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

Specialized interface for Keyframe Manager where pose-graph is a tree. More...

#include <vo.h>

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

List of all members.

Public Member Functions
virtual bool	buildNewKeyframe ()=0
	decides if current frame should be keyframe.
	KeyframeVisualOdometry (shared_ptr< NodeBuilderTT< PoseGraphT > > _nbuilder, shared_ptr< EdgeBuilder< PoseGraphT > > _ebuilder, size_t _target_past_verticies_size=1, shared_ptr< VodomLogger< PoseGraphT > > _logger=shared_ptr< VodomLogger< PoseGraphT > >())
virtual void	newKeyframeBuilt ()=0
	stuff that needs to be done after creating new keyframe.
virtual shared_ptr< VertexD >	processPose0 (typename NodeBuilderTT< PoseGraphT >::InputType input, int pose_id, uint64_t pose_timestamp, bool debug_images=false, bool trajectory_file=false)
Protected Types
typedef graph_traits < PoseGraphT > ::vertex_descriptor	VertexD
Protected Attributes
VertexD	current_keyframe
bool	has_pvd
bool	initial_pose_registred
NodeBuilderTT< PoseGraphT > ::InputType	keyframe_image
G2ORunner2< PoseGraphT >	opt
NodeBuilderTT< PoseGraphT > ::InputType	pvd_image
int	total_vertex_count
NodeBuilderTT< PoseGraphT > ::InputType	vd_image
int	window_idx
vector< VertexD >	window_vertices

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Detailed Description

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

Specialized interface for Keyframe Manager where pose-graph is a tree.

This is specialization of Keyframe Manager where pose-graph is a tree. For each node in the tree, lists correspond to non-keyframe poses and first or the first and the last poses of the trajectory. When calling KeyframeVisualOdometry::processPose0, new node is allways connected to the last keyframe.

After adding new vertex to the pose-graph, KeyframeVisualOdometry::buildNewKeyframe determines if the added vertex is a keyframe.

After addition of each new vertex, the pose-graph is optimalized. After that, poses that are no longer useful for optimalization are removed.

Definition at line 334 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::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::VertexD [protected]

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

Reimplemented in vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >, and vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 336 of file vo.h.

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Constructor & Destructor Documentation

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

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

Definition at line 349 of file vo.h.

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Member Function Documentation

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

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

(

)

[pure virtual]

decides if current frame should be keyframe.

Implemented in vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >, vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >, and vslam::SimpleVisualOdometry< NodeBuilderTT, PoseGraphT >.

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

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

(

)

[pure virtual]

stuff that needs to be done after creating new keyframe.

Implemented in vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >, vslam::CovisibilityKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >, and vslam::SimpleVisualOdometry< NodeBuilderTT, PoseGraphT >.

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

virtual shared_ptr<VertexD> vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::processPose0	(	typename NodeBuilderTT< PoseGraphT >::InputType	input,
		int	pose_id,
		uint64_t	pose_timestamp,
		bool	debug_images = false,
		bool	trajectory_file = false
	)		[inline, virtual]

Todo:

delete new_pose ?

Implements vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 365 of file vo.h.

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Member Data Documentation

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

VertexD vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::current_keyframe [protected]

Reimplemented in vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 340 of file vo.h.

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

bool vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::has_pvd [protected]

Definition at line 339 of file vo.h.

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

bool vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::initial_pose_registred [protected]

Reimplemented in vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 338 of file vo.h.

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

NodeBuilderTT<PoseGraphT>::InputType vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::keyframe_image [protected]

Definition at line 345 of file vo.h.

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

G2ORunner2<PoseGraphT> vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::opt [protected]

Definition at line 347 of file vo.h.

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

NodeBuilderTT<PoseGraphT>::InputType vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::pvd_image [protected]

Definition at line 345 of file vo.h.

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

int vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::total_vertex_count [protected]

Definition at line 343 of file vo.h.

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

NodeBuilderTT<PoseGraphT>::InputType vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::vd_image [protected]

Definition at line 345 of file vo.h.

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

int vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::window_idx [protected]

Definition at line 342 of file vo.h.

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

vector<VertexD> vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::window_vertices [protected]

Definition at line 341 of file vo.h.

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

• vo.h