vslam Namespace Reference

Classes
class	PlaceRecognizer
	Recognizes previously seen frames. More...
class	voSt
	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...
class	VslamSystem
	VSLAM class that performs visual odometry, loop closure through place recognition, and large-scale optimization using SBA. More...
class	VslamSystemMono
	VSLAM class that performs visual odometry, loop closure through place recognition, and large-scale optimization using SBA on monocular images. More...
Typedefs
typedef std::vector < frame_common::Frame, Eigen::aligned_allocator < frame_common::Frame > >	FrameVector
Functions
void	addPointCloudProjections (fc::Frame &f0, fc::Frame &f1, sba::SysSBA &sba, const std::vector< cv::DMatch > &inliers, const Matrix< double, 3, 4 > &f2w_frame0, const Matrix< double, 3, 4 > &f2w_frame1, int ndi0, int ndi1, std::vector< int > *ipts=NULL)
	Adds point-plane projections between two frames based on inlier matches. Adds any points not previously present in the external system, and fills in ipts.
void	addProjections (fc::Frame &f0, fc::Frame &f1, std::vector< fc::Frame, Eigen::aligned_allocator< fc::Frame > > &frames, sba::SysSBA &sba, const std::vector< cv::DMatch > &inliers, const Matrix< double, 3, 4 > &f2w, int ndi0, int ndi1, std::vector< int > *ipts=NULL)
	Adds projections between two frames based on inlier matches. Adds any points not previously present in the external system, and fills in ipts.
void	addProjections (fc::Frame &f0, fc::Frame &f1, std::vector< fc::Frame, Eigen::aligned_allocator< fc::Frame > > &frames, SysSBA &sba, const std::vector< cv::DMatch > &inliers, const Matrix< double, 3, 4 > &f2w, int ndi0, int ndi1, std::vector< int > *ipts)
Vector3d	getProjection (fc::Frame &frame, int index)
	Get a Vector3d projection from a keypoint at index.
void	substPointRef (std::vector< int > &ipts, int tri0, int tri1)
	substitutes tri0 for tri1 in a point reference vector.

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Typedef Documentation

typedef std::vector<frame_common::Frame, Eigen::aligned_allocator<frame_common::Frame> > vslam::FrameVector

Definition at line 44 of file place_recognizer.h.

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Function Documentation

void vslam::addPointCloudProjections	(	fc::Frame &	f0,
		fc::Frame &	f1,
		sba::SysSBA &	sba,
		const std::vector< cv::DMatch > &	inliers,
		const Matrix< double, 3, 4 > &	f2w_frame0,
		const Matrix< double, 3, 4 > &	f2w_frame1,
		int	ndi0,
		int	ndi1,
		std::vector< int > *	ipts = NULL
	)

Adds point-plane projections between two frames based on inlier matches. Adds any points not previously present in the external system, and fills in ipts.

Parameters:

f0	Previous frame.
f1	Newest frame to add.
sba	SBA system to add the frames to.
inliers	Matches between f0 and f1; indices of the points and projections to be added to the system.
f2w_frame0	Transform between the frame f0 to world coordinates.
f2w_frame1	Transform between the frame f1 to world coordinates.
ndi0	Node index of the old frame (f0) in SBA.
ndi1	Node index of the new frame (f1) in SBA.
ipts	Optional parameter for a mapping between internal and external indices.

Definition at line 498 of file vo.cpp.

void vslam::addProjections	(	fc::Frame &	f0,
		fc::Frame &	f1,
		std::vector< fc::Frame, Eigen::aligned_allocator< fc::Frame > > &	frames,
		sba::SysSBA &	sba,
		const std::vector< cv::DMatch > &	inliers,
		const Matrix< double, 3, 4 > &	f2w,
		int	ndi0,
		int	ndi1,
		std::vector< int > *	ipts = NULL
	)

Adds projections between two frames based on inlier matches. Adds any points not previously present in the external system, and fills in ipts.

Parameters:

f0	Previous frame.
f1	Newest frame to add.
frames	All the frames in the system.
sba	SBA system to add the frames to.
inliers	Matches between f0 and f1; indices of the points and projections to be added to the system.
f2w	Transform between the frame f0 to world coordinates.
ndi0	Node index of the old frame (f0) in SBA.
ndi1	Node index of the new frame (f1) in SBA.
ipts	Optional parameter for a mapping between internal and external indices.

void vslam::addProjections	(	fc::Frame &	f0,
		fc::Frame &	f1,
		std::vector< fc::Frame, Eigen::aligned_allocator< fc::Frame > > &	frames,
		SysSBA &	sba,
		const std::vector< cv::DMatch > &	inliers,
		const Matrix< double, 3, 4 > &	f2w,
		int	ndi0,
		int	ndi1,
		std::vector< int > *	ipts
	)

Definition at line 405 of file vo.cpp.

Vector3d vslam::getProjection	(	fc::Frame &	frame,
		int	index
	)

Get a Vector3d projection from a keypoint at index.

Definition at line 576 of file vo.cpp.

void vslam::substPointRef	(	std::vector< int > &	ipts,
		int	tri0,
		int	tri1
	)

substitutes tri0 for tri1 in a point reference vector.

Definition at line 586 of file vo.cpp.