public static < T extends ImageGray < T > > MonocularPlaneVisualOdometry < T > monoPlaneInfinity ( int thresholdAdd , int thresholdRetire , double inlierPixelTol , int ransacIterations , PointTracker < T > tracker , ImageType < T > imageType ) { //squared pixel error double ransacTOL = inlierPixelTol * inlierPixelTol ; ModelManagerSe2_F64 manager = new ModelManagerSe2_F64 ( ) ; DistancePlane2DToPixelSq distance = new DistancePlane2DToPixelSq ( ) ; GenerateSe2_PlanePtPixel generator = new GenerateSe2_PlanePtPixel ( ) ; ModelMatcher < Se2_F64 , PlanePtPixel > motion = new Ransac <> ( 2323 , manager , generator , distance , ransacIterations , ransacTOL ) ; VisOdomMonoPlaneInfinity < T > alg = new VisOdomMonoPlaneInfinity <> ( thresholdAdd , thresholdRetire , inlierPixelTol , motion , tracker ) ; return new MonoPlaneInfinity_to_MonocularPlaneVisualOdometry <> ( alg , distance , generator , imageType ) ; }
Monocular plane based visual odometry algorithm which uses both points on the plane and off plane for motion estimation .