vo.cpp File Reference

#include <vslam_system/vo.h>
#include <cstdio>

Include dependency graph for vo.cpp:

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Namespaces
namespace	vslam
Functions
void	vslam::addPointCloudProjections (fc::Frame &f0, fc::Frame &f1, SysSBA &sba, const std::vector< cv::DMatch > &inliers, const Matrix< double, 3, 4 > &f2w_frame0, const Matrix< double, 3, 4 > &f2w_frame1, int ndi0, int ndi1, std::vector< int > *ipts)
void	vslam::addProjections (fc::Frame &f0, fc::Frame &f1, std::vector< fc::Frame, Eigen::aligned_allocator< fc::Frame > > &frames, SysSBA &sba, const std::vector< cv::DMatch > &inliers, const Matrix< double, 3, 4 > &f2w, int ndi0, int ndi1, std::vector< int > *ipts)
Vector3d	vslam::getProjection (fc::Frame &frame, int index)
	Get a Vector3d projection from a keypoint at index.
void	vslam::substPointRef (std::vector< int > &ipts, int tri0, int tri1)
	substitutes tri0 for tri1 in a point reference vector.