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mrpt::vision::CVisualOdometryStereo Class Reference

Visual odometry for stereo cameras. More...

#include <mrpt/vision/CVisualOdometryStereo.h>

List of all members.

Public Member Functions

 CVisualOdometryStereo ()
 Constructor.
virtual ~CVisualOdometryStereo ()
 Destructor.
void reset ()
 Resets the state of the Visual Odometry system.
bool process (const mrpt::slam::CObservationStereoImages &inObs, mrpt::poses::CPose3DPDFGaussian &outEst)
 Performs one step of the Visual Odometry system.

Public Attributes

vision::TStereoSystemParams stereoParams
vision::TMatchingOptions matchingOptions
vision::TOdometryOptions odometryOptions
unsigned int nIter

Protected Member Functions

void computeRTCovariance (const mrpt::poses::CPose3D &meanPose, const mrpt::slam::CMetricMap::TMatchingPairList &list, const mrpt::slam::CObservationVisualLandmarks &Pre_Cloud, const mrpt::slam::CObservationVisualLandmarks &Cur_Cloud, math::CMatrixD &RTCov)
 Compute the covariance of the change in pose using the method defined in the options (for internal use only).
void storeMatchedFeatureList (const CMatchedFeatureList &mfList)
 Fills in the KLT lists from the matched SIFTS (for internal use only).
void addMatches (const CMatchedFeatureList &mfList)
 Adds the new set of matched points into the internal lists of points (for internal use only).
void getMatchedList (CMatchedFeatureList &mfList)
 Construct a CMatchedFeatureList from the internal lists of features (for internal use only).

Protected Attributes

bool firstObs
vision::CMatchedFeatureList mfList
vision::CFeatureExtraction fExtract
mrpt::slam::CObservationVisualLandmarks Prev_cloud
utils::CMRPTImage imgL
utils::CMRPTImage imgR
vision::CFeatureList leftFeats
vision::CFeatureList rightFeats
gui::CDisplayWindowwind1
gui::CDisplayWindowwind2


Detailed Description

Visual odometry for stereo cameras.

The method is described in the paper:

Note:
This class is undergoing changes and it's in an experimental status.

Definition at line 89 of file CVisualOdometryStereo.h.


Constructor & Destructor Documentation

mrpt::vision::CVisualOdometryStereo::CVisualOdometryStereo (  ) 

Constructor.

virtual mrpt::vision::CVisualOdometryStereo::~CVisualOdometryStereo (  )  [virtual]

Destructor.


Member Function Documentation

void mrpt::vision::CVisualOdometryStereo::addMatches ( const CMatchedFeatureList mfList  )  [protected]

Adds the new set of matched points into the internal lists of points (for internal use only).

void mrpt::vision::CVisualOdometryStereo::computeRTCovariance ( const mrpt::poses::CPose3D meanPose,
const mrpt::slam::CMetricMap::TMatchingPairList list,
const mrpt::slam::CObservationVisualLandmarks Pre_Cloud,
const mrpt::slam::CObservationVisualLandmarks Cur_Cloud,
math::CMatrixD RTCov 
) [protected]

Compute the covariance of the change in pose using the method defined in the options (for internal use only).

void mrpt::vision::CVisualOdometryStereo::getMatchedList ( CMatchedFeatureList mfList  )  [protected]

Construct a CMatchedFeatureList from the internal lists of features (for internal use only).

bool mrpt::vision::CVisualOdometryStereo::process ( const mrpt::slam::CObservationStereoImages inObs,
mrpt::poses::CPose3DPDFGaussian outEst 
)

Performs one step of the Visual Odometry system.

It takes the input stereo observation and estimates the camera movement between the previous observation and this one. If this is the first observation inserted into the system, this functions return FALSE. Otherwise it returns TRUE and yields a CPose3DPDFGaussian object containing the change in the 6D camera pose.

void mrpt::vision::CVisualOdometryStereo::reset (  ) 

Resets the state of the Visual Odometry system.

void mrpt::vision::CVisualOdometryStereo::storeMatchedFeatureList ( const CMatchedFeatureList mfList  )  [protected]

Fills in the KLT lists from the matched SIFTS (for internal use only).


Member Data Documentation

Definition at line 124 of file CVisualOdometryStereo.h.

Definition at line 121 of file CVisualOdometryStereo.h.

Definition at line 126 of file CVisualOdometryStereo.h.

Definition at line 126 of file CVisualOdometryStereo.h.

Definition at line 128 of file CVisualOdometryStereo.h.

Definition at line 114 of file CVisualOdometryStereo.h.

Definition at line 123 of file CVisualOdometryStereo.h.

Definition at line 117 of file CVisualOdometryStereo.h.

Definition at line 115 of file CVisualOdometryStereo.h.

Definition at line 125 of file CVisualOdometryStereo.h.

Definition at line 128 of file CVisualOdometryStereo.h.

Definition at line 113 of file CVisualOdometryStereo.h.

Definition at line 131 of file CVisualOdometryStereo.h.

Definition at line 131 of file CVisualOdometryStereo.h.




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