quick and dirty profiling tool.inspired by the matlab tic/toc command More...

Classes
struct	CameraIntrinsicsParameters
	Intrinsic parameters for a pinhole camera with plumb-bob distortion model. More...
class	DepthImage
	Depth source where a fully dense, metric depth image is available. More...
class	DepthSource
	Provides depth estimates for input image pixels. More...
class	FeatureMatch
	Represents a single image feature matched between two camera images taken at different times. More...
class	FeatureMatcher
	Matches features between a reference and a target image. More...
class	GridKeyPointFilter
	Places features into grid cells and discards the weakest features in each cell. More...
class	InitialHomographyEstimator
	Estimates a rough 2D homography registering two images. More...
class	IntensityDescriptorExtractor
	Extracts mean-normalized intensity patch around a pixel. More...
class	KeyPoint
	An interesting point in an image. More...
class	KeypointData
	Image feature used for motion estimation. More...
class	MotionEstimator
	Does the heavy lifting for frame-to-frame motion estimation. More...
class	OdometryFrame
	Stores data specific to an input frame. More...
struct	Point
class	PrimeSenseCalibration
	Computes useful information from a PrimeSenseCalibrationParameters object. More...
struct	PrimeSenseCalibrationParameters
	Calibration data structure for Kinect / PrimeSense sensors. More...
class	PrimeSenseDepth
	Stores depth data for a Kinect / PrimeSense camera. More...
class	PyramidLevel
	One level of a Gaussian image pyramid. More...
class	Rectification
	Maps image coordinates from an input image to image coordinates on a rectified camera. More...
class	SAD
	Calculates the Sum of Absolute Deviations (SAD) score between two vectors of length descriptor_len. More...
class	StereoCalibration
	Computes useful information from a StereoCalibrationParameters object. More...
struct	StereoCalibrationParameters
	Calibration data structure for stereo cameras. More...
class	StereoDepth
	Stores image data for a stereo camera pair. More...
class	StereoDisparity
	Depth source for a calibrated stereo camera pair where a dense disparity map has been precomputed. More...
class	StereoFrame
	Stores the right-hand image for a stereo pair. More...
struct	tictoc_t
class	VisualOdometry
	Main visual odometry class. More...
class	VisualOdometryPriv
Typedefs
typedef std::map< std::string, tictoc_t >	TictocMap
typedef std::map< std::string, std::string >	VisualOdometryOptions
	Options.
Enumerations
enum	MatchStatusCode { MATCH_NEEDS_DEPTH_REFINEMENT, MATCH_REFINEMENT_FAILED, MATCH_OK }
enum	MotionEstimateStatusCode { NO_DATA, SUCCESS, INSUFFICIENT_INLIERS, OPTIMIZATION_FAILURE, REPROJECTION_ERROR }
enum	tictoc_sort_type_t { TICTOC_AVG, TICTOC_TOTAL, TICTOC_MIN, TICTOC_MAX, TICTOC_EMA, TICTOC_ALPHABETICAL }
Functions
static void	_initializeTictoc ()
static Eigen::Vector3d	_quat_to_roll_pitch_yaw (const Eigen::Quaterniond &q)
static Eigen::Quaterniond	_rpy_to_quat (const Eigen::Vector3d rpy)
static bool	_tictoc_t_alphCompare (const tictoc_t t1, const tictoc_t t2)
static bool	_tictoc_t_avgTimeCompare (const tictoc_t t1, const tictoc_t t2)
static bool	_tictoc_t_emaTimeCompare (const tictoc_t t1, const tictoc_t t2)
static bool	_tictoc_t_maxTimeCompare (const tictoc_t t1, const tictoc_t t2)
static bool	_tictoc_t_minTimeCompare (const tictoc_t t1, const tictoc_t t2)
static bool	_tictoc_t_totalTimeCompare (const tictoc_t t1, const tictoc_t t2)
static int64_t	_timestamp_now ()
static std::string	_toString (double v)
static int	clamp (int val, int minval, int maxval)
static void	computeProjectionJacobian (const Eigen::Matrix< double, 6, 1 > &params, double fx, double px, double py, const Eigen::Matrix< double, 4, Eigen::Dynamic > &points, Eigen::Matrix< double, Eigen::Dynamic, 6 > *result, int result_row_offset)
static void	computeReprojectionError (const Eigen::Matrix< double, 4, Eigen::Dynamic > &points, const Eigen::Matrix< double, 2, Eigen::Dynamic > &ref_projections, const Eigen::Matrix< double, 3, 4 > &K, const Eigen::Isometry3d &motion, Eigen::VectorXd *err, int err_offset)
static void	computeReverseProjectionJacobian (const Eigen::Matrix< double, 6, 1 > &params, double fx, double px, double py, const Eigen::Matrix< double, 4, Eigen::Dynamic > &points, Eigen::Matrix< double, Eigen::Dynamic, 6 > *result, int result_row_offset)
static bool	consistencyCompare (const FeatureMatch &ca, const FeatureMatch &cb)
