Public Member Functions
double	compareSURFDescriptors (const float d1, const float d2, double best, int length)
	Error_Prop ()
void	findPairs (const CvSeq objectKeypoints, const CvSeq objectDescriptors, const CvSeq imageKeypoints, const CvSeq imageDescriptors, vector< int > &ptpairs)
void	flannFindPairs (const CvSeq , const CvSeq objectDescriptors, const CvSeq , const CvSeq imageDescriptors, vector< int > &ptpairs)
void	imageCb_l (const sensor_msgs::ImageConstPtr &msg)
void	imageCb_r (const sensor_msgs::ImageConstPtr &msg)
void	init ()
int	locatePlanarObject (const CvSeq objectKeypoints, const CvSeq objectDescriptors, const CvSeq imageKeypoints, const CvSeq imageDescriptors, const CvPoint src_corners[4], CvPoint dst_corners[4])
int	naiveNearestNeighbor (const float vec, int laplacian, const CvSeq model_keypoints, const CvSeq *model_descriptors)
void	run ()
void	VO_3D_to_matches ()
void	VO_clean ()
void	VO_cloudFilter ()
void	VO_ConsecutiveMatching ()
void	VO_get_RT_RANSAC ()
void	VO_matches_to_3D ()
void	VO_matchFilter ()
void	VO_RT_to_world ()
void	VO_StereoMatching ()
void	VO_ViewAll ()
void	VO_ViewConsecutive ()
void	VO_ViewStereo ()
void	ypr (const Matrix< float, 3, 3 > Rot, Matrix< float, 3, 1 > &ypr_)
	~Error_Prop ()
Public Attributes
float	alfa [4]
float	alfa_l [2]
float	alfa_r [2]
float	alfa_U_l
float	alfa_U_r
float	alfa_V_l
float	alfa_V_r
Eigen::Matrix< float, 3, 3 >	cam2world
pcl::PointCloud< pcl::PointXYZ >	cloud_a
pcl::PointCloud< pcl::PointXYZ >	cloud_ant
pcl::PointCloud< pcl::PointXYZ >	cloud_b
pcl::PointCloud< pcl::PointXYZ >	cloud_c
pcl::PointCloud< pcl::PointXYZ >	cloud_odom
pcl::PointCloud< pcl::PointXYZ >	cloud_odom2
pcl::PointCloud< pcl::PointXYZ >	cloud_pos
pcl::PointCloud< pcl::PointXYZ >	cloud_t
pcl::PointCloud< pcl::PointXYZ >	cloud_w
pcl::PointCloud< pcl::PointXYZ >	cloud_wRT
CvMat	Cov
pcl::PointCloud< pcl::PointXYZ >	cpts1
pcl::PointCloud< pcl::PointXYZ >	cpts1RANSAC
pcl::PointCloud< pcl::PointXYZ >	cpts_ant
ros::Time	current_time
CvMat	d2C_dydx
Quaterniond	fq
Mat	H_l2r
Eigen::Matrix< float, 4, 4 >	H_l2r_
float	h_r [16]
CvMat	H_r
CvMat	HC
CvMat	Hcam2rob
double	hcam2rob [16]
Eigen::Matrix< float, 4, 4 >	Hcam2rob_
CvMat *	Hcaminv
Mat	im1
Mat	im2
vector< int >	indices_a
vector< int >	indices_b
double	inv_cam2rob [16]
CvMat	invC2R
CvMat	Jf
Eigen::Matrix< float, 3, 4 >	Jf_
ros::Time	last_time
IplImage *	left_
IplImage *	left_1
IplImage *	left_ant
IplImage *	left_gray
IplImage *	left_gray_ant
CvSeq *	leftDescriptors1
CvSeq *	leftDescriptors2
CvSeq *	leftDescriptors3
CvSeq *	leftKeypoints1
CvSeq *	leftKeypoints2
CvSeq *	leftKeypoints3
float	mean [3]
float	meanul
float	meanur
float	meanvl
float	meanvr
int	Nclouds
int	ncol
int	Npoints
int	nrow
Eigen::Matrix< float, 3, 500 >	nube1
Eigen::Matrix< float, 3, 500 >	nube2
int	numRandPoints
geometry_msgs::Pose	odom3D
Matrix< float, 3, 1 >	odom_1
Matrix< float, 3, 1 >	odom_2
float	om [3]
CvMat	p_xyz
Eigen::Matrix< float, 3, 2000 >	Points3D
vector< int >	ptpairs1
vector< int >	ptpairs1_resp
vector< int >	ptpairs2
vector< int >	ptpairs2_resp
vector< int >	ptpairs3
vector< int >	ptpairs3_resp
float	px
float	py
float	pz
tf::Quaternion	quat_ant
Mat	R
Eigen::Matrix3f	R_
Mat	randomUL
Mat	randomUR
Mat	randomVL
Mat	randomVR
Mat	randomx
Mat	randomy
Mat	randomz
Mat	rdm
IplImage *	right_
IplImage *	right_1
IplImage *	right_gray
CvSeq *	rightDescriptors1
CvSeq *	rightDescriptors2
CvSeq *	rightDescriptors3
CvSeq *	rightKeypoints1
CvSeq *	rightKeypoints2
CvSeq *	rightKeypoints3
Matrix< float, 3, 3 >	Rot_12
Matrix< float, 3, 3 >	Rot_i
CvMat	RTCamFr
int	sigma_ul
int	sigma_ur
int	sigma_vl
int	sigma_vr
int	size
bool	START
float	T [3]
double	t_stereo
double	th
Vector4d	trans_
Eigen::Matrix4f	transformation
Matrix< float, 3, 1 >	Tras_12
Matrix< float, 3, 1 >	Tras_i
float	tx
float	ty
float	tz
float	uol
float	uor
pcl::PointCloud< pcl::PointXYZ >	UV_l
pcl::PointCloud< pcl::PointXYZ >	UV_r
CvMat	uvs_l
CvMat	uvs_r
float	vol
float	vor
double	vth
double	vx
double	vy
pcl::PointCloud< pcl::PointXYZ >	wpts1
pcl::PointCloud< pcl::PointXYZ >	wpts1RANSAC
pcl::PointCloud< pcl::PointXYZ >	wpts1RT
float	wpx_
Mat	wpxyz
float	wpy_
float	wpz_
double	x
float	xl [2]
float	xlims [2]
double	y
float	yl [2]
float	ylims [2]
double	z
float	zl [2]
float	zlims [2]
Private Attributes
image_transport::Subscriber	image_sub_l_
image_transport::Subscriber	image_sub_r_
image_transport::ImageTransport	it_
ros::NodeHandle	n_cpts1
ros::NodeHandle	n_od
ros::NodeHandle	n_odom
ros::NodeHandle	n_pcl1
ros::NodeHandle	n_pcl2
ros::NodeHandle	n_pos
ros::NodeHandle	n_src
ros::NodeHandle	n_src_RT
ros::NodeHandle	n_tgt
ros::NodeHandle	n_wpts1
ros::NodeHandle	nh_
tf::TransformBroadcaster	od_broadcaster
CvSURFParams	params
ros::Publisher	pub_cpts1
ros::Publisher	pub_od
ros::Publisher	pub_odom
ros::Publisher	pub_pcl1
ros::Publisher	pub_pcl2
ros::Publisher	pub_pos
ros::Publisher	pub_src
ros::Publisher	pub_src_RT
ros::Publisher	pub_tgt
ros::Publisher	pub_uvl
ros::Publisher	pub_uvr
ros::Publisher	pub_wpts1

