svo::Reprojector Class Reference

Project points from the map into the image and find the corresponding feature (corner). More...

#include <reprojector.h>

List of all members.

Classes
struct	Candidate
	A candidate is a point that projects into the image plane and for which we will search a maching feature in the image. More...
struct	Grid
	The grid stores a set of candidate matches. For every grid cell we try to find one match. More...
struct	Options
	Reprojector config parameters. More...
Public Member Functions
	Reprojector (vk::AbstractCamera *cam, Map &map)
	~Reprojector ()
void	reprojectMap (FramePtr frame, std::vector< std::pair< FramePtr, std::size_t > > &overlap_kfs)
	Project points from the map into the image.
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW struct svo::Reprojector::Options	options_
size_t	n_matches_
size_t	n_trials_
Private Types
typedef std::list< Candidate, aligned_allocator< Candidate > >	Cell
typedef std::vector< Cell * >	CandidateGrid
Private Member Functions
void	initializeGrid (vk::AbstractCamera *cam)
void	resetGrid ()
bool	reprojectCell (Cell &cell, FramePtr frame)
bool	reprojectPoint (FramePtr frame, Point *point)
Static Private Member Functions
static bool	pointQualityComparator (Candidate &lhs, Candidate &rhs)
Private Attributes
Grid	grid_
Matcher	matcher_
Map &	map_

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Detailed Description

Project points from the map into the image and find the corresponding feature (corner).

We don't search a match for every point but only for one point per cell. Thereby, we achieve a homogeneously distributed set of matched features and at the same time we can save processing time by not projecting all points.

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Member Typedef Documentation

typedef std::vector<Cell*> svo::Reprojector::CandidateGrid [private]

typedef std::list<Candidate, aligned_allocator<Candidate> > svo::Reprojector::Cell [private]

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Constructor & Destructor Documentation

svo::Reprojector::Reprojector	(	vk::AbstractCamera *	cam,
		Map &	map
	)

svo::Reprojector::~Reprojector

(

)

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Member Function Documentation

void svo::Reprojector::initializeGrid

(

vk::AbstractCamera *

cam

)

[private]

static bool svo::Reprojector::pointQualityComparator	(	Candidate &	lhs,
		Candidate &	rhs
	)		[static, private]

bool svo::Reprojector::reprojectCell	(	Cell &	cell,
		FramePtr	frame
	)		[private]

void svo::Reprojector::reprojectMap	(	FramePtr	frame,
		std::vector< std::pair< FramePtr, std::size_t > > &	overlap_kfs
	)

Project points from the map into the image.

First finds keyframes with overlapping field of view and projects only those map-points.

bool svo::Reprojector::reprojectPoint	(	FramePtr	frame,
		Point *	point
	)		[private]

void svo::Reprojector::resetGrid

(

)

[private]

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Member Data Documentation

Grid svo::Reprojector::grid_ [private]

Map& svo::Reprojector::map_ [private]

Matcher svo::Reprojector::matcher_ [private]

size_t svo::Reprojector::n_matches_

size_t svo::Reprojector::n_trials_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW struct svo::Reprojector::Options svo::Reprojector::options_

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

• include/svo/reprojector.h