Classes | Public Member Functions | Private Member Functions | Private Attributes
VisualOdometryMono Class Reference

#include <viso_mono.h>

Inheritance diagram for VisualOdometryMono:
Inheritance graph

List of all members.


struct  idx_cmp
struct  parameters

Public Member Functions

bool process (uint8_t *I, int32_t *dims, bool replace=false)
 VisualOdometryMono (parameters param)
 ~VisualOdometryMono ()

Private Member Functions

std::vector< double > estimateMotion (std::vector< Matcher::p_match > p_matched)
void EtoRt (Matrix &E, Matrix &K, std::vector< Matcher::p_match > &p_matched, Matrix &X, Matrix &R, Matrix &t)
void fundamentalMatrix (const std::vector< Matcher::p_match > &p_matched, const std::vector< int32_t > &active, Matrix &F)
std::vector< int32_t > getInlier (std::vector< Matcher::p_match > &p_matched, Matrix &F)
bool normalizeFeaturePoints (std::vector< Matcher::p_match > &p_matched, Matrix &Tp, Matrix &Tc)
Matrix smallerThanMedian (Matrix &X, double &median)
int32_t triangulateChieral (std::vector< Matcher::p_match > &p_matched, Matrix &K, Matrix &R, Matrix &t, Matrix &X)

Private Attributes

parameters param

Detailed Description

Definition at line 27 of file viso_mono.h.

Constructor & Destructor Documentation

Definition at line 26 of file viso_mono.cpp.

Definition at line 29 of file viso_mono.cpp.

Member Function Documentation

vector< double > VisualOdometryMono::estimateMotion ( std::vector< Matcher::p_match p_matched) [private, virtual]

Implements VisualOdometry.

Definition at line 40 of file viso_mono.cpp.

void VisualOdometryMono::EtoRt ( Matrix E,
Matrix K,
std::vector< Matcher::p_match > &  p_matched,
Matrix X,
Matrix R,
Matrix t 
) [private]

Definition at line 316 of file viso_mono.cpp.

void VisualOdometryMono::fundamentalMatrix ( const std::vector< Matcher::p_match > &  p_matched,
const std::vector< int32_t > &  active,
Matrix F 
) [private]

Definition at line 234 of file viso_mono.cpp.

vector< int32_t > VisualOdometryMono::getInlier ( std::vector< Matcher::p_match > &  p_matched,
Matrix F 
) [private]

Definition at line 267 of file viso_mono.cpp.

bool VisualOdometryMono::normalizeFeaturePoints ( std::vector< Matcher::p_match > &  p_matched,
Matrix Tp,
Matrix Tc 
) [private]

Definition at line 186 of file viso_mono.cpp.

bool VisualOdometryMono::process ( uint8_t *  I,
int32_t *  dims,
bool  replace = false 

Definition at line 32 of file viso_mono.cpp.

Matrix VisualOdometryMono::smallerThanMedian ( Matrix X,
double &  median 
) [private]

Definition at line 161 of file viso_mono.cpp.

int32_t VisualOdometryMono::triangulateChieral ( std::vector< Matcher::p_match > &  p_matched,
Matrix K,
Matrix R,
Matrix t,
Matrix X 
) [private]

Definition at line 363 of file viso_mono.cpp.

Member Data Documentation

Reimplemented from VisualOdometry.

Definition at line 83 of file viso_mono.h.

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

Author(s): Andreas Geiger, maintained by: Stephan Wirth/
autogenerated on Tue Jan 7 2014 11:42:14