internal RotationAnalyzer(VisualOdometer visualOdometer)
{
m_VisualOdometer = visualOdometer;
m_FocalLengthX = visualOdometer.CameraParameters.Intrinsic.Fx;
m_CenterX = visualOdometer.CameraParameters.Intrinsic.Cx;
m_RotationIncrements = new List<double>();
}
internal RotationAnalyzer(VisualOdometer visualOdometer)
{
m_VisualOdometer = visualOdometer;
m_FocalLengthX = visualOdometer.CameraParameters.Intrinsic.Fx;
m_CenterX = visualOdometer.CameraParameters.Intrinsic.Cx;
m_RotationIncrements = new List <double>();
}
internal TranslationAnalyzer(VisualOdometer visualOdometer, HomographyMatrix groundProjectionTransformation)
{
m_VisualOdometer = visualOdometer;
m_GroundProjectionTransformation = groundProjectionTransformation;
m_GroundFeatures = new List <TrackedFeature>();
m_UsedGroundFeatures = new List <TrackedFeature>();
m_ScratchPadUsedGroundFeatures = new List <TrackedFeature>();
m_TranslationIncrements = new List <Point>();
m_AcceptedDirectionMisalignment = Angle.FromDegrees(45);
}
internal TranslationAnalyzer(VisualOdometer visualOdometer, HomographyMatrix groundProjectionTransformation)
{
m_VisualOdometer = visualOdometer;
m_GroundProjectionTransformation = groundProjectionTransformation;
m_GroundFeatures = new List<TrackedFeature>();
m_UsedGroundFeatures = new List<TrackedFeature>();
m_ScratchPadUsedGroundFeatures = new List<TrackedFeature>();
m_TranslationIncrements = new List<Point>();
m_AcceptedDirectionMisalignment = Angle.FromDegrees(45);
}