@Override
public void setCalibration(StereoParameters parameters) {
stereo.setCalibration(parameters);
PointTransform_F64 leftPixelToNorm =
LensDistortionOps.transformRadialToNorm_F64(parameters.left);
PointTransform_F64 leftNormToPixel =
LensDistortionOps.transformNormToRadial_F64(parameters.left);
alg.setPixelToNorm(leftPixelToNorm);
alg.setNormToPixel(leftNormToPixel);
tracker.setCalibration(parameters.left);
}
@Override
public boolean isNew(int index) {
PointTrack t = alg.getTracker().getActiveTracks(null).get(index);
return alg.getTracker().getNewTracks(null).contains(t);
}
@Override
public List<Point2D_F64> getAllTracks() {
return (List) alg.getTracker().getActiveTracks(null);
}
@Override
public boolean isInlier(int index) {
Point2D3DTrack t = alg.getTracker().getActiveTracks(null).get(index).getCookie();
return alg.getInlierTracks().contains(t);
}
@Override
public long getTrackId(int index) {
PointTrack t = alg.getTracker().getActiveTracks(null).get(index);
return t.featureId;
}
@Override
public Point3D_F64 getTrackLocation(int index) {
PointTrack t = alg.getTracker().getActiveTracks(null).get(index);
return ((Point2D3D) t.getCookie()).getLocation();
}
@Override
public Se3_F64 getLeftToWorld() {
return alg.getCurrToWorld();
}
@Override
public void reset() {
alg.reset();
}
@Override
public boolean process(T leftImage, T rightImage) {
stereo.setImages(leftImage, rightImage);
failed = alg.process(leftImage);
return failed;
}
