pose_estimation: vslam::MonoFtrClassEdgeBuilder< G

Implementation of EdgeBuilder, where there is only one kind of feature detector-descriptor pair. More...

#include <pose_graph.h>

Inheritance diagram for vslam::MonoFtrClassEdgeBuilder< G >:

Public Types
typedef graph_traits< G > ::edge_descriptor	EdgeD
typedef graph_traits< G > ::vertex_descriptor	VertexD
Public Member Functions
virtual bool	buildImpl (const VertexD &src, const VertexD &dst, Points< G > &points, G &g)
	MonoFtrClassEdgeBuilder (std::tr1::shared_ptr< RobustFeatureMatcher > _rmatcher)
Protected Member Functions
void	guidedMatching (G &g, VertexD c1vd, VertexD c2vd)
	Perform guided matching.
bool	unguidedMatching (const vector< cv::KeyPoint > &sel_tvd_keypoints, const vector< cv::KeyPoint > &sel_qvd_keypoints, const cv::Mat &sel_tvd_descriptors, const cv::Mat &sel_qvd_descriptors, SE3 &T_tvd_qvd, std::vector< cv::DMatch > &global_dmatches_c1c2)
	Unguided Matching and Robust Model Estimations steps for Edge Builder.
Static Protected Member Functions
static void	computeScale (VertexD contactvd, VertexD newvd, G &g, Points< G > &points, SE3 &scaled_T_vbd_vcd)
	Compute scale.
Deprecated functions.
Deprecated: Old version of computing scale and finding new landmarks. Use MonoFtrClassEdgeBuilder::computeScale and findNewLandmarks instead.
static void	compute3viewStructure (VertexD vad, VertexD vbd, VertexD vcd, G &g, IdxPoint3dVec &, SE3 &)
	Compute scale and common points for two edges.
static void	matchScaleFindNewLandmarks (VertexD vsrc, VertexD vdest, Points< G > &points, G &g)
	Match scale for the new edge with the rest of the graph and find new landmarks.
Protected Attributes
std::tr1::shared_ptr < RobustFeatureMatcher >	rmatcher

Detailed Description

Implementation of EdgeBuilder, where there is only one kind of feature detector-descriptor pair.

Definition at line 363 of file pose_graph.h.

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