VisualOdometry Class Reference

#include <viso.h>

Inheritance diagram for VisualOdometry:

List of all members.

Classes
struct	bucketing
struct	calibration
struct	parameters
Public Member Functions
float	getGain (std::vector< int32_t > inliers_)
std::vector< int32_t >	getInlierIndices ()
Matrix	getMotion ()
int32_t	getNumberOfInliers ()
int32_t	getNumberOfMatches ()
bool	process (std::vector< Matcher::p_match > p_matched_)
	VisualOdometry (parameters param)
	~VisualOdometry ()
Protected Member Functions
virtual std::vector< double >	estimateMotion (std::vector< Matcher::p_match > p_matched)=0
virtual std::vector< double >	estimateMotionLinear (std::vector< Matcher::p_match > p_matched)
virtual std::vector< double >	estimateMotionMaxClique (std::vector< Matcher::p_match > p_matched)
std::vector< int32_t >	getRandomSample (int32_t N, int32_t num)
Matrix	transformationVectorToMatrix (std::vector< double > tr)
bool	updateMotion ()
Protected Attributes
std::vector< int32_t >	inliers
double *	J
Matcher *	matcher
std::vector< Matcher::p_match >	p_matched
double *	p_observe
double *	p_predict
Matrix	Tr_delta
bool	Tr_valid
Private Attributes
parameters	param
Friends
std::ostream &	operator<< (std::ostream &os, VisualOdometry &viso)

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Detailed Description

Definition at line 28 of file viso.h.

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Constructor & Destructor Documentation

VisualOdometry::VisualOdometry

(

parameters

param

)

Definition at line 27 of file viso.cpp.

VisualOdometry::~VisualOdometry

(

)

Definition at line 37 of file viso.cpp.

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Member Function Documentation

virtual std::vector<double> VisualOdometry::estimateMotion

(

std::vector< Matcher::p_match >

p_matched

)

[protected, pure virtual]

Implemented in VisualOdometryMono, and VisualOdometryStereo.

virtual std::vector<double> VisualOdometry::estimateMotionLinear

(

std::vector< Matcher::p_match >

p_matched

)

[inline, protected, virtual]

Reimplemented in VisualOdometryStereo.

Definition at line 124 of file viso.h.

virtual std::vector<double> VisualOdometry::estimateMotionMaxClique

(

std::vector< Matcher::p_match >

p_matched

)

[inline, protected, virtual]

Reimplemented in VisualOdometryStereo.

Definition at line 125 of file viso.h.

float VisualOdometry::getGain

(

std::vector< int32_t >

inliers_

)

[inline]

Definition at line 102 of file viso.h.

std::vector<int32_t> VisualOdometry::getInlierIndices

(

)

[inline]

Definition at line 97 of file viso.h.

Matrix VisualOdometry::getMotion

(

)

[inline]

Definition at line 86 of file viso.h.

int32_t VisualOdometry::getNumberOfInliers

(

)

[inline]

Definition at line 94 of file viso.h.

int32_t VisualOdometry::getNumberOfMatches

(

)

[inline]

Definition at line 91 of file viso.h.

vector< int32_t > VisualOdometry::getRandomSample	(	int32_t	N,
		int32_t	num
	)		[protected]

Definition at line 87 of file viso.cpp.

bool VisualOdometry::process

(

std::vector< Matcher::p_match >

p_matched_

)

[inline]

Definition at line 74 of file viso.h.

Matrix VisualOdometry::transformationVectorToMatrix

(

std::vector< double >

tr

)

[protected]

Definition at line 60 of file viso.cpp.

bool VisualOdometry::updateMotion

(

)

[protected]

Definition at line 41 of file viso.cpp.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		VisualOdometry &	viso
	)		[friend]

Definition at line 105 of file viso.h.

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Member Data Documentation

std::vector<int32_t> VisualOdometry::inliers [protected]

Definition at line 133 of file viso.h.

double* VisualOdometry::J [protected]

Definition at line 134 of file viso.h.

Matcher* VisualOdometry::matcher [protected]

Definition at line 132 of file viso.h.

std::vector<Matcher::p_match> VisualOdometry::p_matched [protected]

Definition at line 137 of file viso.h.

double* VisualOdometry::p_observe [protected]

Definition at line 135 of file viso.h.

double* VisualOdometry::p_predict [protected]

Definition at line 136 of file viso.h.

parameters VisualOdometry::param [private]

Reimplemented in VisualOdometryStereo, and VisualOdometryMono.

Definition at line 141 of file viso.h.

Matrix VisualOdometry::Tr_delta [protected]

Definition at line 130 of file viso.h.

bool VisualOdometry::Tr_valid [protected]

Definition at line 131 of file viso.h.

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The documentation for this class was generated from the following files:

• viso.h
• viso.cpp