#include <mrpt/vision/CVisualOdometryStereo.h>
The method is described in the paper:
Definition at line 89 of file CVisualOdometryStereo.h.
mrpt::vision::CVisualOdometryStereo::CVisualOdometryStereo | ( | ) |
Constructor.
virtual mrpt::vision::CVisualOdometryStereo::~CVisualOdometryStereo | ( | ) | [virtual] |
Destructor.
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).
Definition at line 124 of file CVisualOdometryStereo.h.
bool mrpt::vision::CVisualOdometryStereo::firstObs [protected] |
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.
unsigned int mrpt::vision::CVisualOdometryStereo::nIter |
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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