fovis::MotionEstimator Class Reference

Does the heavy lifting for frame-to-frame motion estimation. More...

#include <motion_estimation.hpp>

List of all members.

Public Member Functions
void	estimateMotion (OdometryFrame *reference_frame, OdometryFrame *target_frame, DepthSource *depth_source, const Eigen::Isometry3d &init_motion_est, const Eigen::MatrixXd &init_motion_cov)
const FeatureMatch *	getMatches () const
double	getMeanInlierReprojectionError () const
const Eigen::Isometry3d &	getMotionEstimate () const
const Eigen::MatrixXd &	getMotionEstimateCov () const
MotionEstimateStatusCode	getMotionEstimateStatus () const
int	getNumInliers () const
int	getNumMatches () const
int	getNumReprojectionFailures () const
bool	isMotionEstimateValid () const
	MotionEstimator (const Rectification *rectification, const VisualOdometryOptions &options)
void	sanityCheck () const
	~MotionEstimator ()
Private Member Functions
void	computeMaximallyConsistentClique ()
void	computeReprojectionError ()
void	estimateRigidBodyTransform ()
void	matchFeatures (PyramidLevel *ref_level, PyramidLevel *target_level)
void	refineMotionEstimate ()
Private Attributes
double	_clique_inlier_threshold
DepthSource *	_depth_source
MotionEstimateStatusCode	_estimate_status
double	_inlier_max_reprojection_error
FeatureMatcher	_matcher
FeatureMatch *	_matches
int	_matches_capacity
double	_max_feature_motion
double	_max_mean_reprojection_error
double	_mean_reprojection_error
int	_min_features_for_valid_motion_estimate
Eigen::Isometry3d *	_motion_estimate
Eigen::MatrixXd *	_motion_estimate_covariance
int	_num_frames
int	_num_inliers
int	_num_matches
int	_num_reprojection_failures
int	_num_tracks
const Rectification *	_rectification
OdometryFrame *	_ref_frame
OdometryFrame *	_target_frame
bool	_update_target_features_with_refined
int	_use_subpixel_refinement

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Detailed Description

Does the heavy lifting for frame-to-frame motion estimation.

TODO

Definition at line 37 of file motion_estimation.hpp.

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Constructor & Destructor Documentation

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

Definition at line 39 of file motion_estimation.cpp.

fovis::MotionEstimator::~MotionEstimator

(

)

Definition at line 72 of file motion_estimation.cpp.

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Member Function Documentation

void fovis::MotionEstimator::computeMaximallyConsistentClique

(

)

[private]

Definition at line 390 of file motion_estimation.cpp.

void fovis::MotionEstimator::computeReprojectionError

(

)

[private]

Definition at line 633 of file motion_estimation.cpp.

void fovis::MotionEstimator::estimateMotion	(	OdometryFrame *	reference_frame,
		OdometryFrame *	target_frame,
		DepthSource *	depth_source,
		const Eigen::Isometry3d &	init_motion_est,
		const Eigen::MatrixXd &	init_motion_cov
	)

Definition at line 88 of file motion_estimation.cpp.

void fovis::MotionEstimator::estimateRigidBodyTransform

(

)

[private]

Definition at line 520 of file motion_estimation.cpp.

const FeatureMatch* fovis::MotionEstimator::getMatches

(

)

const [inline]

Definition at line 65 of file motion_estimation.hpp.

double fovis::MotionEstimator::getMeanInlierReprojectionError

(

)

const [inline]

Definition at line 81 of file motion_estimation.hpp.

const Eigen::Isometry3d& fovis::MotionEstimator::getMotionEstimate

(

)

const [inline]

Definition at line 57 of file motion_estimation.hpp.

const Eigen::MatrixXd& fovis::MotionEstimator::getMotionEstimateCov

(

)

const [inline]

Definition at line 61 of file motion_estimation.hpp.

MotionEstimateStatusCode fovis::MotionEstimator::getMotionEstimateStatus

(

)

const [inline]

Definition at line 53 of file motion_estimation.hpp.

int fovis::MotionEstimator::getNumInliers

(

)

const [inline]

Definition at line 73 of file motion_estimation.hpp.

int fovis::MotionEstimator::getNumMatches

(

)

const [inline]

Definition at line 69 of file motion_estimation.hpp.

int fovis::MotionEstimator::getNumReprojectionFailures

(

)

const [inline]

Definition at line 77 of file motion_estimation.hpp.

bool fovis::MotionEstimator::isMotionEstimateValid

(

)

const [inline]

Definition at line 49 of file motion_estimation.hpp.

void fovis::MotionEstimator::matchFeatures	(	PyramidLevel *	ref_level,
		PyramidLevel *	target_level
	)		[private]

Definition at line 252 of file motion_estimation.cpp.

void fovis::MotionEstimator::refineMotionEstimate

(

)

[private]

Definition at line 559 of file motion_estimation.cpp.

void fovis::MotionEstimator::sanityCheck

(

)

const

Definition at line 228 of file motion_estimation.cpp.

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Member Data Documentation

double fovis::MotionEstimator::_clique_inlier_threshold [private]

Definition at line 141 of file motion_estimation.hpp.

DepthSource* fovis::MotionEstimator::_depth_source [private]

Definition at line 95 of file motion_estimation.hpp.

MotionEstimateStatusCode fovis::MotionEstimator::_estimate_status [private]

Definition at line 161 of file motion_estimation.hpp.

double fovis::MotionEstimator::_inlier_max_reprojection_error [private]

Definition at line 137 of file motion_estimation.hpp.

FeatureMatcher fovis::MotionEstimator::_matcher [private]

Definition at line 97 of file motion_estimation.hpp.

FeatureMatch* fovis::MotionEstimator::_matches [private]

Definition at line 100 of file motion_estimation.hpp.

int fovis::MotionEstimator::_matches_capacity [private]

Definition at line 102 of file motion_estimation.hpp.

double fovis::MotionEstimator::_max_feature_motion [private]

Definition at line 151 of file motion_estimation.hpp.

double fovis::MotionEstimator::_max_mean_reprojection_error [private]

Definition at line 133 of file motion_estimation.hpp.

double fovis::MotionEstimator::_mean_reprojection_error [private]

Definition at line 114 of file motion_estimation.hpp.

int fovis::MotionEstimator::_min_features_for_valid_motion_estimate [private]

Definition at line 145 of file motion_estimation.hpp.

Eigen::Isometry3d* fovis::MotionEstimator::_motion_estimate [private]

Definition at line 127 of file motion_estimation.hpp.

Eigen::MatrixXd* fovis::MotionEstimator::_motion_estimate_covariance [private]

Definition at line 129 of file motion_estimation.hpp.

int fovis::MotionEstimator::_num_frames [private]

Definition at line 108 of file motion_estimation.hpp.

int fovis::MotionEstimator::_num_inliers [private]

Definition at line 111 of file motion_estimation.hpp.

int fovis::MotionEstimator::_num_matches [private]

Definition at line 101 of file motion_estimation.hpp.

int fovis::MotionEstimator::_num_reprojection_failures [private]

Definition at line 117 of file motion_estimation.hpp.

int fovis::MotionEstimator::_num_tracks [private]

Definition at line 105 of file motion_estimation.hpp.

const Rectification* fovis::MotionEstimator::_rectification [private]

Definition at line 119 of file motion_estimation.hpp.

OdometryFrame* fovis::MotionEstimator::_ref_frame [private]

Definition at line 121 of file motion_estimation.hpp.

OdometryFrame* fovis::MotionEstimator::_target_frame [private]

Definition at line 122 of file motion_estimation.hpp.

bool fovis::MotionEstimator::_update_target_features_with_refined [private]

Definition at line 159 of file motion_estimation.hpp.

int fovis::MotionEstimator::_use_subpixel_refinement [private]

Definition at line 154 of file motion_estimation.hpp.

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

• motion_estimation.hpp
• motion_estimation.cpp