@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; }