large.
 */
private void changePoseToReference() {
    Se3_F64 keyToCurr = currToKey.invert(null);
    List<PointTrack> all = tracker.getAllTracks(null);
    for (PointTrack t : all) {
        Point2D3DTrack p = t.getCookie();
        SePointOps_F64.transform(keyToCurr, p.location, p.location);
    }
    concatMotion();
}

Example 2 with Point2D3DTrack

use of boofcv.struct.sfm.Point2D3DTrack in project MAVSlam by ecmnet.

the class MAVOdomPixelDepthPnP method changePoseToReference.

/**
 * Updates the relative position of all points so that the current frame is
 * the reference frame. Mathematically this is not needed, but should help
 * keep numbers from getting too large.
 */
private void changePoseToReference() {
    Se3_F64 keyToCurr = currToKey.invert(null);
    List<PointTrack> all = tracker.getAllTracks(null);
    for (PointTrack t : all) {
        Point2D3DTrack p = t.getCookie();
        SePointOps_F64.transform(keyToCurr, p.location, p.location);
    }
    concatMotion();
}

Example 3 with Point2D3DTrack

use of boofcv.struct.sfm.Point2D3DTrack in project BoofCV by lessthanoptimal.

the class VisOdomPixelDepthPnP method estimateMotion.

/**
 * Estimates motion from the set of tracks and their 3D location
 *
 * @return true if successful.
 */
private boolean estimateMotion() {
    List<PointTrack> active = tracker.getActiveTracks(null);
    List<Point2D3D> obs = new ArrayList<>();
    for (PointTrack t : active) {
        Point2D3D p = t.getCookie();
        pixelToNorm.compute(t.x, t.y, p.observation);
        obs.add(p);
    }
    // estimate the motion up to a scale factor in translation
    if (!motionEstimator.process(obs))
        return false;
    if (doublePass) {
        if (!performSecondPass(active, obs))
            return false;
    }
    tracker.finishTracking();
    Se3_F64 keyToCurr;
    if (refine != null) {
        keyToCurr = new Se3_F64();
        refine.fitModel(motionEstimator.getMatchSet(), motionEstimator.getModelParameters(), keyToCurr);
    } else {
        keyToCurr = motionEstimator.getModelParameters();
    }
    keyToCurr.invert(currToKey);
    // mark tracks as being inliers and add to inlier list
    int N = motionEstimator.getMatchSet().size();
    for (int i = 0; i < N; i++) {
        int index = motionEstimator.getInputIndex(i);
        Point2D3DTrack t = active.get(index).getCookie();
        t.lastInlier = tick;
        inlierTracks.add(t);
    }
    return true;
}

Example 4 with Point2D3DTrack

use of boofcv.struct.sfm.Point2D3DTrack in project BoofCV by lessthanoptimal.

the class VisOdomPixelDepthPnP method addNewTracks.

/**
 * Detects new features and computes their 3D coordinates
 */
private void addNewTracks() {
    // System.out.println("----------- Adding new tracks ---------------");
    tracker.spawnTracks();
    List<PointTrack> spawned = tracker.getNewTracks(null);
    // estimate 3D coordinate using stereo vision
    for (PointTrack t : spawned) {
        Point2D3DTrack p = t.getCookie();
        if (p == null) {
            t.cookie = p = new Point2D3DTrack();
        }
        // discard point if it can't localized
        if (!pixelTo3D.process(t.x, t.y) || pixelTo3D.getW() == 0) {
            tracker.dropTrack(t);
        } else {
            Point3D_F64 X = p.getLocation();
            double w = pixelTo3D.getW();
            X.set(pixelTo3D.getX() / w, pixelTo3D.getY() / w, pixelTo3D.getZ() / w);
            // translate the point into the key frame
            // SePointOps_F64.transform(currToKey,X,X);
            // not needed since the current frame was just set to be the key frame
            p.lastInlier = tick;
            pixelToNorm.compute(t.x, t.y, p.observation);
        }
    }
}

Example 5 with Point2D3DTrack

use of boofcv.struct.sfm.Point2D3DTrack in project BoofCV by lessthanoptimal.

the class VisOdomPixelDepthPnP method dropUnusedTracks.

/**
 * Removes tracks which have not been included in the inlier set recently
 *
 * @return Number of dropped tracks
 */
private int dropUnusedTracks() {
    List<PointTrack> all = tracker.getAllTracks(null);
    int num = 0;
    for (PointTrack t : all) {
        Point2D3DTrack p = t.getCookie();
        if (tick - p.lastInlier > thresholdRetire) {
            tracker.dropTrack(t);
            num++;
        }
    }
    return num;
}