svo::FrameHandlerMono Class Reference

Monocular Visual Odometry Pipeline as described in the SVO paper. More...

#include <frame_handler_mono.h>

Inheritance diagram for svo::FrameHandlerMono:

List of all members.

Public Member Functions
	FrameHandlerMono (vk::AbstractCamera *cam)
virtual	~FrameHandlerMono ()
void	addImage (const cv::Mat &img, double timestamp)
	Provide an image.
void	setFirstFrame (const FramePtr &first_frame)
	Set the first frame (used for synthetic datasets in benchmark node)
FramePtr	lastFrame ()
	Get the last frame that has been processed.
const set< FramePtr > &	coreKeyframes ()
	Get the set of spatially closest keyframes of the last frame.
const vector< cv::Point2f > &	initFeatureTrackRefPx () const
	Return the feature track to visualize the KLT tracking during initialization.
const vector< cv::Point2f > &	initFeatureTrackCurPx () const
DepthFilter *	depthFilter () const
	Access the depth filter.
bool	relocalizeFrameAtPose (const int keyframe_id, const SE3 &T_kf_f, const cv::Mat &img, const double timestamp)
	An external place recognition module may know where to relocalize.
Protected Member Functions
virtual void	initialize ()
	Initialize the visual odometry algorithm.
virtual UpdateResult	processFirstFrame ()
	Processes the first frame and sets it as a keyframe.
virtual UpdateResult	processSecondFrame ()
	Processes all frames after the first frame until a keyframe is selected.
virtual UpdateResult	processFrame ()
	Processes all frames after the first two keyframes.
virtual UpdateResult	relocalizeFrame (const SE3 &T_cur_ref, FramePtr ref_keyframe)
	Try relocalizing the frame at relative position to provided keyframe.
virtual void	resetAll ()
	Reset the frame handler. Implement in derived class.
virtual bool	needNewKf (double scene_depth_mean)
	Keyframe selection criterion.
void	setCoreKfs (size_t n_closest)
Protected Attributes
vk::AbstractCamera *	cam_
	Camera model, can be ATAN, Pinhole or Ocam (see vikit).
Reprojector	reprojector_
	Projects points from other keyframes into the current frame.
FramePtr	new_frame_
	Current frame.
FramePtr	last_frame_
	Last frame, not necessarily a keyframe.
set< FramePtr >	core_kfs_
	Keyframes in the closer neighbourhood.
vector< pair< FramePtr, size_t > >	overlap_kfs_
	All keyframes with overlapping field of view. the paired number specifies how many common mappoints are observed TODO: why vector!?
initialization::KltHomographyInit	klt_homography_init_
	Used to estimate pose of the first two keyframes by estimating a homography.
DepthFilter *	depth_filter_
	Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points.

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Detailed Description

Monocular Visual Odometry Pipeline as described in the SVO paper.

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Constructor & Destructor Documentation

svo::FrameHandlerMono::FrameHandlerMono

(

vk::AbstractCamera *

cam

)

virtual svo::FrameHandlerMono::~FrameHandlerMono

(

)

[virtual]

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Member Function Documentation

void svo::FrameHandlerMono::addImage	(	const cv::Mat &	img,
		double	timestamp
	)

Provide an image.

const set<FramePtr>& svo::FrameHandlerMono::coreKeyframes

(

)

[inline]

Get the set of spatially closest keyframes of the last frame.

DepthFilter* svo::FrameHandlerMono::depthFilter

(

)

const [inline]

Access the depth filter.

const vector<cv::Point2f>& svo::FrameHandlerMono::initFeatureTrackCurPx

(

)

const [inline]

const vector<cv::Point2f>& svo::FrameHandlerMono::initFeatureTrackRefPx

(

)

const [inline]

Return the feature track to visualize the KLT tracking during initialization.

virtual void svo::FrameHandlerMono::initialize

(

)

[protected, virtual]

Initialize the visual odometry algorithm.

FramePtr svo::FrameHandlerMono::lastFrame

(

)

[inline]

Get the last frame that has been processed.

virtual bool svo::FrameHandlerMono::needNewKf

(

double

scene_depth_mean

)

[protected, virtual]

Keyframe selection criterion.

virtual UpdateResult svo::FrameHandlerMono::processFirstFrame

(

)

[protected, virtual]

Processes the first frame and sets it as a keyframe.

virtual UpdateResult svo::FrameHandlerMono::processFrame

(

)

[protected, virtual]

Processes all frames after the first two keyframes.

virtual UpdateResult svo::FrameHandlerMono::processSecondFrame

(

)

[protected, virtual]

Processes all frames after the first frame until a keyframe is selected.

virtual UpdateResult svo::FrameHandlerMono::relocalizeFrame	(	const SE3 &	T_cur_ref,
		FramePtr	ref_keyframe
	)		[protected, virtual]

Try relocalizing the frame at relative position to provided keyframe.

bool svo::FrameHandlerMono::relocalizeFrameAtPose	(	const int	keyframe_id,
		const SE3 &	T_kf_f,
		const cv::Mat &	img,
		const double	timestamp
	)

An external place recognition module may know where to relocalize.

virtual void svo::FrameHandlerMono::resetAll

(

)

[protected, virtual]

Reset the frame handler. Implement in derived class.

Reimplemented from svo::FrameHandlerBase.

void svo::FrameHandlerMono::setCoreKfs

(

size_t

n_closest

)

[protected]

void svo::FrameHandlerMono::setFirstFrame

(

const FramePtr &

first_frame

)

Set the first frame (used for synthetic datasets in benchmark node)

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Member Data Documentation

vk::AbstractCamera* svo::FrameHandlerMono::cam_ [protected]

Camera model, can be ATAN, Pinhole or Ocam (see vikit).

set<FramePtr> svo::FrameHandlerMono::core_kfs_ [protected]

Keyframes in the closer neighbourhood.

DepthFilter* svo::FrameHandlerMono::depth_filter_ [protected]

Depth estimation algorithm runs in a parallel thread and is used to initialize new 3D points.

initialization::KltHomographyInit svo::FrameHandlerMono::klt_homography_init_ [protected]

Used to estimate pose of the first two keyframes by estimating a homography.

FramePtr svo::FrameHandlerMono::last_frame_ [protected]

Last frame, not necessarily a keyframe.

FramePtr svo::FrameHandlerMono::new_frame_ [protected]

Current frame.

vector< pair<FramePtr,size_t> > svo::FrameHandlerMono::overlap_kfs_ [protected]

All keyframes with overlapping field of view. the paired number specifies how many common mappoints are observed TODO: why vector!?

Reprojector svo::FrameHandlerMono::reprojector_ [protected]

Projects points from other keyframes into the current frame.

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

• include/svo/frame_handler_mono.h