static int	dot_int16_aligned (const int16_t a, const int16_t b, int num_taps)
void	FAST (const uint8_t img, int width, int height, int row_stride, std::vector< KeyPoint > keypoints, int threshold, bool nonmax_suppression)
void	FAST (const uint8_t image, int width, int height, int row_stride, vector< KeyPoint > keypoints, int threshold, bool nonmax_suppression)
static void	fast9ComputeScores (const uint8_t *img, int width, int height, int row_stride, vector< Point > &corners, vector< int > &scores, int b)
static int	fast9CornerScore (const unsigned char *p, const int pixel[], int bstart)
static void	fast9Detect (const uint8_t *img, int width, int height, int row_stride, vector< Point > &ret_corners, int b)
static void	fastNonmaxSuppression (const vector< Point > &corners, const vector< int > &scores, vector< KeyPoint > &ret_nonmax)
static void	grayToEigen (const uint8_t grayData, int width, int height, int stride, int downsampleFactor, Eigen::MatrixXf result)
static Eigen::Isometry3d	isometryFromParams (const Eigen::Matrix< double, 6, 1 > &params)
static Eigen::Matrix< double, 6, 1 >	isometryToParams (const Eigen::Isometry3d &M)
static bool	keypoint_rect_v_comparator (const KeypointData &a, const KeypointData &b)
static bool	keypoint_score_comparator (const KeyPoint &a, const KeyPoint &b)
static void	makeOffsets (int pixel[], int row_stride)
static void	mean_stddev (const uint8_t buf, int stride, int width, int height, float mean, float *stddev)
void	normalize_image (uint8_t *buf, int stride, int width, int height)
	Normalize image intensities in place to approximately have mean 128 and sd 74.
bool	optionsGetBool (const VisualOdometryOptions &options, std::string name, bool *result)
bool	optionsGetBoolOrFromDefault (const VisualOdometryOptions &options, std::string name, const VisualOdometryOptions &defaults)
bool	optionsGetDouble (const VisualOdometryOptions &options, std::string name, double *result)
double	optionsGetDoubleOrFromDefault (const VisualOdometryOptions &options, std::string name, const VisualOdometryOptions &defaults)
bool	optionsGetInt (const VisualOdometryOptions &options, std::string name, int *result)
int	optionsGetIntOrFromDefault (const VisualOdometryOptions &options, std::string name, const VisualOdometryOptions &defaults)
static void	print_isometry (const Eigen::Isometry3d &iso)
void	refineFeatureMatch (PyramidLevel ref_level, PyramidLevel target_level, Eigen::Vector2d ref_uv, Eigen::Vector2d init_target_uv, Eigen::Vector2d final_target_uv, float delta_sse)
Eigen::Isometry3d	refineMotionEstimate (const Eigen::Matrix< double, 4, Eigen::Dynamic > &points, const Eigen::Matrix< double, 2, Eigen::Dynamic > &ref_projections, double fx, double px, double py, const Eigen::Isometry3d &initial_estimate, int max_iterations)
void	refineMotionEstimateBidirectional (const Eigen::Matrix< double, 4, Eigen::Dynamic > &ref_points, const Eigen::Matrix< double, 2, Eigen::Dynamic > &ref_projections, const Eigen::Matrix< double, 4, Eigen::Dynamic > &target_points, const Eigen::Matrix< double, 2, Eigen::Dynamic > &target_projections, double fx, double px, double py, const Eigen::Isometry3d &initial_estimate, int max_iterations, Eigen::Isometry3d result, Eigen::MatrixXd result_covariance)
static bool	robustStereoCompatibility (const Eigen::Vector3d &C1, const Eigen::Vector3d &C2, const Eigen::Vector3d &P1, const Eigen::Vector3d &P2, double baseline, double focal_length, double De)
static double	robustStereoCompatibility_computeDL (double L, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, double t, double f, double De)
static int	round_up_to_multiple (int x, int a)
static double	sqr (double x)
void	stereo_rectify (const CameraIntrinsicsParameters &left_params, const CameraIntrinsicsParameters &right_params, const Eigen::Quaterniond &rotation_quat, const Eigen::Vector3d &translation, Eigen::Matrix3d left_rotation, Eigen::Matrix3d right_rotation, CameraIntrinsicsParameters *rectified_params)
int64_t	tictoc (const char *description)
int64_t	tictoc_full (const char description, double ema_alpha, int64_t ema)
void	tictoc_get_stats (std::vector< tictoc_t > *stats)
void	tictoc_print_stats (tictoc_sort_type_t sortType)
static void	validateOptions (const VisualOdometryOptions &options, const VisualOdometryOptions &defaults)
Variables
static int	_tictoc_enabled = 1
static int	_tictoc_initialized = 0
static TictocMap	_tictoc_map
const char *	MotionEstimateStatusCodeStrings []

