vo.h File Reference

#include <posest/pe3d.h>
#include <frame_common/frame.h>
#include <boost/shared_ptr.hpp>
#include <cv.h>
#include <cstdlib>
#include <math.h>
#include <posest/pe.h>
#include <stdio.h>
#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "Core"
#include "src/Core/util/DisableMSVCWarnings.h"
#include "src/misc/Solve.h"
#include "src/misc/Kernel.h"
#include "src/misc/Image.h"
#include "src/LU/FullPivLU.h"
#include "src/LU/PartialPivLU.h"
#include "src/LU/Determinant.h"
#include "src/LU/Inverse.h"
#include "src/Core/util/EnableMSVCWarnings.h"
#include <Eigen/StdVector>
#include <vector>
#include <algorithm>
#include "src/Cholesky/LLT.h"
#include "src/Cholesky/LDLT.h"
#include <Eigen/LU>
#include <map>
#include <sba/node.h>
#include <stdlib.h>
#include <limits.h>
#include <bpcg/bpcg.h>
#include <cstdio>

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Classes
class	vslam::voSt
	Stereo visual odometry class. Keeps track of a certain size window of latest frames in the system, estimates pose changes between frames, and optimizes the window using SBA. More...
Namespaces
namespace	vslam
Functions
void	vslam::addPointCloudProjections (fc::Frame &f0, fc::Frame &f1, sba::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=NULL)
	Adds point-plane projections between two frames based on inlier matches. Adds any points not previously present in the external system, and fills in ipts.
void	vslam::addProjections (fc::Frame &f0, fc::Frame &f1, std::vector< fc::Frame, Eigen::aligned_allocator< fc::Frame > > &frames, sba::SysSBA &sba, const std::vector< cv::DMatch > &inliers, const Matrix< double, 3, 4 > &f2w, int ndi0, int ndi1, std::vector< int > *ipts=NULL)
	Adds projections between two frames based on inlier matches. Adds any points not previously present in the external system, and fills in 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.