Detailed Description

Definition at line 30 of file VO.cpp.

Constructor & Destructor Documentation

Error_Prop::Error_Prop ( ) [inline]

Definition at line 144 of file VO.cpp.

Error_Prop::~Error_Prop ( ) [inline]

Definition at line 172 of file VO.cpp.

Member Function Documentation

double Error_Prop::compareSURFDescriptors	(	const float *	d1,
		const float *	d2,
		double	best,
		int	length
	)

Definition at line 197 of file VO.cpp.

void Error_Prop::findPairs	(	const CvSeq *	objectKeypoints,
		const CvSeq *	objectDescriptors,
		const CvSeq *	imageKeypoints,
		const CvSeq *	imageDescriptors,
		vector< int > &	ptpairs
	)

Definition at line 246 of file VO.cpp.

void Error_Prop::flannFindPairs	(	const CvSeq *	,
		const CvSeq *	objectDescriptors,
		const CvSeq *	,
		const CvSeq *	imageDescriptors,
		vector< int > &	ptpairs
	)

Definition at line 270 of file VO.cpp.

void Error_Prop::imageCb_l ( const sensor_msgs::ImageConstPtr & msg )

Definition at line 369 of file VO.cpp.

void Error_Prop::imageCb_r ( const sensor_msgs::ImageConstPtr & msg )

Definition at line 393 of file VO.cpp.

void Error_Prop::init ( )

Definition at line 492 of file VO.cpp.

int Error_Prop::locatePlanarObject	(	const CvSeq *	objectKeypoints,
		const CvSeq *	objectDescriptors,
		const CvSeq *	imageKeypoints,
		const CvSeq *	imageDescriptors,
		const CvPoint	src_corners[4],
		CvPoint	dst_corners[4]
	)