Namespace containing implementation of visual odometry. More...
Namespaces | |
| namespace | details |
| namespace | g2o_types |
types that for g2o framework that are specific to our task. | |
| namespace | lmdetails |
Implementation details of Landmark Manager module. | |
Classes | |
| class | AllWeightsOneWeightMap |
| property map that represents edge weights in the graph, where all edges have weight 1. More... | |
| class | CameraModel |
| Interface for camera models that have one-to-one map between imaged rays and imaging surface. More... | |
| struct | Cell |
| class | ConcentricCameraModel |
| class | CovisibilityKeyframeVisualOdometry |
| Keyframe manager based on covisibility (i.e. number of matched features) between keyframes. More... | |
| class | CustomOneDetectorNodeBuilder |
| class | CustomOneDetectorNodeBuilderFeature2D |
| class | CylindricalCCMCartRays |
| Spherical camera model with panoramatic image plane and rays in cartesian coordinates. More... | |
| class | CylindricalCCMSphRays |
| Spherical camera model with panoramatic image plane and rays in spherical coordinates. More... | |
| class | DummyVodomLogger |
| class | EdgeBuilder |
| Interface for adding edges to the pose-graph. More... | |
| class | FeatureID |
| unique identification af landmark observation (feature) in the pose-graph. More... | |
| class | FieldOfViewCCM |
| class | G2OConstActiveDistanceBuilder |
| Optimizes all poses in fixed distance from a given vertex and all landmarks that are visible from the optimized poses. More... | |
| class | G2OGraphBuilder |
| Interface for building g2o graph. More... | |
| class | G2ORunner2 |
| Interfaces g2o representation with our representation and runs BA. More... | |
| class | Grid |
| Fast lookup of content by image coordinates. More... | |
| class | KeyframeVisualOdometry |
| Specialized interface for Keyframe Manager where pose-graph is a tree. More... | |
| class | MonoFtrClassEdgeBuilder |
| Implementation of EdgeBuilder, where there is only one kind of feature detector-descriptor pair. More... | |
| class | MultiCameraRigFromCCM |
| Non-central model for camera composed of multiple central spherical models. More... | |
| class | NMSOptions |
| Set up non-maxima supression (NMS) functionality of OneDetectorNodeBuilder. More... | |
| class | OneDetectorNodeBuilder |
| Interface for adding and removing nodes in the pose-graph. More... | |
| class | PerformanceLogger |
| Records time elapsed between construction and destruction of this object. More... | |
| struct | Point |
| Representation of a landmark. More... | |
| class | Points |
| class | ScaleErrorKeyframeVisualOdometry |
| Keyframe policy based on accuraccy of scale estimate. After the acuraccy decreases new keyframe is created. More... | |
| class | SimpleVisualOdometry |
| All frames are considered keyframes (useful for debugging and testing). More... | |
| class | SphericalCM |
| Spherical camera model with unit sphere as imaging surface. More... | |
| struct | SphericalCoord |
| class | VertexDebugInfo |
| Debugging info for a vertex. More... | |
| class | VertexDebugInfoLogger |
| class | VisualOdometry |
| This is top-level calss for VO. More... | |
| class | VodomLogger |
| class | VORosInterface |
| The class that interfaces visual odometry with ROS. More... | |
Typedefs | |
| typedef ALIGNED< pair< int, Vector3d > >::vector | IdxPoint3dVec |
| typedef graph_traits < PoseGraph >::edge_descriptor | PGEdgeD |
| typedef graph_traits < PoseGraph > ::vertex_descriptor | PGVertexD |
| typedef boost::adjacency_list < boost::vecS, boost::vecS, boost::directedS, boost::property< vertex_kp_t, std::vector< cv::KeyPoint > , boost::property < vertex_desc_t, cv::Mat, boost::property < vertex_fix_idx_t, vector < int >, boost::property < vertex_seq_t, int, boost::property < boost::vertex_keyframe_flag_t, int, boost::property < boost::vertex_debug_info_t, VertexDebugInfo, boost::property < boost::vertex_timestamp_t, uint64_t, boost::property < vertex_transform_t, SE3 > > > > > > > >, boost::property < edge_kp_idx_map_t, map< int, int >, boost::property < edge_transform_t, SE3, boost::property < edge_rel_scale_error_t, double > > > > | PoseGraph |
