Fovis core

Core data structures and algorithms. More...

Classes
struct	fovis::CameraIntrinsicsParameters
	Intrinsic parameters for a pinhole camera with plumb-bob distortion model. More...
class	fovis::DepthSource
	Provides depth estimates for input image pixels. More...
class	fovis::FeatureMatch
	Represents a single image feature matched between two camera images taken at different times. More...
class	fovis::IntensityDescriptorExtractor
	Extracts mean-normalized intensity patch around a pixel. More...
class	fovis::KeypointData
	Image feature used for motion estimation. More...
class	fovis::MotionEstimator
	Does the heavy lifting for frame-to-frame motion estimation. More...
class	fovis::OdometryFrame
	Stores data specific to an input frame. More...
class	fovis::PyramidLevel
	One level of a Gaussian image pyramid. More...
class	fovis::Rectification
	Maps image coordinates from an input image to image coordinates on a rectified camera. More...
class	fovis::VisualOdometry
	Main visual odometry class. More...
Typedefs
typedef std::map< std::string, std::string >	fovis::VisualOdometryOptions
	Options.

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Detailed Description

Core data structures and algorithms.

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Typedef Documentation

fovis::VisualOdometryOptions

Options.

VisualOdometryOptions is a key-value dictionary of user-adjustable options that affect the behavior of the visual odometry algorithm. Keys and values are both expressed as strings

Current options are:

 *   "feature-window-size"
 *     Type:        Integer
 *     Default:     9
 *     Range:       1+
 *     Description: The size of the n x n image patch surrounding each feature, used for
 *                  keypoint matching.
 *      
 *   "max-pyramid-level"
 *     Type:        Integer
 *     Default:     3
 *     Range:       1+
 *     Description: The maximum Gaussian pyramid level to process the image at.
 *                  Pyramid level 1 corresponds to the original image.
 *
 *   "inlier-max-reprojection-error"
 *     Type:        Double
 *     Default:     1.5
 *     Range:       0+
 *     Description: The maximum image-space reprojection error (in pixels) a
 *                  feature match is allowed to have and still be considered an
 *                  inlier in the set of features used for motion estimation.
 *
 *   "clique-inlier-threshold"
 *     Type:        Double
 *     Default:     0.1
 *     Range:       0+
 *     Description: See Howard's greedy max-clique algorithm for determining the 
 *                  maximum set of mutually consisten feature matches.  This
 *                  specifies the compatibility threshold, in meters.
 *
 *   "min-features-for-estimate"
 *     Type:        Integer
 *     Default:     10
 *     Range:       0+
 *     Description: Minimum number of features in the inlier set for the motion estimate
 *     to be considered valid.
 *
 *   "max-mean-reprojection-error"
 *     Type:        Double
 *     Default:     10.0
 *     Range:       0+
 *     Description: Maximum mean reprojection error over the inlier feature matches for the
 *     motion estimate to be considered valid.
 *
 *   "use-subpixel-refinement"
 *     Type:        Integer
 *     Default:     1
 *     Range:       0 or 1
 *     Description: Specifies whether or not to refine feature matches to
 *     subpixel resolution.
 *
 *   "feature-search-window"
 *     Type:        Integer
 *     Default:     25
 *     Range:       0+
 *     Description: Specifies the size of the search window to apply when
 *     searching for feature matches across time frames.  The search is conducted
 *     around the feature location predicted by the initial rotation estimate.
 *
 *   "target-pixels-per-feature"
 *     Type:        Integer
 *     Default:     250
 *     Range:       1+
 *     Description: Specifies the desired feature density as a ratio of input
 *                  image pixels per feature detected.  This number is used to control
 *                  the adaptive feature thresholding.
 *
 *   "update-target-features-with-refined"
 *     Type:        Integer
 *     Default:     0
 *     Range:       0 or 1
 *     Description: When subpixel refinement is enabled, the refined feature
 *                  locations can be saved over the original feature
 *                  locations.  This has a slightly negative impact on
 *                  frame-to-frame visual odometry, but is likely better when
 *                  using this library as part of a visual SLAM
 *                  algorithm.
 * 

Definition at line 106 of file options.hpp.