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

This is top-level calss for VO. More...

#include <vo.h>

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

List of all members.

Public Member Functions
virtual pair< pair< VertexD, VertexD >, bool >	getLastEdge ()
	return last constructed edge in the pose-graph.
PoseGraphT &	getPoseGraph ()
shared_ptr< SE3 >	processPose (typename NodeBuilderTT< PoseGraphT >::InputType input, int pose_id, uint64_t pose_timestamp, std::deque< SE3 > &past_poses, bool debug_images=false, bool trajectory_file=false)
	process new image.
shared_ptr< SE3 >	processPose (typename NodeBuilderTT< PoseGraphT >::InputType input, int pose_id, uint64_t pose_timestamp, bool debug_images=false, bool trajectory_file=false)
	process new image.
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)=0
	VisualOdometry (shared_ptr< NodeBuilderTT< PoseGraphT > > _nbuilder, shared_ptr< EdgeBuilder< PoseGraphT > > _ebuilder, size_t _target_past_verticies_size=2, shared_ptr< VodomLogger< PoseGraphT > > _logger=shared_ptr< VodomLogger< PoseGraphT > >())
Protected Types
typedef graph_traits < PoseGraphT > ::vertex_descriptor	VertexD
Protected Member Functions
void	pose2dVisualization (std::string prefix, typename graph_traits< PoseGraphT >::vertex_descriptor vd1, typename graph_traits< PoseGraphT >::vertex_descriptor vd2, typename NodeBuilderTT< PoseGraphT >::InputType input_vd1, typename NodeBuilderTT< PoseGraphT >::InputType input_vd2)
	draw debugging images for edge (vd1, vd2)
template<class T >
std::string	viewIDString (T view, T from, T to)
Protected Attributes
shared_ptr< EdgeBuilder < PoseGraphT > >	ebuilder
PoseGraphT	graph
	pose-graph class.
shared_ptr< VodomLogger < PoseGraphT > >	logger
shared_ptr< NodeBuilderTT < PoseGraphT > >	nbuilder
std::deque< VertexD >	past_vertices
Points< PoseGraphT >	points
	landmark maneger class.
VertexD	pvd
size_t	target_past_verticies_size
VertexD	vd
YAML::Emitter	yaml_out
Static Protected Attributes
static const int	MINSEQ = 1000000

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Detailed Description

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

This is top-level calss for VO.

The VO is obtained by sucessive calls to VisualOdometry::processPose, which basically takes an image and produces T_wc, where w is world CF and c is camera cf for the given image.

Template Parameters:

NodeBuilderTT	Class template of the type fulfilling OneDetectorNodeBuilder interface
PoseGraphT	boost::adjacency_list type.

The implamentation of this interface also called _Keyframe Manager_.

Definition at line 88 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::VisualOdometry< NodeBuilderTT, PoseGraphT >::VertexD [protected]

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

Definition at line 95 of file vo.h.

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Constructor & Destructor Documentation

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

vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::VisualOdometry	(	shared_ptr< NodeBuilderTT< PoseGraphT > >	_nbuilder,
		shared_ptr< EdgeBuilder< PoseGraphT > >	_ebuilder,
		size_t	_target_past_verticies_size = 2,
		shared_ptr< VodomLogger< PoseGraphT > >	_logger = shared_ptr<VodomLogger<PoseGraphT> >()
	)		[inline]

Parameters:

_nbuilder	instance of OneDetectorNodeBuilder to be used for processing new images.
_ebuilder	instance of EdgeBuilder to be used for RBT estimate between nodes of the pose-graph.
_target_past_verticies_size	number of past poses to store, see VisualOdometry::processPose

Definition at line 118 of file vo.h.

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Member Function Documentation

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

virtual pair<pair<VertexD, VertexD>, bool> vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::getLastEdge

(

)

[inline, virtual]

return last constructed edge in the pose-graph.

Todo:

consider removal, see past_vertices

Definition at line 211 of file vo.h.

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

PoseGraphT& vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::getPoseGraph

(

)

[inline]

Todo:

make const -- newtestpe requires write aceess. solve this by creating special VisualOdometry class for it.

Definition at line 205 of file vo.h.

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

void vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::pose2dVisualization	(	std::string	prefix,
		typename graph_traits< PoseGraphT >::vertex_descriptor	vd1,
		typename graph_traits< PoseGraphT >::vertex_descriptor	vd2,
		typename NodeBuilderTT< PoseGraphT >::InputType	input_vd1,
		typename NodeBuilderTT< PoseGraphT >::InputType	input_vd2
	)		[inline, protected]

draw debugging images for edge (vd1, vd2)

Definition at line 227 of file vo.h.

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

shared_ptr<SE3> vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::processPose	(	typename NodeBuilderTT< PoseGraphT >::InputType	input,
		int	pose_id,
		uint64_t	pose_timestamp,
		std::deque< SE3 > &	past_poses,
		bool	debug_images = false,
		bool	trajectory_file = false
	)		[inline]

process new image.

Parameters:

input	input data required by NodeBuilderTT to produce new pose-graph pose. This is typically an image, but may be something else in simulation.
pose_id	image ID that is used in the debugging output associate poses to images.
past_poses	RBTs for VisualOdometry::target_past_verticies_size most recent poses.

Definition at line 138 of file vo.h.

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

shared_ptr<SE3> vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::processPose	(	typename NodeBuilderTT< PoseGraphT >::InputType	input,
		int	pose_id,
		uint64_t	pose_timestamp,
		bool	debug_images = false,
		bool	trajectory_file = false
	)		[inline]

process new image.

See also:

VisualOdometry::processPose

Definition at line 184 of file vo.h.

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

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

Implemented in vslam::KeyframeVisualOdometry< NodeBuilderTT, PoseGraphT >.

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

template<class T >

std::string vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::viewIDString	(	T	view,
		T	from,
		T	to
	)		[inline, protected]

Definition at line 218 of file vo.h.

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Member Data Documentation

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

shared_ptr<EdgeBuilder<PoseGraphT> > vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::ebuilder [protected]

Definition at line 91 of file vo.h.

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

PoseGraphT vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::graph [protected]

pose-graph class.

Definition at line 92 of file vo.h.

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

shared_ptr<VodomLogger<PoseGraphT> > vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::logger [protected]

Definition at line 108 of file vo.h.

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

const int vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::MINSEQ = 1000000 [static, protected]

Definition at line 216 of file vo.h.

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

shared_ptr<NodeBuilderTT<PoseGraphT> > vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::nbuilder [protected]

Definition at line 90 of file vo.h.

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

std::deque<VertexD> vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::past_vertices [protected]

Stores VisualOdometry::target_past_verticies_size most recent vertices

Definition at line 103 of file vo.h.

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

Points<PoseGraphT> vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::points [protected]

landmark maneger class.

Definition at line 93 of file vo.h.

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

VertexD vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::pvd [protected]

Todo:

reconsider removeal.

Invariant:

after calling VisualOdometry::processPose0 it is vertex that was last added vertex after the previous call to VisualOdometry::processPose0.

Definition at line 97 of file vo.h.

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

size_t vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::target_past_verticies_size [protected]

Definition at line 105 of file vo.h.

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

VertexD vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::vd [protected]

Invariant:

after calling VisualOdometry::processPose0 its last added vertex.

Definition at line 96 of file vo.h.

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

YAML::Emitter vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::yaml_out [protected]

Todo:

consider mooving this to VORosInterface

Definition at line 107 of file vo.h.

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

• vo.h