| representation of a pose-graph. | |
| typedef CovisibilityKeyframeVisualOdometry < OneDetectorNodeBuilder, PoseGraph > | VOType1 |
Functions | |
| shared_ptr < OneDetectorNodeBuilder < PoseGraph > > | buildFASTbRIEFNBuilder () |
| construct OneDetectorNodeBuilder that uses FAST/BRIEF (it is not rotation invariant). | |
| shared_ptr < OneDetectorNodeBuilder < PoseGraph > > | buildOrbNBuilder () |
| construct OneDetectorNodeBuilder that uses ORB as detector/descriptor. | |
| shared_ptr< VOType1 > | buildVOObject () |
| Construct VisualOdometry class with given OneDetectorNodeBuilder and EdgeBuilder. | |
| int | col (const Cell &c) |
| std::tr1::shared_ptr < RobustFeatureMatcher > | constructRMatcher (std::tr1::shared_ptr< cv::DescriptorMatcher > _dmatcher, std::tr1::shared_ptr< EMatrixModelBuilder > _minbuilder, std::tr1::shared_ptr< EMatrixModelBuilder > _builder) |
| template<class PtIt > | |
| void | displayMatches (std::ostream &out, PtIt points_begin, PtIt points_end, const SE3 &T_cw) |
| template<class PtIt > | |
| void | displayScene (std::ostream &out, PtIt points_begin, PtIt points_end) |
| template<class G > | |
| void | drawGraph (G &g) |
| template<class G > | |
| void | drawLandmarkReprojections (cv::Mat &image, typename graph_traits< G >::vertex_descriptor vd, const G &g, const Points< G > &points) |
| template<class G > | |
| void | drawMatchedNodeKeypoints (const cv::Mat &image, typename graph_traits< G >::vertex_descriptor vd_img, typename graph_traits< G >::vertex_descriptor matched_vd, const G &g, cv::Mat out_image) |
| Given an edge and frame in the edge, draws keypoints which have matches in the edge. | |
| template<class G > | |
| void | drawMatches (const cv::Mat &srci, typename graph_traits< G >::vertex_descriptor srcv, const cv::Mat &desti, typename graph_traits< G >::vertex_descriptor destv, const G &g) |
| template<class G > | |
| void | drawMatches2 (cv::Mat &srci, typename graph_traits< G >::vertex_descriptor srcv, cv::Mat &desti, typename graph_traits< G >::vertex_descriptor destv, const G &g) |
| template<class G > | |
| void | drawMatches3 (cv::Mat &srci, typename graph_traits< G >::vertex_descriptor srcv, cv::Mat &desti, typename graph_traits< G >::vertex_descriptor destv, const G &g, const Points< G > &points) |
| void | drawMyKpt (cv::Mat &image, cv::Point pt, cv::Scalar color) |
| template<class G > | |
| void | drawNodeKeypoints (typename graph_traits< G >::vertex_descriptor vd, const G &g, const cv::Mat &image, cv::Mat &out_image) |
| template<class G > | |
| void | edgeVisualization (const cv::Mat &img1, const cv::Mat &img2, G &graph, typename graph_traits< G >::vertex_descriptor vd1, typename graph_traits< G >::vertex_descriptor vd2) |
| not used. | |
| template<class G > | |
| void | extendLandmarks (typename graph_traits< G >::vertex_descriptor convd, typename graph_traits< G >::vertex_descriptor newvd, Points< G > &points, G &g) |
| Extends existing feature tracks. | |
| template<class PoseGraphT > | |
| void | findLocalMatchesSE3 (const PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor vd1, typename graph_traits< PoseGraphT >::vertex_descriptor vd2, shared_ptr< RobustFeatureMatcher > rmatcher, vector< cv::DMatch > &matches) |
| Performs guided matching. | |
| template<class PoseGraphT > | |
| void | findLocalMatchesSO3 (const PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor tvd, typename graph_traits< PoseGraphT >::vertex_descriptor qvd, shared_ptr< RobustFeatureMatcher > rmatcher, Vector2d grid_dim, bool skip_landmarks, vector< cv::DMatch > &matches) |
| template<class G > | |
| void | findNewLandmarks (typename graph_traits< G >::vertex_descriptor convd, typename graph_traits< G >::vertex_descriptor newvd, Points< G > &points, G &g) |
| Match scale for the new edge with the rest of the graph and find new landmarks. | |
| template<class PoseGraphT > | |
| int | get (AllWeightsOneWeightMap< PoseGraphT > pmap, typename boost::property_traits< AllWeightsOneWeightMap< PoseGraphT > >::key_type vd) |
| interface for property map that represents edge weights in the graph, where all edges have weight 1. | |