Detailed Description

quick and dirty profiling tool.

inspired by the matlab tic/toc command

call tictoc("description") to set the timer going call it again with the same description to stop the timer

Note: To get output, set the "FOVIS_TICTOC" environment variable to something

Typedef Documentation

typedef std::map<std::string, tictoc_t> fovis::TictocMap

Definition at line 97 of file tictoc.cpp.

Enumeration Type Documentation

enum fovis::MatchStatusCode

Status of a feature match.

Enumerator:

MATCH_NEEDS_DEPTH_REFINEMENT	match is ok, but needs depth refinement.
MATCH_REFINEMENT_FAILED	match should be rejected.
MATCH_OK	match is ok.

Definition at line 19 of file feature_match.hpp.

enum fovis::MotionEstimateStatusCode

Enumerator:

NO_DATA
SUCCESS
INSUFFICIENT_INLIERS
OPTIMIZATION_FAILURE
REPROJECTION_ERROR

Definition at line 20 of file motion_estimation.hpp.

enum fovis::tictoc_sort_type_t

tictoc_sort_type_t:

Different Options for sorting the printed results

Enumerator:

TICTOC_AVG
TICTOC_TOTAL
TICTOC_MIN
TICTOC_MAX
TICTOC_EMA
TICTOC_ALPHABETICAL

Definition at line 71 of file tictoc.hpp.

Function Documentation

static void fovis::_initializeTictoc ( ) [static]

Definition at line 101 of file tictoc.cpp.

static Eigen::Vector3d fovis::_quat_to_roll_pitch_yaw ( const Eigen::Quaterniond & q ) [inline, static]

Definition at line 27 of file internal_utils.hpp.

static Eigen::Quaterniond fovis::_rpy_to_quat ( const Eigen::Vector3d rpy ) [inline, static]

Definition at line 43 of file internal_utils.hpp.

static bool fovis::_tictoc_t_alphCompare	(	const tictoc_t *	t1,
		const tictoc_t *	t2
	)		`[static]`

Definition at line 85 of file tictoc.cpp.

static bool fovis::_tictoc_t_avgTimeCompare	(	const tictoc_t *	t1,
		const tictoc_t *	t2
	)		`[static]`

Definition at line 34 of file tictoc.cpp.

static bool fovis::_tictoc_t_emaTimeCompare	(	const tictoc_t *	t1,
		const tictoc_t *	t2
	)		`[static]`

Definition at line 74 of file tictoc.cpp.

static bool fovis::_tictoc_t_maxTimeCompare	(	const tictoc_t *	t1,
		const tictoc_t *	t2
	)		`[static]`

Definition at line 54 of file tictoc.cpp.

