VisualOdometryStereo Class Reference

#include <viso_stereo.h>

Inheritance diagram for VisualOdometryStereo:

List of all members.

Classes
struct	parameters
Public Member Functions
bool	process (uint8_t *I1, uint8_t *I2, int32_t *dims, bool replace=false)
	VisualOdometryStereo (parameters param)
	~VisualOdometryStereo ()
Private Types
enum	result { UPDATED, FAILED, CONVERGED }
Private Member Functions
void	computeObservations (std::vector< Matcher::p_match > &p_matched, std::vector< int32_t > &active)
void	computeResidualsAndJacobian (std::vector< double > &tr, std::vector< int32_t > &active)
std::vector< double >	estimateMotion (std::vector< Matcher::p_match > p_matched)
std::vector< int32_t >	getInlier (std::vector< Matcher::p_match > &p_matched, std::vector< double > &tr)
result	updateParameters (std::vector< Matcher::p_match > &p_matched, std::vector< int32_t > &active, std::vector< double > &tr, double step_size, double eps)
Private Attributes
double *	p_residual
parameters	param
double *	X
double *	Y
double *	Z

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Detailed Description

Definition at line 27 of file viso_stereo.h.

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Member Enumeration Documentation

enum VisualOdometryStereo::result [private]

Enumerator:

UPDATED
FAILED
CONVERGED

Definition at line 68 of file viso_stereo.h.

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Constructor & Destructor Documentation

VisualOdometryStereo::VisualOdometryStereo

(

parameters

param

)

Definition at line 26 of file viso_stereo.cpp.

VisualOdometryStereo::~VisualOdometryStereo

(

)

Definition at line 29 of file viso_stereo.cpp.

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Member Function Documentation

void VisualOdometryStereo::computeObservations	(	std::vector< Matcher::p_match > &	p_matched,
		std::vector< int32_t > &	active
	)		[private]

Definition at line 212 of file viso_stereo.cpp.

void VisualOdometryStereo::computeResidualsAndJacobian	(	std::vector< double > &	tr,
		std::vector< int32_t > &	active
	)		[private]

Definition at line 223 of file viso_stereo.cpp.

vector< double > VisualOdometryStereo::estimateMotion

(

std::vector< Matcher::p_match >

p_matched

)

[private, virtual]

Implements VisualOdometry.

Definition at line 40 of file viso_stereo.cpp.

vector< int32_t > VisualOdometryStereo::getInlier	(	std::vector< Matcher::p_match > &	p_matched,
		std::vector< double > &	tr
	)		[private]

Definition at line 145 of file viso_stereo.cpp.

bool VisualOdometryStereo::process	(	uint8_t *	I1,
		uint8_t *	I2,
		int32_t *	dims,
		bool	replace = false
	)

Definition at line 32 of file viso_stereo.cpp.

VisualOdometryStereo::result VisualOdometryStereo::updateParameters	(	std::vector< Matcher::p_match > &	p_matched,
		std::vector< int32_t > &	active,
		std::vector< double > &	tr,
		double	step_size,
		double	eps
	)		[private]

Definition at line 165 of file viso_stereo.cpp.

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Member Data Documentation

double* VisualOdometryStereo::p_residual [private]

Definition at line 75 of file viso_stereo.h.

parameters VisualOdometryStereo::param [private]

Reimplemented from VisualOdometry.

Definition at line 78 of file viso_stereo.h.

double* VisualOdometryStereo::X [private]

Definition at line 74 of file viso_stereo.h.

double * VisualOdometryStereo::Y [private]

Definition at line 74 of file viso_stereo.h.

double * VisualOdometryStereo::Z [private]

Definition at line 74 of file viso_stereo.h.

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

• viso_stereo.h
• viso_stereo.cpp