| template<class G > | |
| Vector2d | getFeaturePixel (const G &g, const FeatureID< G > f) |
| Returns pixel coordinates of a feature. | |
| template<class G > | |
| bool | isLandmakFeature (const G &g, const FeatureID< G > &fid) |
| Test if given feature has landmark associated with it. | |
| template<class G > | |
| void | landmarkObservationsBySize (const G &g, Points< G > &points, typename graph_traits< G >::vertex_descriptor vd, vector< vector< int > > &all_result, vector< vector< int > > &kf_result) |
| template<class G > | |
| double | maxFeatureDistance (const G &g, const Points< G > &points, typename Point< G >::VertexD v) |
| void | nonMaximaSuppresion (const vector< cv::KeyPoint > &keypoints, double max_num, vector< int > &supressed_keypoint_idxs) |
| Reduces number of detected fetures. Causes features to be more evenly distributed across the image. | |
| template<class ErrorAccumT > | |
| ErrorAccumT::ErrorT | outlierRemoval (const Matrix3d &E, const ErrorAccumT &ea, const ImageMatchVec &matches_c1c2, const vector< cv::DMatch > &dmatches_c1c2, vector< cv::DMatch > &filtered_matches_c1c2) |
| Outlier Removal for image correspondences in 2-view geometry given by an essential matrix. | |
| template<class G > | |
| std::string | printVertexId (const G &g, typename graph_traits< G >::vertex_descriptor vd) |
| returns human-readable vertex-id as string. | |
| template<class PointsIt , class TrajectoryIt > | |
| void | readTrajectory (std::istream &in, PointsIt points, TrajectoryIt trajectory) |
| int | row (const Cell &c) |
| template<class G > | |
| void | setRelTranslationError (double r_min, double r_max, typename graph_traits< G >::vertex_descriptor vs, typename graph_traits< G >::vertex_descriptor vt, G &g) |
| Vector2d | two3dLinesAngle (const Vector3d vec1, const Vector3d &vec2) |
| compute horizontal and vertical angles between two direction vectors. | |
| template<class G > | |
| ImageMatchVec | votrack (G &g) |
| template<class PointsIt , class TrajectoryIt > | |
| void | writeTrajectory (std::ostream &out, PointsIt points_begin, PointsIt points_end, TrajectoryIt trajectory_begin, TrajectoryIt trajectory_end, int id) |
| template<class TrIt > | |
| void | writeTrajectory (std::ostream &out, TrIt trajectory_begin, TrIt trajectory_end) |
Feature manipulation utils | |
Uses:
| |
| template<class G > | |
| int | getFeatureIdx (const G &g, int source_idx, typename graph_traits< G >::vertex_descriptor source_vd, typename graph_traits< G >::vertex_descriptor target_vd) |
| template<class G > | |
| int | getFeatureIdx (const G &g, FeatureID< G > srcf, typename graph_traits< G >::vertex_descriptor target_vd) |
| get feature index in the target pose... | |
| template<typename G > | |
| void | remove_idx_pair (int sidx, typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, G &g) |
| delete feature-feature match. | |
| template<typename G > | |
| void | add_idx_pair (int src_idx, int dest_idx, typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, G &g) |
| insert feature-feature match. | |
| template<typename G > | |
| void | add_idx_pair_from_dmatch (const cv::DMatch &dmatch, typename graph_traits< G >::vertex_descriptor tvd, typename graph_traits< G >::vertex_descriptor qvd, G &g) |
| insert feature-feature match. | |
| template<typename G > | |
| bool | filter_index_pair_duplicates (const cv::DMatch &dmatch, typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, G &g) |
| returns false if feature-feature match from dmatch is present in the pose-graph. | |
| vector< cv::DMatch > | remapDMatchIdxs (const vector< cv::DMatch > &dmatches, const vector< int > &tidx, const vector< int > &qidx) |
| Remap feature indexes. | |
| cv::DMatch | dmatchFromPair (const pair< int, int > &p) |
| pair< int, int > | pairFromDMatch (const cv::DMatch &dmatch) |
| template<template< class, class > class CT, class G > | |
| CT< int, std::allocator< int > > | common_feature_tracks (G &g, typename graph_traits< G >::vertex_descriptor vad, typename graph_traits< G >::vertex_descriptor vbd, typename graph_traits< G >::vertex_descriptor vcd) |
| Find feature-tracks common to given 3 vertices. | |
Creation of ImageMatch and ImageMatchVec | |
