Main visual odometry class. More...

#include <visual_odometry.hpp>

Public Member Functions
bool	getChangeReferenceFrames () const
int	getFastThreshold () const
const Eigen::Matrix3d &	getInitialHomography () const
const Eigen::Isometry3d &	getMotionEstimate () const
const Eigen::MatrixXd &	getMotionEstimateCov () const
MotionEstimateStatusCode	getMotionEstimateStatus () const
const MotionEstimator *	getMotionEstimator () const
const VisualOdometryOptions &	getOptions () const
const Eigen::Isometry3d &	getPose ()
const OdometryFrame *	getReferenceFrame () const
const OdometryFrame *	getTargetFrame () const
void	processFrame (const uint8_t gray, DepthSource depth_source)
void	sanityCheck () const
	VisualOdometry (const Rectification *rectification, const VisualOdometryOptions &options)
	~VisualOdometry ()
Static Public Member Functions
static VisualOdometryOptions	getDefaultOptions ()
Private Member Functions
Eigen::Quaterniond	estimateInitialRotation (const OdometryFrame prev, const OdometryFrame cur, const Eigen::Isometry3d &init_motion_estimate=Eigen::Isometry3d::Identity())
void	prepareFrame (OdometryFrame *frame)
Private Attributes
bool	_change_reference_frames
OdometryFrame *	_cur_frame
MotionEstimator *	_estimator
int	_fast_threshold
float	_fast_threshold_adaptive_gain
int	_fast_threshold_max
int	_fast_threshold_min
int	_feature_window_size
long	_frame_count
int	_initial_rotation_pyramid_level
int	_num_pyramid_levels
VisualOdometryOptions	_options
VisualOdometryPriv *	_p
OdometryFrame *	_prev_frame
const Rectification *	_rectification
OdometryFrame *	_ref_frame
int	_ref_frame_change_threshold
int	_target_pixels_per_feature
bool	_use_adaptive_threshold
bool	_use_homography_initialization

Detailed Description

Main visual odometry class.

 #include <fovis/fovis.hpp>

This is the primary fovis class for estimating visual odometry. To use it, you'll need three things:

a source of grayscale input images.
a DepthSource that can estimate the distance to as many pixels in the input images as possible.
a Rectification object for converting the source image coordinates to a rectified pinhole projection coordinate system. This is typically used to correct radial lens distortion.

A typical use case for the VisualOdometry class is to repeatedly call processFrame() as new image data is available, which estimates the camera motion and makes the resulting estimation data available via accessor methods.

Options to control the behavior of the visual odometry algorithm can be passed in to the constructor using a VisualOdometryOptions object.

Definition at line 67 of file visual_odometry.hpp.

Constructor & Destructor Documentation

fovis::VisualOdometry::VisualOdometry	(	const Rectification *	rectification,
		const VisualOdometryOptions &	options
	)

Constructs a new visual odometry estimator.

Parameters:

rectification	specifies the input image dimensions, as well as the mapping from input image coordinates to rectified image coordinates.
options	controls the behavior of the estimation algorithms. This is specified as a key/value dictionary.

Definition at line 57 of file visual_odometry.cpp.

fovis::VisualOdometry::~VisualOdometry ( )

Definition at line 107 of file visual_odometry.cpp.

Member Function Documentation

Eigen::Quaterniond fovis::VisualOdometry::estimateInitialRotation	(	const OdometryFrame *	prev,
		const OdometryFrame *	cur,
		const Eigen::Isometry3d &	init_motion_estimate = `Eigen::Isometry3d::Identity()`
	)		`[private]`

Definition at line 124 of file visual_odometry.cpp.

bool fovis::VisualOdometry::getChangeReferenceFrames ( ) const [inline]

If this returns true, then the current target frame will become the reference frame on the next call to processFrame().

Definition at line 128 of file visual_odometry.hpp.

VisualOdometryOptions fovis::VisualOdometry::getDefaultOptions ( ) [static]

Returns:: a reasonable set of default options that can be passed in to the constructor if you don't know or care about the options.

Definition at line 297 of file visual_odometry.cpp.

int fovis::VisualOdometry::getFastThreshold ( ) const [inline]

Returns:: the threshold used by the FAST feature detector.

Definition at line 166 of file visual_odometry.hpp.

const Eigen::Matrix3d& fovis::VisualOdometry::getInitialHomography ( ) const [inline]

Returns:: the 2D homography computed during initial rotation estimation.

Definition at line 173 of file visual_odometry.hpp.

const Eigen::Isometry3d& fovis::VisualOdometry::getMotionEstimate ( ) const [inline]

Returns:: the estimated camera motion from the previous frame to the current frame.

Definition at line 144 of file visual_odometry.hpp.

const Eigen::MatrixXd& fovis::VisualOdometry::getMotionEstimateCov ( ) const [inline]

Returns:: the covariance matrix resulting from the final nonlinear least-squares motion estimation step.

Definition at line 152 of file visual_odometry.hpp.

MotionEstimateStatusCode fovis::VisualOdometry::getMotionEstimateStatus ( ) const [inline]

Returns:: whether motion estimation succeeded on the most recent call to processFrame(), or provides a rough failure reason.

Definition at line 136 of file visual_odometry.hpp.

const MotionEstimator* fovis::VisualOdometry::getMotionEstimator ( ) const [inline]

Returns:: the MotionEstimator object used internally.

Definition at line 159 of file visual_odometry.hpp.

const VisualOdometryOptions& fovis::VisualOdometry::getOptions ( ) const [inline]

Returns:: the options passed in to the constructor.

Definition at line 180 of file visual_odometry.hpp.

const Eigen::Isometry3d& fovis::VisualOdometry::getPose ( ) [inline]

Retrieves the integrated pose estimate. On initialization, the camera is positioned at the origin, with +Z pointing along the camera look vector, +X to the right, and +Y down.

Definition at line 104 of file visual_odometry.hpp.

const OdometryFrame* fovis::VisualOdometry::getReferenceFrame ( ) const [inline]

Retrieve the current reference frame used for motion estimation. The reference frame will not change as long as new input frames are easily matched to it.

Definition at line 113 of file visual_odometry.hpp.

const OdometryFrame* fovis::VisualOdometry::getTargetFrame ( ) const [inline]

Retrieve the current target frame used for motion estimation.

Definition at line 120 of file visual_odometry.hpp.

void fovis::VisualOdometry::prepareFrame ( OdometryFrame * frame ) [private]

void fovis::VisualOdometry::processFrame	(	const uint8_t *	gray,
		DepthSource *	depth_source
	)

process an input image and estimate the 3D camera motion between gray and the frame previously passed to this method. The estimated motion for the very first frame will always be the identity transform.

Parameters:

gray	a new input image. The image dimensions must match those passed in to the constructor, and the image data must be stored in row-major order, with no pad bytes between rows. An internal copy of the image is made, and the input data is no longer needed once this method returns.
depth_source	a source of depth information that can either provide a depth estimate at each pixel of the input image, or report that no depth estimate is available.

Definition at line 170 of file visual_odometry.cpp.

void fovis::VisualOdometry::sanityCheck ( ) const

Performs some internal sanity checks and aborts the program on failure. This is for debugging only.

Definition at line 282 of file visual_odometry.cpp.