Motion estimation based on aligning sparse features against a persistent, dynamic model. More...

#include <motion_estimation_pairwise_ransac.h>

Inheritance diagram for rgbdtools::MotionEstimationPairwiseRANSAC:

Public Member Functions
bool	getMotionEstimationImpl (RGBDFrame &frame, const AffineTransform &prediction, AffineTransform &motion)
	Main method for estimating the motion given an RGBD frame.
bool	getMotionEstimationImpl (RGBDFrame &frame, const AffineTransform &prediction, AffineTransform &motion)
	Main method for estimating the motion given an RGBD frame.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MotionEstimationPairwiseRANSAC ()
	Constructor from ROS noehandles.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MotionEstimationPairwiseRANSAC ()
	Constructor from ROS noehandles.
void	setFeatureDetector (FeatureDetectorPtr detector)
void	setFeatureDetector (FeatureDetectorPtr detector)
virtual	~MotionEstimationPairwiseRANSAC ()
	Default destructor.
virtual	~MotionEstimationPairwiseRANSAC ()
	Default destructor.
Private Member Functions
double	distEuclideanSq (const PointFeature &a, const PointFeature &b)
double	distEuclideanSq (const PointFeature &a, const PointFeature &b)
void	get3RandomIndices (int n, std::set< int > &mask, IntVector &output)
void	get3RandomIndices (int n, std::set< int > &mask, IntVector &output)
void	getCandidateMatches (const RGBDFrame &frame_q, const RGBDFrame &frame_t, cv::DescriptorMatcher &matcher, DMatchVector &candidate_matches)
void	getCandidateMatches (const RGBDFrame &frame_q, const RGBDFrame &frame_t, cv::DescriptorMatcher &matcher, DMatchVector &candidate_matches)
void	getRandomIndices (int k, int n, IntVector &output)
void	getRandomIndices (int k, int n, IntVector &output)
int	pairwiseMatchingRANSAC (const RGBDFrame &frame_q, const RGBDFrame &frame_t, DMatchVector &best_inlier_matches, Eigen::Matrix4f &best_transformation)
int	pairwiseMatchingRANSAC (const RGBDFrame &frame_q, const RGBDFrame &frame_t, DMatchVector &best_inlier_matches, Eigen::Matrix4f &best_transformation)
Private Attributes
FeatureDetectorPtr	detector_
AffineTransform	f2b_
	Transform from fixed to moving frame.
bool	initialized_
double	log_one_minus_ransac_confidence_
double	matcher_max_desc_dist_
double	matcher_max_desc_ratio_
bool	matcher_use_desc_ratio_test_
RGBDFrame *	prev_frame_
double	ransac_confidence_
int	ransac_max_iterations_
double	sac_max_eucl_dist_sq_
int	sac_min_inliers_
bool	sac_reestimate_tf_

Detailed Description

Motion estimation based on aligning sparse features against a persistent, dynamic model.

The model is build from incoming features through a Kalman Filter update step.

Definition at line 43 of file include/rgbdtools/registration/motion_estimation_pairwise_ransac.h.

Constructor & Destructor Documentation

rgbdtools::MotionEstimationPairwiseRANSAC::MotionEstimationPairwiseRANSAC ( )

Constructor from ROS noehandles.

Parameters:

nh	the public nodehandle
nh_private	the private notehandle

Definition at line 28 of file motion_estimation_pairwise_ransac.cpp.

rgbdtools::MotionEstimationPairwiseRANSAC::~MotionEstimationPairwiseRANSAC ( ) [virtual]

Default destructor.

Definition at line 57 of file motion_estimation_pairwise_ransac.cpp.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW rgbdtools::MotionEstimationPairwiseRANSAC::MotionEstimationPairwiseRANSAC ( )

Constructor from ROS noehandles.

Parameters:

nh	the public nodehandle
nh_private	the private notehandle

virtual rgbdtools::MotionEstimationPairwiseRANSAC::~MotionEstimationPairwiseRANSAC ( ) [virtual]

Default destructor.

