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...

#include <vo.h>

Public Member Functions
bool	addFrame (const fc::Frame &fnew)
	Add a new frame to the system, if it is a keyframe.
int	findNode (int frameId)
	Finds sba node index of associated frame.
int	findTransform (int frameId, int n, Vector4d &trans, Quaterniond &qrot, Matrix< double, 6, 6 > &prec)
	Gets the transform between frames.
void	removeFrame ()
	Removes oldest frame from the system.
void	transferLatestFrame (std::vector< fc::Frame, Eigen::aligned_allocator< fc::Frame > > &eframes, sba::SysSBA &esba)
	Transfers frames to external sba system.
	voSt (boost::shared_ptr< pe::PoseEstimator > pose_estimator, int ws=20, int wf=5, int mininls=800, double mind=0.1, double mina=0.1)
	Constructor for voSt class.
Public Attributes
bool	doPointPlane
std::vector< fc::Frame, Eigen::aligned_allocator < fc::Frame > >	frames
	Previous frames in the system.
vector< int >	ipts
	External point index, for relating internal sba points to external points.
double	minang
	Minimum angular distance between keyframes (radians).
double	mindist
	Minimum linear distance between keyframes (meters).
int	mininls
	Minimum number of inliers.
boost::shared_ptr < frame_common::PointcloudProc >	pointcloud_proc_
	Pointer to pointcloud processor.
boost::shared_ptr < pe::PoseEstimator >	pose_estimator_
	Pointer to pose estimator object.
sba::SysSBA	sba
	VO's internal SBA system, which holds the VO window.
int	wfixed
	Number of fixed frames at the beginning of the window.
int	wsize
	Size of window in frames.
Private Attributes
std::vector< cv::DMatch >	pointcloud_matches_
	Pointcloud matches.

Detailed Description

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.

Definition at line 60 of file vo.h.

Constructor & Destructor Documentation

vslam::voSt::voSt	(	boost::shared_ptr< pe::PoseEstimator >	pose_estimator,
		int	ws = `20`,
		int	wf = `5`,
		int	mininls = `800`,
		double	mind = `0.1`,
		double	mina = `0.1`
	)

Constructor for voSt class.

Parameters:

pose_estimator	pointer to PoseEstimator object to use for matching frames.
ws	Window size for VO's internal SBA system; that is, how many frames to keep track of at a time.
wf	Window fixed size; how many of the first frames in the system to keep fixed.
mininls	Minimum number of point inliers to keep a frame.
mind	Minimum linear distance between keyframes (meters).
mina	Minimum angular distance between keyframes (radians).

Definition at line 52 of file vo.cpp.

Member Function Documentation

bool vslam::voSt::addFrame ( const fc::Frame & fnew )

Add a new frame to the system, if it is a keyframe.

Parameters:

fnew	The frame to be added.

Returns:: Whether the frame was added as a keyframe.

Definition at line 73 of file vo.cpp.

int vslam::voSt::findNode ( int frameId )

Finds sba node index of associated frame.

Definition at line 393 of file vo.cpp.

int vslam::voSt::findTransform	(	int	frameId,
		int	n,
		Vector4d &	trans,
		Quaterniond &	qrot,
		Matrix< double, 6, 6 > &	prec
	)

Gets the transform between frames.

Parameters:

frameId	ID of the first frame.
n	Number of frames ahead the second frame is (frameId + n).
trans	Translation between the two frames (meters).
qrot	Rotation between the two frames.