VisualOdometryMono Class Reference

#include <viso_mono.h>

Inheritance diagram for VisualOdometryMono:

List of all members.

Classes
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

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Detailed Description

Definition at line 27 of file viso_mono.h.

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Constructor & Destructor Documentation

VisualOdometryMono::VisualOdometryMono

(

parameters

param

)

Definition at line 26 of file viso_mono.cpp.

VisualOdometryMono::~VisualOdometryMono

(

)

Definition at line 29 of file viso_mono.cpp.

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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.

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Member Data Documentation

parameters VisualOdometryMono::param [private]

Reimplemented from VisualOdometry.

Definition at line 83 of file viso_mono.h.

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

• viso_mono.h
• viso_mono.cpp