Member Function Documentation

double rgbdtools::MotionEstimationPairwiseRANSAC::distEuclideanSq	(	const PointFeature &	a,
		const PointFeature &	b
	)		`[inline, private]`

Definition at line 150 of file include/rgbdtools/registration/motion_estimation_pairwise_ransac.h.

double rgbdtools::MotionEstimationPairwiseRANSAC::distEuclideanSq	(	const PointFeature &	a,
		const PointFeature &	b
	)		`[inline, private]`

Definition at line 150 of file rgbdtools_git/include/rgbdtools/registration/motion_estimation_pairwise_ransac.h.

void rgbdtools::MotionEstimationPairwiseRANSAC::get3RandomIndices	(	int	n,
		std::set< int > &	mask,
		IntVector &	output
	)		`[inline, private]`

Definition at line 127 of file rgbdtools_git/include/rgbdtools/registration/motion_estimation_pairwise_ransac.h.

void rgbdtools::MotionEstimationPairwiseRANSAC::get3RandomIndices	(	int	n,
		std::set< int > &	mask,
		IntVector &	output
	)		`[inline, private]`

Definition at line 127 of file include/rgbdtools/registration/motion_estimation_pairwise_ransac.h.

void rgbdtools::MotionEstimationPairwiseRANSAC::getCandidateMatches	(	const RGBDFrame &	frame_q,
		const RGBDFrame &	frame_t,
		cv::DescriptorMatcher &	matcher,
		DMatchVector &	candidate_matches
	)		`[private]`

void rgbdtools::MotionEstimationPairwiseRANSAC::getCandidateMatches	(	const RGBDFrame &	frame_q,
		const RGBDFrame &	frame_t,
		cv::DescriptorMatcher &	matcher,
		DMatchVector &	candidate_matches
	)		`[private]`

Definition at line 268 of file motion_estimation_pairwise_ransac.cpp.

bool rgbdtools::MotionEstimationPairwiseRANSAC::getMotionEstimationImpl	(	RGBDFrame &	frame,
		const AffineTransform &	prediction,
		AffineTransform &	motion
	)		`[virtual]`

Main method for estimating the motion given an RGBD frame.

Parameters:

frame	the current RGBD frame
prediction	the predicted motion (currently ignored)
motion	the (output) incremental motion, wrt the fixed frame

Return values:

true	the motion estimation was successful
false	the motion estimation failed

Implements rgbdtools::MotionEstimation.

bool rgbdtools::MotionEstimationPairwiseRANSAC::getMotionEstimationImpl	(	RGBDFrame &	frame,
		const AffineTransform &	prediction,
		AffineTransform &	motion
	)		`[virtual]`

Main method for estimating the motion given an RGBD frame.

Parameters:

frame	the current RGBD frame
prediction	the predicted motion (currently ignored)
motion	the (output) incremental motion, wrt the fixed frame

Return values:

true	the motion estimation was successful
false	the motion estimation failed

Implements rgbdtools::MotionEstimation.

Definition at line 62 of file motion_estimation_pairwise_ransac.cpp.

void rgbdtools::MotionEstimationPairwiseRANSAC::getRandomIndices	(	int	k,
		int	n,
		IntVector &	output
	)		`[inline, private]`

Definition at line 105 of file include/rgbdtools/registration/motion_estimation_pairwise_ransac.h.

void rgbdtools::MotionEstimationPairwiseRANSAC::getRandomIndices	(	int	k,
		int	n,
		IntVector &	output
	)		`[inline, private]`

Definition at line 105 of file rgbdtools_git/include/rgbdtools/registration/motion_estimation_pairwise_ransac.h.

int rgbdtools::MotionEstimationPairwiseRANSAC::pairwiseMatchingRANSAC	(	const RGBDFrame &	frame_q,
		const RGBDFrame &	frame_t,
		DMatchVector &	best_inlier_matches,
		Eigen::Matrix4f &	best_transformation
	)		`[private]`

int rgbdtools::MotionEstimationPairwiseRANSAC::pairwiseMatchingRANSAC	(	const RGBDFrame &	frame_q,
		const RGBDFrame &	frame_t,
		DMatchVector &	best_inlier_matches,
		Eigen::Matrix4f &	best_transformation
	)		`[private]`