Todo List

Member main (int argc, char **argv)

Don't use windowed matching for place rec

Depending on broken encapsulation of VslamSystem here

Depending on broken encapsulation of VslamSystem here

Depending on broken encapsulation of VslamSystem here

Member StereoVslamNode::imageCb (const sensor_msgs::ImageConstPtr &l_image, const sensor_msgs::CameraInfoConstPtr &l_cam_info)

Not rely on broken encapsulation of VslamSystem here

Member StereoVslamNode::imageCb (const sensor_msgs::ImageConstPtr &l_image, const sensor_msgs::CameraInfoConstPtr &l_cam_info, const sensor_msgs::ImageConstPtr &r_image, const sensor_msgs::CameraInfoConstPtr &r_cam_info)

Not rely on broken encapsulation of VslamSystem here

Member VisBundler::step ()

Depending on broken encapsulation of VslamSystem here

Member vslam::VslamSystem::addKeyframe (frame_common::Frame &next_frame)

What does 'fq0' mean?

Member vslam::VslamSystem::frame_processor_

Leave these protected

Member vslam::VslamSystem::refine (int initial_runs=3)

Make these arguments parameters?

Member vslam::VslamSystem::VslamSystem (const std::string &vocab_tree_file, const std::string &vocab_weights_file, int min_keyframe_inliers=0, double min_keyframe_distance=0.2, double min_keyframe_angle=0.1)

Don't use windowed matching for place rec

Member vslam_system::AnyDetector::detect (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, const cv::Mat &mask=cv::Mat()) const

Remove detect() overload. This is only for backwards-compatibility with cturtle-era OpenCV.

Member vslam_system::AnyDetector::update (Config &config)

Enforce supported sizes

SIFT, MSER