static bool fovis::_tictoc_t_minTimeCompare	(	const tictoc_t *	t1,
		const tictoc_t *	t2
	)		`[static]`

Definition at line 64 of file tictoc.cpp.

static bool fovis::_tictoc_t_totalTimeCompare	(	const tictoc_t *	t1,
		const tictoc_t *	t2
	)		`[static]`

Definition at line 44 of file tictoc.cpp.

static int64_t fovis::_timestamp_now ( ) [static]

Definition at line 26 of file tictoc.cpp.

static std::string fovis::_toString ( double v ) [static]

Definition at line 289 of file visual_odometry.cpp.

static int fovis::clamp	(	int	val,
		int	minval,
		int	maxval
	)		`[inline, static]`

Definition at line 45 of file visual_odometry.cpp.

static void fovis::computeProjectionJacobian	(	const Eigen::Matrix< double, 6, 1 > &	params,
		double	fx,
		double	px,
		double	py,
		const Eigen::Matrix< double, 4, Eigen::Dynamic > &	points,
		Eigen::Matrix< double, Eigen::Dynamic, 6 > *	result,
		int	result_row_offset
	)		`[static]`

Definition at line 90 of file refine_motion_estimate.cpp.

static void fovis::computeReprojectionError	(	const Eigen::Matrix< double, 4, Eigen::Dynamic > &	points,
		const Eigen::Matrix< double, 2, Eigen::Dynamic > &	ref_projections,
		const Eigen::Matrix< double, 3, 4 > &	K,
		const Eigen::Isometry3d &	motion,
		Eigen::VectorXd *	err,
		int	err_offset
	)		`[static]`

Definition at line 66 of file refine_motion_estimate.cpp.

static void fovis::computeReverseProjectionJacobian	(	const Eigen::Matrix< double, 6, 1 > &	params,
		double	fx,
		double	px,
		double	py,
		const Eigen::Matrix< double, 4, Eigen::Dynamic > &	points,
		Eigen::Matrix< double, Eigen::Dynamic, 6 > *	result,
		int	result_row_offset
	)		`[static]`

Definition at line 251 of file refine_motion_estimate.cpp.

static bool fovis::consistencyCompare	(	const FeatureMatch &	ca,
		const FeatureMatch &	cb
	)		`[static]`

Definition at line 342 of file motion_estimation.cpp.

static int fovis::dot_int16_aligned	(	const int16_t *	a,
		const int16_t *	b,
		int	num_taps
	)		`[inline, static]`

Definition at line 13 of file refine_feature_match.cpp.

void fovis::FAST	(	const uint8_t *	img,
		int	width,
		int	height,
		int	row_stride,
		std::vector< KeyPoint > *	keypoints,
		int	threshold,
		bool	nonmax_suppression
	)

void fovis::FAST	(	const uint8_t *	image,
		int	width,
		int	height,
		int	row_stride,
		vector< KeyPoint > *	keypoints,
		int	threshold,
		bool	nonmax_suppression
	)

Definition at line 6052 of file fast.cpp.

static void fovis::fast9ComputeScores	(	const uint8_t *	img,
		int	width,
		int	height,
		int	row_stride,
		vector< Point > &	corners,
		vector< int > &	scores,
		int	b
	)		`[static]`

Definition at line 3012 of file fast.cpp.

static int fovis::fast9CornerScore	(	const unsigned char *	p,
		const int	pixel[],
		int	bstart
	)		`[static]`

Definition at line 61 of file fast.cpp.

static void fovis::fast9Detect	(	const uint8_t *	img,
		int	width,
		int	height,
		int	row_stride,
		vector< Point > &	ret_corners,
		int	b
	)		`[static]`

Definition at line 3027 of file fast.cpp.

static void fovis::fastNonmaxSuppression	(	const vector< Point > &	corners,
		const vector< int > &	scores,
		vector< KeyPoint > &	ret_nonmax
	)		`[static]`

Definition at line 5954 of file fast.cpp.

static void fovis::grayToEigen	(	const uint8_t *	grayData,
		int	width,
		int	height,
		int	stride,
		int	downsampleFactor,
		Eigen::MatrixXf *	result
	)		`[static]`

