vslam::VslamSystem Class Reference

VSLAM class that performs visual odometry, loop closure through place recognition, and large-scale optimization using SBA. More...

#include <vslam.h>

Inheritance diagram for vslam::VslamSystem:

[legend]

List of all members.

Public Member Functions
bool	addFrame (const frame_common::CamParams &camera_parameters, const cv::Mat &left, const cv::Mat &right, const pcl::PointCloud< pcl::PointXYZRGB > &ptcloud, int nfrac=0)
	Add a frame to the system.
bool	addFrame (const frame_common::CamParams &camera_parameters, const cv::Mat &left, const cv::Mat &right, int nfrac=0, bool setPointCloud=false)
	Add a frame to the system.
void	addKeyframe (frame_common::Frame &next_frame)
void	refine (int initial_runs=3)
	Perform a refinement on the large-scale SBA system.
void	setHuber (double x)
	Set the window size for place recognition matching.
void	setKeyAngle (double n)
	Set minimum keyframe distance in meters.
void	setKeyDist (double n)
	Set keyframe inliers.
void	setKeyInliers (int n)
	Set number of keyframes to skip for Place Recognition.
void	setNDisp (int n)
	Set minimum keyframe angle in radians.
void	setPlaceInliers (int n)
void	setPointcloudProc (boost::shared_ptr< frame_common::PointcloudProc > proc)
	Set the pointcloud processor.
void	setPRPolish (bool n)
	Set the number of RANSAC iterations for place recognition pose estimate.
void	setPRRansacIt (int n)
	Set the number of disparities in stereo processing.
void	setPRSkip (int n)
	Place recognition inliers.
void	setPRWindow (int x, int y)
	Set whether to polish pose estimate for visual odometry using SBA.
void	setVOPolish (bool n)
	Set the number of RANSAC iterations for visual odometry pose estimate.
void	setVORansacIt (int n)
	Set whether to polish the place recognition pose estimate using SBA.
void	setVOWindow (int x, int y)
	Set the window size for place recognition matching.
	VslamSystem (const std::string &vocab_tree_file, const std::string &vocab_weights_file, int min_keyframe_inliers=0, double min_keyframe_distance=0.2, double min_keyframe_angle=0.1)
	Constructor for VslamSystem.
Public Attributes
bool	doPointPlane
frame_common::FrameProc	frame_processor_
std::vector < frame_common::Frame, Eigen::aligned_allocator < frame_common::Frame > >	frames_
	Image frames in system.
int	nSkip
	Number of the most recent frames to skip for PR checking.
int	numPRs
	Number of place recognitions that succeeded.
vslam::PlaceRecognizer	place_recognizer_
	Place recognizer.
std::vector< cv::DMatch >	pointcloud_matches_
	Pointcloud matches.
boost::shared_ptr < frame_common::PointcloudProc >	pointcloud_processor_
	Pointer to pointcloud processor.
pe::PoseEstimator3d	pose_estimator_
	For place recognition matches.
int	prInliers
	Number of inliers needed for PR match.
sba::SysSBA	sba_
	Large-scale SBA system.
vslam::voSt	vo_
	Visual odometry processor.

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Detailed Description

VSLAM class that performs visual odometry, loop closure through place recognition, and large-scale optimization using SBA.

Definition at line 12 of file vslam.h.

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Constructor & Destructor Documentation

vslam::VslamSystem::VslamSystem	(	const std::string &	vocab_tree_file,
		const std::string &	vocab_weights_file,
		int	min_keyframe_inliers = 0,
		double	min_keyframe_distance = 0.2,
		double	min_keyframe_angle = 0.1
	)

Constructor for VslamSystem.

Parameters:

	vocab_tree_file	Path to the vocabulary tree file.
	vocab_weights_file	Path to the vocabulary tree weights file.
	min_keyframe_distance	Minimum distance between keyframes, in meters.
	min_keyframe_angle	Minimum angle between keyframes, in radians.
	min_keyframe_inliers	Minimum inliers in keyframes.

Todo:

Don't use windowed matching for place rec

Definition at line 44 of file vslam.cpp.

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Member Function Documentation

bool vslam::VslamSystem::addFrame	(	const frame_common::CamParams &	camera_parameters,
		const cv::Mat &	left,
		const cv::Mat &	right,
		const pcl::PointCloud< pcl::PointXYZRGB > &	ptcloud,
		int	nfrac = 0
	)

Add a frame to the system.

Parameters:

	camera_parameters	Camera parameters for the cameras.
	left	Left image.
	right	Right image.
	ptcloud	Pointcloud to add to the frame.
	nfrac	Fractional disparity. If above 0, then right is an int16_t disparity image.

bool vslam::VslamSystem::addFrame	(	const frame_common::CamParams &	camera_parameters,
		const cv::Mat &	left,
		const cv::Mat &	right,
		int	nfrac = 0,
		bool	setPointCloud = false
	)

Add a frame to the system.