| template<class G > | |
| ImageMatch | computeMatch (const G &g, FeatureID< G > source, FeatureID< G > target) |
| template<class G > | |
| ImageMatch | computeMatch (const G &g, int source_idx, typename graph_traits< G >::vertex_descriptor source_vd, typename graph_traits< G >::vertex_descriptor target_vd) |
| template<typename G > | |
| ImageMatchVec | computeMatches (typename graph_traits< G >::vertex_descriptor src, typename graph_traits< G >::vertex_descriptor dest, const G &g) |
Edge Transform | |
| template<class PoseGraphT > | |
| SE3 | getEdgeTransform (const PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor vd1, typename graph_traits< PoseGraphT >::vertex_descriptor vd2) |
| Get RBT from 'vd1' CF to 'vd2' CF. | |
| template<class G > | |
| void | setEdgeTransform (const SE3 &T_tvd_qvd, typename graph_traits< G >::vertex_descriptor tvd, typename graph_traits< G >::vertex_descriptor qvd, G &g) |
| Sets edge rigid body transform constraint and updates transform for qvd vertex accordingly. | |
Disparity | |
Computation of various disparity-related quantities. | |
| double | vectorAngle (const Vector3d &vec1, const Vector3d &vec2) |
| template<class PoseGraphT > | |
| double | disparityAngle (const PoseGraphT &g, FeatureID< PoseGraphT > f1, FeatureID< PoseGraphT > f2) |
| template<class PoseGraphT > | |
| double | minEdgeDisparityAngle (PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor srcv, typename graph_traits< PoseGraphT >::vertex_descriptor destv) |
SFM | |
| template<class G > | |
| Vector3d | triangulatePointWrtWorld (const G &g, FeatureID< G > f1, FeatureID< G > f2) |
| Triangulates landmark determined by two features in the pose-graph wrt. to world CF. | |
| template<class G > | |
| Vector3d | triangulatePointWrtWorldPos (const G &g, FeatureID< G > f1, FeatureID< G > f2) |
| bool | isEstimateInFrontOfCamera (const LandmarkObservation &obs, const Vector3d &estimate) |
Variables | |
| projectionCoordinateAdaptorCM | __pad0__ |
| !!! XXX | |
| const int | BAD_INDEX = -1 |
| value for undefined array index. | |
| boost::filesystem::path | debug_output_path |
| directory for internal (non ROS) debugging and log files | |
| std::string | image_mask_file |
| location of image mask file | |
| std::string | image_sample_file |
| location of sample image file (used when actual camera image is unavilable) | |
Namespace containing implementation of visual odometry.
| shared_ptr<OneDetectorNodeBuilder<PoseGraph> > vslam::buildFASTbRIEFNBuilder | ( | ) |
construct OneDetectorNodeBuilder that uses FAST/BRIEF (it is not rotation invariant).
| shared_ptr<OneDetectorNodeBuilder<PoseGraph> > vslam::buildOrbNBuilder | ( | ) |
construct OneDetectorNodeBuilder that uses ORB as detector/descriptor.
| shared_ptr<VOType1> vslam::buildVOObject | ( | ) |
Construct VisualOdometry class with given OneDetectorNodeBuilder and EdgeBuilder.
| void vslam::displayMatches | ( | std::ostream & | out, |
| PtIt | points_begin, | ||
| PtIt | points_end, | ||
| const SE3 & | T_cw | ||
| ) |
Definition at line 175 of file data_dump.h.
| void vslam::displayScene | ( | std::ostream & | out, |
| PtIt | points_begin, | ||
| PtIt | points_end | ||
| ) |
Definition at line 187 of file data_dump.h.
| void vslam::drawGraph | ( | G & | g | ) |
Definition at line 139 of file data_dump.h.
| void vslam::readTrajectory | ( | std::istream & | in, |
| PointsIt | points, | ||
| TrajectoryIt | trajectory | ||
| ) |
Definition at line 19 of file data_dump.h.
| ImageMatchVec vslam::votrack | ( | G & | g | ) |
Definition at line 101 of file data_dump.h.
| void vslam::writeTrajectory | ( | std::ostream & | out, |
| PointsIt | points_begin, | ||
| PointsIt | points_end, | ||
| TrajectoryIt | trajectory_begin, | ||
| TrajectoryIt | trajectory_end, | ||
| int | id | ||
| ) |
Definition at line 43 of file data_dump.h.
| void vslam::writeTrajectory | ( | std::ostream & | out, |
| TrIt | trajectory_begin, | ||
| TrIt | trajectory_end | ||
| ) |
Definition at line 154 of file data_dump.h.
| boost::filesystem::path vslam::debug_output_path |
| std::string vslam::image_mask_file |
| std::string vslam::image_sample_file |