Definition at line 24 of file initial_homography_estimation.cpp.

static Eigen::Isometry3d fovis::isometryFromParams ( const Eigen::Matrix< double, 6, 1 > & params ) [inline, static]

Definition at line 19 of file refine_motion_estimate.cpp.

static Eigen::Matrix<double, 6, 1> fovis::isometryToParams ( const Eigen::Isometry3d & M ) [inline, static]

Definition at line 48 of file refine_motion_estimate.cpp.

static bool fovis::keypoint_rect_v_comparator	(	const KeypointData &	a,
		const KeypointData &	b
	)		`[static]`

Definition at line 23 of file stereo_frame.cpp.

static bool fovis::keypoint_score_comparator	(	const KeyPoint &	a,
		const KeyPoint &	b
	)		`[static]`

Definition at line 14 of file grid_filter.cpp.

static void fovis::makeOffsets	(	int	pixel[],
		int	row_stride
	)		`[inline, static]`

Definition at line 2991 of file fast.cpp.

static void fovis::mean_stddev	(	const uint8_t *	buf,
		int	stride,
		int	width,
		int	height,
		float *	mean,
		float *	stddev
	)		`[static]`

Definition at line 10 of file normalize_image.cpp.

void fovis::normalize_image	(	uint8_t *	buf,
		int	stride,
		int	width,
		int	height
	)

Normalize image intensities in place to approximately have mean 128 and sd 74.

Definition at line 29 of file normalize_image.cpp.

bool fovis::optionsGetBool	(	const VisualOdometryOptions &	options,
		std::string	name,
		bool *	result
	)

Definition at line 31 of file internal_utils.cpp.

bool fovis::optionsGetBoolOrFromDefault	(	const VisualOdometryOptions &	options,
		std::string	name,
		const VisualOdometryOptions &	defaults
	)

Definition at line 73 of file internal_utils.cpp.

bool fovis::optionsGetDouble	(	const VisualOdometryOptions &	options,
		std::string	name,
		double *	result
	)

Definition at line 88 of file internal_utils.cpp.

double fovis::optionsGetDoubleOrFromDefault	(	const VisualOdometryOptions &	options,
		std::string	name,
		const VisualOdometryOptions &	defaults
	)

Definition at line 109 of file internal_utils.cpp.

bool fovis::optionsGetInt	(	const VisualOdometryOptions &	options,
		std::string	name,
		int *	result
	)

Definition at line 10 of file internal_utils.cpp.

int fovis::optionsGetIntOrFromDefault	(	const VisualOdometryOptions &	options,
		std::string	name,
		const VisualOdometryOptions &	defaults
	)

Definition at line 58 of file internal_utils.cpp.

static void fovis::print_isometry ( const Eigen::Isometry3d & iso ) [inline, static]

Definition at line 68 of file internal_utils.hpp.

void fovis::refineFeatureMatch	(	PyramidLevel *	ref_level,
		PyramidLevel *	target_level,
		Eigen::Vector2d	ref_uv,
		Eigen::Vector2d	init_target_uv,
		Eigen::Vector2d *	final_target_uv,
		float *	delta_sse
	)

Definition at line 80 of file refine_feature_match.cpp.

Eigen::Isometry3d fovis::refineMotionEstimate	(	const Eigen::Matrix< double, 4, Eigen::Dynamic > &	points,
		const Eigen::Matrix< double, 2, Eigen::Dynamic > &	ref_projections,
		double	fx,
		double	cx,
		double	cy,
		const Eigen::Isometry3d &	initial_estimate,
		int	max_iterations
	)

Given an initial motion estimate M_0, iteratively refines the motion estimate to minimize reprojection error.

M = argmin_{M} {i} || ref_projections[i] - p(K * M * points[i]) ||^2

where K is the camera projection matrix formed by fx, cx, and cy:

K = [ fx 0 cx 0 0 fx cy 0 0 0 1 0 ]

and p(X) is the normalized form of a homogeneous coordinate.

