Depth filter implements the Bayesian Update proposed in: "Video-based, Real-Time Multi View Stereo" by G. More...

#include <depth_filter.h>

Classes
struct	Options
	Depth-filter config parameters. More...
Public Types
typedef boost::function< void(Point *, double)	callback_t )
Public Member Functions
	DepthFilter (feature_detection::DetectorPtr feature_detector, callback_t seed_converged_cb)
virtual	~DepthFilter ()
void	startThread ()
	Start this thread when seed updating should be in a parallel thread.
void	stopThread ()
	Stop the parallel thread that is running.
void	addFrame (FramePtr frame)
	Add frame to the queue to be processed.
void	addKeyframe (FramePtr frame, double depth_mean, double depth_min)
	Add new keyframe to the queue.
void	removeKeyframe (FramePtr frame)
	Remove all seeds which are initialized from the specified keyframe.
void	reset ()
	If the map is reset, call this function such that we don't have pointers to old frames.
void	getSeedsCopy (const FramePtr &frame, std::list< Seed > &seeds)
	Returns a copy of the seeds belonging to frame.
std::list< Seed, aligned_allocator< Seed > > &	getSeeds ()
	Return a reference to the seeds. This is NOT THREAD SAFE!
Static Public Member Functions
static void	updateSeed (const float x, const float tau2, Seed *seed)
	Bayes update of the seed, x is the measurement, tau2 the measurement uncertainty.
static double	computeTau (const SE3 &T_ref_cur, const Vector3d &f, const double z, const double px_error_angle)
	Compute the uncertainty of the measurement.
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef boost::unique_lock < boost::mutex >	lock_t
struct svo::DepthFilter::Options	options_
Protected Member Functions
void	initializeSeeds (FramePtr frame)
	Initialize new seeds from a frame.
virtual void	updateSeeds (FramePtr frame)
	Update all seeds with a new measurement frame.
void	clearFrameQueue ()
	When a new keyframe arrives, the frame queue should be cleared.
void	updateSeedsLoop ()
	A thread that is continuously updating the seeds.
Protected Attributes
feature_detection::DetectorPtr	feature_detector_
callback_t	seed_converged_cb_
std::list< Seed, aligned_allocator< Seed > >	seeds_
boost::mutex	seeds_mut_
bool	seeds_updating_halt_
	Set this value to true when seeds updating should be interrupted.
boost::thread *	thread_
std::queue< FramePtr >	frame_queue_
boost::mutex	frame_queue_mut_
boost::condition_variable	frame_queue_cond_
FramePtr	new_keyframe_
	Next keyframe to extract new seeds.
bool	new_keyframe_set_
	Do we have a new keyframe to process?.
double	new_keyframe_min_depth_
	Minimum depth in the new keyframe. Used for range in new seeds.
double	new_keyframe_mean_depth_
	Maximum depth in the new keyframe. Used for range in new seeds.
vk::PerformanceMonitor	permon_
	Separate performance monitor since the DepthFilter runs in a parallel thread.
Matcher	matcher_

Detailed Description

Depth filter implements the Bayesian Update proposed in: "Video-based, Real-Time Multi View Stereo" by G.

Vogiatzis and C. Hernández. In Image and Vision Computing, 29(7):434-441, 2011.

The class uses a callback mechanism such that it can be used also by other algorithms than nslam and for simplified testing.

Member Typedef Documentation

typedef boost::function<void ( Point*, double ) svo::DepthFilter::callback_t)

Constructor & Destructor Documentation

svo::DepthFilter::DepthFilter	(	feature_detection::DetectorPtr	feature_detector,
		callback_t	seed_converged_cb
	)

virtual svo::DepthFilter::~DepthFilter ( ) [virtual]

Member Function Documentation

void svo::DepthFilter::addFrame ( FramePtr frame )

Add frame to the queue to be processed.

void svo::DepthFilter::addKeyframe	(	FramePtr	frame,
		double	depth_mean,
		double	depth_min
	)

Add new keyframe to the queue.

void svo::DepthFilter::clearFrameQueue ( ) [protected]

When a new keyframe arrives, the frame queue should be cleared.

static double svo::DepthFilter::computeTau	(	const SE3 &	T_ref_cur,
		const Vector3d &	f,
		const double	z,
		const double	px_error_angle
	)		`[static]`

Compute the uncertainty of the measurement.

std::list<Seed, aligned_allocator<Seed> >& svo::DepthFilter::getSeeds ( ) [inline]

Return a reference to the seeds. This is NOT THREAD SAFE!

void svo::DepthFilter::getSeedsCopy	(	const FramePtr &	frame,
		std::list< Seed > &	seeds
	)

Returns a copy of the seeds belonging to frame.

Thread-safe. Can be used to compute the Next-Best-View in parallel. IMPORTANT! Make sure you hold a valid reference counting pointer to frame so it is not being deleted while you use it.

void svo::DepthFilter::initializeSeeds ( FramePtr frame ) [protected]

Initialize new seeds from a frame.

void svo::DepthFilter::removeKeyframe ( FramePtr frame )

Remove all seeds which are initialized from the specified keyframe.

This function is used to make sure that no seeds points to a non-existent frame when a frame is removed from the map.

void svo::DepthFilter::reset ( )

If the map is reset, call this function such that we don't have pointers to old frames.

void svo::DepthFilter::startThread ( )

Start this thread when seed updating should be in a parallel thread.

void svo::DepthFilter::stopThread ( )

Stop the parallel thread that is running.