@Override
public List<Point2D_F64> getAllTracks() {
FastQueue<VisOdomQuadPnP.QuadView> features = alg.getQuadViews();
List<Point2D_F64> ret = new ArrayList<Point2D_F64>();
for (VisOdomQuadPnP.QuadView v : features.toList()) ret.add(v.v2); // new left camera
return ret;
}
@Override
public boolean isInlier(int index) {
ModelMatcher<Se3_F64, Stereo2D3D> matcher = alg.getMatcher();
int N = matcher.getMatchSet().size();
for (int i = 0; i < N; i++) {
if (matcher.getInputIndex(i) == index) return true;
}
return false;
}
@Override
public void setCalibration(StereoParameters parameters) {
Se3_F64 leftToRight = parameters.getRightToLeft().invert(null);
alg.setCalibration(parameters);
associateStereo.setCalibration(parameters);
distance.setStereoParameters(parameters);
IntrinsicParameters left = parameters.left;
distanceMono.setIntrinsic(left.fx, left.fy, left.skew);
if (refine != null) refine.setLeftToRight(leftToRight);
}
@Override
public Point3D_F64 getTrackLocation(int index) {
FastQueue<VisOdomQuadPnP.QuadView> features = alg.getQuadViews();
return features.get(index).X;
}
@Override
public boolean process(T leftImage, T rightImage) {
return alg.process(leftImage, rightImage);
}
@Override
public Se3_F64 getCameraToWorld() {
return alg.getLeftToWorld();
}
@Override
public void reset() {
alg.reset();
}