Definition at line 161 of file refine_motion_estimate.cpp.

void fovis::refineMotionEstimateBidirectional	(	const Eigen::Matrix< double, 4, Eigen::Dynamic > &	ref_points,
		const Eigen::Matrix< double, 2, Eigen::Dynamic > &	ref_projections,
		const Eigen::Matrix< double, 4, Eigen::Dynamic > &	target_points,
		const Eigen::Matrix< double, 2, Eigen::Dynamic > &	target_projections,
		double	fx,
		double	cx,
		double	cy,
		const Eigen::Isometry3d &	initial_estimate,
		int	max_iterations,
		Eigen::Isometry3d *	result,
		Eigen::MatrixXd *	result_covariance
	)

Given an initial motion estimate M_0, iteratively refines the motion estimate to minimize bidirectional reprojection error.

M = argmin_{M} {i} ref_err(i) + target_err(i)

ref_err(i) = || ref_projections[i] - p(K * M * target_points[i]) ||^2 target_err(i) = || target_projections[i] - p(K * M * ref_points[i]) ||^2

where K is the camera projection matrix formed by fx, fy, cx, and cy:

K = [ fx 0 cx 0 0 fy cy 0 0 0 1 0 ]

and p(X) is the normalized form of a homogeneous coordinate.

Definition at line 333 of file refine_motion_estimate.cpp.

static bool fovis::robustStereoCompatibility	(	const Eigen::Vector3d &	C1,
		const Eigen::Vector3d &	C2,
		const Eigen::Vector3d &	P1,
		const Eigen::Vector3d &	P2,
		double	baseline,
		double	focal_length,
		double	De
	)		`[inline, static]`

Definition at line 372 of file motion_estimation.cpp.

static double fovis::robustStereoCompatibility_computeDL	(	double	L,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2,
		double	t,
		double	f,
		double	De
	)		`[inline, static]`

Definition at line 357 of file motion_estimation.cpp.

static int fovis::round_up_to_multiple	(	int	x,
		int	a
	)		`[inline, static]`

Definition at line 18 of file internal_utils.hpp.

static double fovis::sqr ( double x ) [inline, static]

Definition at line 354 of file motion_estimation.cpp.

void fovis::stereo_rectify	(	const CameraIntrinsicsParameters &	left_params,
		const CameraIntrinsicsParameters &	right_params,
		const Eigen::Quaterniond &	rotation_quat,
		const Eigen::Vector3d &	translation,
		Eigen::Matrix3d *	left_rotation,
		Eigen::Matrix3d *	right_rotation,
		CameraIntrinsicsParameters *	rectified_params
	)

Definition at line 9 of file stereo_rectify.cpp.

int64_t fovis::tictoc ( const char * description )

tictoc:

basic invocation, the second time its called, it returns the time difference in microseconds

Definition at line 113 of file tictoc.cpp.

int64_t fovis::tictoc_full	(	const char *	description,
		double	ema_alpha,
		int64_t *	ema
	)

tictoc_full:

full invocation, allows you to specify an exponential moving average rate, and the current EMA value is returned in the ema argument

Definition at line 119 of file tictoc.cpp.

void fovis::tictoc_get_stats ( std::vector< tictoc_t > * stats )

Get tictoc entries.

Definition at line 172 of file tictoc.cpp.

void fovis::tictoc_print_stats ( tictoc_sort_type_t sortType )

tictoc_print_stats:

Print Out the stats from tictoc

Definition at line 185 of file tictoc.cpp.

static void fovis::validateOptions	(	const VisualOdometryOptions &	options,
		const VisualOdometryOptions &	defaults
	)		`[static]`

Definition at line 339 of file visual_odometry.cpp.

Variable Documentation

int fovis::_tictoc_enabled = 1 [static]

Definition at line 95 of file tictoc.cpp.

int fovis::_tictoc_initialized = 0 [static]

Definition at line 96 of file tictoc.cpp.

TictocMap fovis::_tictoc_map [static]

Definition at line 98 of file tictoc.cpp.

const char * fovis::MotionEstimateStatusCodeStrings

Initial value:

 {
  "NO_DATA",
  "SUCCESS",
  "INSUFFICIENT_INLIERS",
  "OPTIMIZATION_FAILURE",
  "REPROJECTION_ERROR"
}

Definition at line 31 of file motion_estimation.cpp.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation