#include <viso_stereo.h>
Classes | |
| struct | parameters |
Public Member Functions | |
| bool | process (uint8_t *I1, uint8_t *I2, int32_t *dims, bool replace=false) |
| VisualOdometryStereo (parameters param) | |
| ~VisualOdometryStereo () | |
Private Types | |
| enum | result { UPDATED, FAILED, CONVERGED } |
Private Member Functions | |
| void | computeObservations (std::vector< Matcher::p_match > &p_matched, std::vector< int32_t > &active) |
| void | computeResidualsAndJacobian (std::vector< double > &tr, std::vector< int32_t > &active) |
| std::vector< double > | estimateMotion (std::vector< Matcher::p_match > p_matched) |
| std::vector< int32_t > | getInlier (std::vector< Matcher::p_match > &p_matched, std::vector< double > &tr) |
| result | updateParameters (std::vector< Matcher::p_match > &p_matched, std::vector< int32_t > &active, std::vector< double > &tr, double step_size, double eps) |
Private Attributes | |
| double * | p_residual |
| parameters | param |
| double * | X |
| double * | Y |
| double * | Z |
Detailed Description
Definition at line 27 of file viso_stereo.h.
Member Enumeration Documentation
enum VisualOdometryStereo::result [private] |
Definition at line 72 of file viso_stereo.h.
Constructor & Destructor Documentation
Definition at line 26 of file viso_stereo.cpp.
Definition at line 30 of file viso_stereo.cpp.
Member Function Documentation
| void VisualOdometryStereo::computeObservations | ( | std::vector< Matcher::p_match > & | p_matched, |
| std::vector< int32_t > & | active | ||
| ) | [private] |
Definition at line 214 of file viso_stereo.cpp.
| void VisualOdometryStereo::computeResidualsAndJacobian | ( | std::vector< double > & | tr, |
| std::vector< int32_t > & | active | ||
| ) | [private] |
Definition at line 225 of file viso_stereo.cpp.
| vector< double > VisualOdometryStereo::estimateMotion | ( | std::vector< Matcher::p_match > | p_matched | ) | [private, virtual] |
Implements VisualOdometry.
Definition at line 42 of file viso_stereo.cpp.
| vector< int32_t > VisualOdometryStereo::getInlier | ( | std::vector< Matcher::p_match > & | p_matched, |
| std::vector< double > & | tr | ||
| ) | [private] |
Definition at line 147 of file viso_stereo.cpp.
| bool VisualOdometryStereo::process | ( | uint8_t * | I1, |
| uint8_t * | I2, | ||
| int32_t * | dims, | ||
| bool | replace = false |
||
| ) |
Definition at line 33 of file viso_stereo.cpp.
| VisualOdometryStereo::result VisualOdometryStereo::updateParameters | ( | std::vector< Matcher::p_match > & | p_matched, |
| std::vector< int32_t > & | active, | ||
| std::vector< double > & | tr, | ||
| double | step_size, | ||
| double | eps | ||
| ) | [private] |
Definition at line 167 of file viso_stereo.cpp.
Member Data Documentation
double* VisualOdometryStereo::p_residual [private] |
Definition at line 79 of file viso_stereo.h.
parameters VisualOdometryStereo::param [private] |
Reimplemented from VisualOdometry.
Definition at line 82 of file viso_stereo.h.
double* VisualOdometryStereo::X [private] |
Definition at line 78 of file viso_stereo.h.
double * VisualOdometryStereo::Y [private] |
Definition at line 78 of file viso_stereo.h.
double * VisualOdometryStereo::Z [private] |
Definition at line 78 of file viso_stereo.h.
The documentation for this class was generated from the following files: