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

Keyframe policy based on accuraccy of scale estimate. After the acuraccy decreases new keyframe is created. More...

#include <vo.h>

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

List of all members.

Public Member Functions
virtual bool	buildNewKeyframe ()
	decides if current frame should be keyframe.
virtual void	newKeyframeBuilt ()
	stuff that needs to be done after creating new keyframe.
	ScaleErrorKeyframeVisualOdometry (shared_ptr< NodeBuilderTT< PoseGraphT > > _nbuilder, shared_ptr< EdgeBuilder< PoseGraphT > > _ebuilder, size_t _target_past_verticies_size, shared_ptr< VodomLogger< PoseGraphT > > _logger=shared_ptr< VodomLogger< PoseGraphT > >())
Protected Types
typedef graph_traits < PoseGraphT > ::vertex_descriptor	VertexD
Protected Attributes
int	asc_count
int	count
VertexD	current_keyframe
double	error
bool	initial_pose_registred
int	k
	number of succesive error increases after which new keyframe is created.
double	prev_error

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Detailed Description

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

Keyframe policy based on accuraccy of scale estimate. After the acuraccy decreases new keyframe is created.

Definition at line 525 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::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::VertexD [protected]

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

Definition at line 527 of file vo.h.

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Constructor & Destructor Documentation

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

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

Definition at line 537 of file vo.h.

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Member Function Documentation

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

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

(

)

[inline, virtual]

decides if current frame should be keyframe.

Implements vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 548 of file vo.h.

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

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

(

)

[inline, virtual]

stuff that needs to be done after creating new keyframe.

Implements vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

Definition at line 563 of file vo.h.

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Member Data Documentation

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

int vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::asc_count [protected]

Definition at line 535 of file vo.h.

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

int vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::count [protected]

Definition at line 534 of file vo.h.

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

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

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

Definition at line 530 of file vo.h.

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

double vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::error [protected]

Definition at line 532 of file vo.h.

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

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

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

Definition at line 529 of file vo.h.

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

int vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::k [protected]

number of succesive error increases after which new keyframe is created.

Definition at line 531 of file vo.h.

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

double vslam::ScaleErrorKeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >::prev_error [protected]

Definition at line 533 of file vo.h.

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

• vo.h