#include <viso_stereo.h>

Inheritance diagram for VisualOdometryStereo:

Classes
struct	parameters
Public Member Functions
std::vector< Matcher::p_match >	getMatches ()
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)
void	computeResidualsAndJacobianP3p (TooN::Matrix< 3, 4 > &tr, std::vector< int32_t > &active)
void	creatAdjMatrix (std::vector< Matcher::p_match > &p_matched, bool **&conn)
std::vector< double >	estimateMotion (std::vector< Matcher::p_match > p_matched)
std::vector< double >	estimateMotionLinear (std::vector< Matcher::p_match > p_matched)
std::vector< double >	estimateMotionMaxClique (std::vector< Matcher::p_match > p_matched)
std::vector< int32_t >	getInlier (std::vector< Matcher::p_match > &p_matched, std::vector< double > &tr)
std::vector< int32_t >	getInlier (std::vector< Matcher::p_match > &p_matched, TooN::Matrix< 3, 4 > &tr)
bool	justice2Matches (Matcher::p_match &m1, Matcher::p_match &m2)
result	updateParameters (std::vector< Matcher::p_match > &p_matched, std::vector< int32_t > &active, std::vector< double > &tr, double step_size, double eps)
result	updateParametersLinear (std::vector< Matcher::p_match > &p_matched, std::vector< int32_t > &active, std::vector< double > &tr, double step_size, double eps)
result	updateParametersP3p (std::vector< Matcher::p_match > &p_matched, std::vector< int32_t > &active, TooN::Matrix< 3, 4 > &tr, double step_size, double eps)
Private Attributes
std::vector< Matcher::p_match >	p_matched1
double *	p_residual
parameters	param
double	rx_old
double	ry_old
double	rz_old
double	tx_old
double	ty_old
double	tz_old
double *	X
double *	XC
double *	Y
double *	YC
double *	Z
double *	ZC

Detailed Description

Definition at line 28 of file viso_stereo.h.

Member Enumeration Documentation

enum VisualOdometryStereo::result [private]

Enumerator:

UPDATED
FAILED
CONVERGED

Definition at line 75 of file viso_stereo.h.

Constructor & Destructor Documentation

VisualOdometryStereo::VisualOdometryStereo ( parameters param )

Definition at line 83 of file viso_stereo.cpp.

VisualOdometryStereo::~VisualOdometryStereo ( )

Definition at line 93 of file viso_stereo.cpp.

Member Function Documentation

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

Definition at line 1038 of file viso_stereo.cpp.

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

Definition at line 1103 of file viso_stereo.cpp.

void VisualOdometryStereo::computeResidualsAndJacobianP3p	(	TooN::Matrix< 3, 4 > &	tr,
		std::vector< int32_t > &	active
	)		`[private]`

Definition at line 1050 of file viso_stereo.cpp.

void VisualOdometryStereo::creatAdjMatrix	(	std::vector< Matcher::p_match > &	p_matched,
		bool **&	conn
	)		`[private]`

Definition at line 149 of file viso_stereo.cpp.

vector< double > VisualOdometryStereo::estimateMotion ( std::vector< Matcher::p_match > p_matched ) [private, virtual]

Implements VisualOdometry.

Definition at line 673 of file viso_stereo.cpp.

vector< double > VisualOdometryStereo::estimateMotionLinear ( std::vector< Matcher::p_match > p_matched ) [private, virtual]

Reimplemented from VisualOdometry.

Definition at line 537 of file viso_stereo.cpp.

vector< double > VisualOdometryStereo::estimateMotionMaxClique ( std::vector< Matcher::p_match > p_matched ) [private, virtual]

Reimplemented from VisualOdometry.

Definition at line 167 of file viso_stereo.cpp.

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

std::vector<int32_t> VisualOdometryStereo::getInlier	(	std::vector< Matcher::p_match > &	p_matched,
		TooN::Matrix< 3, 4 > &	tr
	)		`[private]`

std::vector<Matcher::p_match> VisualOdometryStereo::getMatches ( ) [inline]

Definition at line 67 of file viso_stereo.h.

bool VisualOdometryStereo::justice2Matches	(	Matcher::p_match &	m1,
		Matcher::p_match &	m2
	)		`[private]`

Definition at line 119 of file viso_stereo.cpp.

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

Definition at line 95 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 993 of file viso_stereo.cpp.

VisualOdometryStereo::result VisualOdometryStereo::updateParametersLinear	(	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 895 of file viso_stereo.cpp.

VisualOdometryStereo::result VisualOdometryStereo::updateParametersP3p	(	std::vector< Matcher::p_match > &	p_matched,
		std::vector< int32_t > &	active,
		TooN::Matrix< 3, 4 > &	tr,
		double	step_size,
		double	eps
	)		`[private]`