Parameters:

	camera_parameters	Camera parameters for the cameras.
	left	Left image.
	right	Right image.
	nfrac	Fractional disparity. If above 0, then right is an int16_t disparity image.
	setPointCloud.	True if point cloud is to be set up from disparities

Definition at line 69 of file vslam.cpp.

void vslam::VslamSystem::addKeyframe

(

frame_common::Frame &

next_frame

)

Todo:

What does 'fq0' mean?

Definition at line 141 of file vslam.cpp.

void vslam::VslamSystem::refine

(

int

initial_runs = 3

)

Perform a refinement on the large-scale SBA system.

Parameters:

initial_runs

How many iterations to do SBA for.

Todo:

Make these arguments parameters?

Definition at line 218 of file vslam.cpp.

void vslam::VslamSystem::setHuber

(

double

x

)

[inline]

Set the window size for place recognition matching.

Definition at line 80 of file vslam.h.

void vslam::VslamSystem::setKeyAngle

(

double

n

)

[inline]

Set minimum keyframe distance in meters.

Definition at line 72 of file vslam.h.

void vslam::VslamSystem::setKeyDist

(

double

n

)

[inline]

Set keyframe inliers.

Definition at line 71 of file vslam.h.

void vslam::VslamSystem::setKeyInliers

(

int

n

)

[inline]

Set number of keyframes to skip for Place Recognition.

Definition at line 70 of file vslam.h.

void vslam::VslamSystem::setNDisp

(

int

n

)

[inline]

Set minimum keyframe angle in radians.

Definition at line 73 of file vslam.h.

void vslam::VslamSystem::setPlaceInliers

(

int

n

)

[inline]

Definition at line 68 of file vslam.h.

void vslam::VslamSystem::setPointcloudProc

(

boost::shared_ptr< frame_common::PointcloudProc >

proc

)

[inline]

Set the pointcloud processor.

Definition at line 85 of file vslam.h.

void vslam::VslamSystem::setPRPolish

(

bool

n

)

[inline]

Set the number of RANSAC iterations for place recognition pose estimate.

Definition at line 75 of file vslam.h.

void vslam::VslamSystem::setPRRansacIt

(

int

n

)

[inline]

Set the number of disparities in stereo processing.

Definition at line 74 of file vslam.h.

void vslam::VslamSystem::setPRSkip

(

int

n

)

[inline]

Place recognition inliers.

Definition at line 69 of file vslam.h.

void vslam::VslamSystem::setPRWindow	(	int	x,
		int	y
	)			[inline]

Set whether to polish pose estimate for visual odometry using SBA.

Definition at line 78 of file vslam.h.

void vslam::VslamSystem::setVOPolish

(

bool

n

)

[inline]

Set the number of RANSAC iterations for visual odometry pose estimate.

Definition at line 77 of file vslam.h.

void vslam::VslamSystem::setVORansacIt

(

int

n

)

[inline]

Set whether to polish the place recognition pose estimate using SBA.

Definition at line 76 of file vslam.h.

void vslam::VslamSystem::setVOWindow	(	int	x,
		int	y
	)			[inline]

Set the window size for place recognition matching.

Definition at line 79 of file vslam.h.

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Member Data Documentation

bool vslam::VslamSystem::doPointPlane

Definition at line 22 of file vslam.h.

frame_common::FrameProc vslam::VslamSystem::frame_processor_

Todo:

Leave these protected

Frame processor for new frames.

Definition at line 10 of file vslam.h.

std::vector<frame_common::Frame, Eigen::aligned_allocator<frame_common::Frame> > vslam::VslamSystem::frames_

Image frames in system.

Definition at line 12 of file vslam.h.

int vslam::VslamSystem::nSkip

Number of the most recent frames to skip for PR checking.

Definition at line 65 of file vslam.h.

int vslam::VslamSystem::numPRs

Number of place recognitions that succeeded.

Definition at line 64 of file vslam.h.

vslam::PlaceRecognizer vslam::VslamSystem::place_recognizer_

Place recognizer.

Definition at line 15 of file vslam.h.

std::vector<cv::DMatch> vslam::VslamSystem::pointcloud_matches_

Pointcloud matches.

Definition at line 21 of file vslam.h.

boost::shared_ptr<frame_common::PointcloudProc> vslam::VslamSystem::pointcloud_processor_

Pointer to pointcloud processor.

Definition at line 19 of file vslam.h.

pe::PoseEstimator3d vslam::VslamSystem::pose_estimator_

For place recognition matches.

Definition at line 16 of file vslam.h.

int vslam::VslamSystem::prInliers

Number of inliers needed for PR match.

Definition at line 63 of file vslam.h.

sba::SysSBA vslam::VslamSystem::sba_

Large-scale SBA system.

Definition at line 13 of file vslam.h.

vslam::voSt vslam::VslamSystem::vo_

Visual odometry processor.

Definition at line 14 of file vslam.h.

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The documentation for this class was generated from the following files:

• vslam.h
• vslam.cpp