vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT > Class Template Reference

Keyframe manager based on covisibility (i.e. number of matched features) between keyframes. More...

#include <vo.h>

Inheritance diagram for vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >:

List of all members.

Public Member Functions
virtual bool	buildNewKeyframe ()
	decides if current frame should be keyframe.
	CovisibilityKeyframeVisualOdometry (shared_ptr< NodeBuilderTT< PoseGraphT > > _nbuilder, shared_ptr< EdgeBuilder< PoseGraphT > > _ebuilder, double _ctreshold=0.8, size_t _target_past_verticies_size=1, shared_ptr< VodomLogger< PoseGraphT > > _logger=shared_ptr< VodomLogger< PoseGraphT > >())
int	getEdgeCovisibility (VertexD s, VertexD t)
virtual void	newKeyframeBuilt ()
	stuff that needs to be done after creating new keyframe.
Protected Types
typedef graph_traits < PoseGraphT > ::vertex_descriptor	VertexD
Protected Attributes
double	ctreshold
	multiplier as described in the constructor
double	minimum
	covisibility for the first edge as described in the constuctor

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Detailed Description

template<template< class > class NodeBuilderTT, class PoseGraphT>
class vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >

Keyframe manager based on covisibility (i.e. number of matched features) between keyframes.

Definition at line 466 of file vo.h.

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Member Typedef Documentation

template<template< class > class NodeBuilderTT, class PoseGraphT >

typedef graph_traits<PoseGraphT>::vertex_descriptor vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::VertexD [protected]

Reimplemented from vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 468 of file vo.h.

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Constructor & Destructor Documentation

template<template< class > class NodeBuilderTT, class PoseGraphT >

vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::CovisibilityKeyframeVisualOdometry	(	shared_ptr< NodeBuilderTT< PoseGraphT > >	_nbuilder,
		shared_ptr< EdgeBuilder< PoseGraphT > >	_ebuilder,
		double	_ctreshold = 0.8,
		size_t	_target_past_verticies_size = 1,
		shared_ptr< VodomLogger< PoseGraphT > >	_logger = shared_ptr<VodomLogger<PoseGraphT> >()
	)		[inline]

Parameters:

_cthreshold

multiplier of the covisibility between last keyframe and first edge that was added with it as vertex after it was designated as keyframe. if the covisibility of last added edge drops bellow the _cthreshold * covisibility, new keyframe is created.

Definition at line 480 of file vo.h.

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Member Function Documentation

template<template< class > class NodeBuilderTT, class PoseGraphT >

virtual bool vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::buildNewKeyframe

(

)

[inline, virtual]

decides if current frame should be keyframe.

Implements vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 497 of file vo.h.

template<template< class > class NodeBuilderTT, class PoseGraphT >

int vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::getEdgeCovisibility	(	VertexD	s,
		VertexD	t
	)		[inline]

Definition at line 492 of file vo.h.

template<template< class > class NodeBuilderTT, class PoseGraphT >

virtual void vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::newKeyframeBuilt

(

)

[inline, virtual]

stuff that needs to be done after creating new keyframe.

Implements vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 512 of file vo.h.

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Member Data Documentation

template<template< class > class NodeBuilderTT, class PoseGraphT >

double vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::ctreshold [protected]

multiplier as described in the constructor

Definition at line 471 of file vo.h.

template<template< class > class NodeBuilderTT, class PoseGraphT >

double vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::minimum [protected]

covisibility for the first edge as described in the constuctor

Definition at line 470 of file vo.h.

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

• vo.h