vslam::VslamSystemMono Class Reference

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

#include <vslam_mono.h>

Inheritance diagram for vslam::VslamSystemMono:

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List of all members.

Public Member Functions
bool	addFrame (const frame_common::CamParams &camera_parameters, const cv::Mat &image)
	Add a monocular frame to the system.
	VslamSystemMono (const std::string &vocab_tree_file, const std::string &vocab_weights_file)
	Constructor for VslamSystemMono.

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Detailed Description

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

Definition at line 9 of file vslam_mono.h.

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Constructor & Destructor Documentation

vslam::VslamSystemMono::VslamSystemMono	(	const std::string &	vocab_tree_file,
		const std::string &	vocab_weights_file
	)

Constructor for VslamSystemMono.

Parameters:

	vocab_tree_file	Path to the vocabulary tree file.
	vocab_weights_file	Path to the vocabulary tree weights file.

Definition at line 8 of file vslam_mono.cpp.

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Member Function Documentation

bool vslam::VslamSystemMono::addFrame	(	const frame_common::CamParams &	camera_parameters,
		const cv::Mat &	image
	)

Add a monocular frame to the system.

Parameters:

	camera_parameters	Camera parameters for the cameras.
	image	Image to add.

Definition at line 14 of file vslam_mono.cpp.

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

• vslam_mono.h
• vslam_mono.cpp