Todo List

Member boost::edge_rel_scale_error_t

what is it?

Member boost::edge_transform_t

consider removal, i think its redundant

Member boost::graph_points_t

unused, initially meant for Points class.

Member closestPointOnEpipolarPlane (const Vector3d &hom_line, const Vector3d &hom_point)

move to sfm_utils.h

Member computeE (const ImageMatchVec &matches)

move to sfm_utils.h ?

File emat_estimation.h

consider enclosing in vslam namespace

Class GeneralizedModelBuilder< ErrorAccumClassT >

change name of method operator() to build.

Class LiHartley5ptFrom6ptsBuilder< ErrorAccumClassT >

Not tested.

Class LiHartleyMulti5ptBuilder< ErrorAccumT >

Not tested.

File model.h

consider enclosing in vslam namespace

Class Model< ModelT, DatumT >

check that all selected data are inliers in method compute

File model_estimation.h

consider enclosing in vslam namespace

Group PG__NB

Refactoring and documentation.

Class RanSaCOptions< ErrorAccumClassT >

not used, needs to be updated as ransca function adaptor.

Member vslam::computeMatch (const G &g, FeatureID< G > source, FeatureID< G > target)

use common code from the other computeMatch function.

Member vslam::g2o_types::VertexPointXYZ< PoseGraphT >::~VertexPointXYZ ()

Turned of code that discarded results with moderate or high distance from the pre-optimization value. Investicate the influence on the results of VO, and if appropriate, delete it (original code is kept commented out).

Member vslam::G2OConstActiveDistanceBuilder< G >::addLandmarkObservations (int lm_idx, Instance &instance)

delete these lms

Member 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)

delete new_pose ?

Member vslam::MonoFtrClassEdgeBuilder< G >::buildImpl (const VertexD &src, const VertexD &dst, Points< G > &points, G &g)

remove minimum idsparity check.

Member vslam::MonoFtrClassEdgeBuilder< G >::compute3viewStructure (VertexD vad, VertexD vbd, VertexD vcd, G &g, IdxPoint3dVec &, SE3 &)

to be removed.

Member vslam::MonoFtrClassEdgeBuilder< G >::computeScale (VertexD contactvd, VertexD newvd, G &g, Points< G > &points, SE3 &scaled_T_vbd_vcd)

document.

force positive depth

Member vslam::MonoFtrClassEdgeBuilder< G >::guidedMatching (G &g, VertexD c1vd, VertexD c2vd)

unify errors under one variable as was done in rmatcher.

Member vslam::OneDetectorNodeBuilder< PoseGraphT >::demolish (PoseGraphT &g, Points< PoseGraphT > &points, typename graph_traits< PoseGraphT >::vertex_descriptor &vd)

what does it exactly do?

Member vslam::Points< G >::fixNewObservation (FeatureID< G > fa, FeatureID< G > fb, G &g)

change initialized to used ?

use random estimate here.

Member vslam::Points< G >::lmEstimateUpdChecked (int lm_id, Vector3d &new_estimate)

check if estimate is consistent. if not, then terminate program

Member vslam::PoseGraph

check under which conditions vertex descriptors are invalidated

Member vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::getLastEdge ()

consider removal, see past_vertices

Member vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::getPoseGraph ()

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

Member vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::pvd

reconsider removeal.

Member vslam::VisualOdometry< NodeBuilderTT, PoseGraphT >::yaml_out

consider mooving this to VORosInterface