svo::SparseImgAlign Class Reference

Optimize the pose of the frame by minimizing the photometric error of feature patches. More...

#include <sparse_img_align.h>

List of all members.

Public Member Functions
	SparseImgAlign (int n_levels, int min_level, int n_iter, Method method, bool display, bool verbose)
size_t	run (FramePtr ref_frame, FramePtr cur_frame)
Matrix< double, 6, 6 >	getFisherInformation ()
	Return fisher information matrix, i.e.
Public Attributes
cv::Mat	resimg_
Protected Member Functions
void	precomputeReferencePatches ()
virtual double	computeResiduals (const SE3 &model, bool linearize_system, bool compute_weight_scale=false)
virtual int	solve ()
virtual void	update (const ModelType &old_model, ModelType &new_model)
virtual void	startIteration ()
virtual void	finishIteration ()
Protected Attributes
FramePtr	ref_frame_
	reference frame, has depth for gradient pixels.
FramePtr	cur_frame_
	only the image is known!
int	level_
	current pyramid level on which the optimization runs.
bool	display_
	display residual image.
int	max_level_
	coarsest pyramid level for the alignment.
int	min_level_
	finest pyramid level for the alignment.
Matrix< double, 6, Dynamic, ColMajor >	jacobian_cache_
bool	have_ref_patch_cache_
cv::Mat	ref_patch_cache_
std::vector< bool >	visible_fts_
Static Private Attributes
static const int	patch_halfsize_ = 2
static const int	patch_size_ = 2*patch_halfsize_
static const int	patch_area_ = patch_size_*patch_size_

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Detailed Description

Optimize the pose of the frame by minimizing the photometric error of feature patches.

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Constructor & Destructor Documentation

svo::SparseImgAlign::SparseImgAlign	(	int	n_levels,
		int	min_level,
		int	n_iter,
		Method	method,
		bool	display,
		bool	verbose
	)

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Member Function Documentation

virtual double svo::SparseImgAlign::computeResiduals	(	const SE3 &	model,
		bool	linearize_system,
		bool	compute_weight_scale = false
	)		[protected, virtual]

virtual void svo::SparseImgAlign::finishIteration

(

)

[protected, virtual]

Matrix<double, 6, 6> svo::SparseImgAlign::getFisherInformation

(

)

Return fisher information matrix, i.e.

the Hessian of the log-likelihood at the converged state.

void svo::SparseImgAlign::precomputeReferencePatches

(

)

[protected]

size_t svo::SparseImgAlign::run	(	FramePtr	ref_frame,
		FramePtr	cur_frame
	)

virtual int svo::SparseImgAlign::solve

(

)

[protected, virtual]

virtual void svo::SparseImgAlign::startIteration

(

)

[protected, virtual]

virtual void svo::SparseImgAlign::update	(	const ModelType &	old_model,
		ModelType &	new_model
	)		[protected, virtual]

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Member Data Documentation

FramePtr svo::SparseImgAlign::cur_frame_ [protected]

only the image is known!

bool svo::SparseImgAlign::display_ [protected]

display residual image.

bool svo::SparseImgAlign::have_ref_patch_cache_ [protected]

Matrix<double, 6, Dynamic, ColMajor> svo::SparseImgAlign::jacobian_cache_ [protected]

int svo::SparseImgAlign::level_ [protected]

current pyramid level on which the optimization runs.

int svo::SparseImgAlign::max_level_ [protected]

coarsest pyramid level for the alignment.

int svo::SparseImgAlign::min_level_ [protected]

finest pyramid level for the alignment.

const int svo::SparseImgAlign::patch_area_ = patch_size_*patch_size_ [static, private]

const int svo::SparseImgAlign::patch_halfsize_ = 2 [static, private]

const int svo::SparseImgAlign::patch_size_ = 2*patch_halfsize_ [static, private]

FramePtr svo::SparseImgAlign::ref_frame_ [protected]

reference frame, has depth for gradient pixels.

cv::Mat svo::SparseImgAlign::ref_patch_cache_ [protected]

cv::Mat svo::SparseImgAlign::resimg_

std::vector<bool> svo::SparseImgAlign::visible_fts_ [protected]

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

• include/svo/sparse_img_align.h