svo::initialization::KltHomographyInit Class Reference

Tracks features using Lucas-Kanade tracker and then estimates a homography. More...

#include <initialization.h>

List of all members.

Public Member Functions
	KltHomographyInit ()
	~KltHomographyInit ()
InitResult	addFirstFrame (FramePtr frame_ref)
InitResult	addSecondFrame (FramePtr frame_ref)
void	reset ()
Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW FramePtr	frame_ref_
Protected Attributes
vector< cv::Point2f >	px_ref_
	keypoints to be tracked in reference frame.
vector< cv::Point2f >	px_cur_
	tracked keypoints in current frame.
vector< Vector3d >	f_ref_
	bearing vectors corresponding to the keypoints in the reference image.
vector< Vector3d >	f_cur_
	bearing vectors corresponding to the keypoints in the current image.
vector< double >	disparities_
	disparity between first and second frame.
vector< int >	inliers_
	inliers after the geometric check (e.g., Homography).
vector< Vector3d >	xyz_in_cur_
	3D points computed during the geometric check.
SE3	T_cur_from_ref_
	computed transformation between the first two frames.
Friends
class	svo::FrameHandlerMono

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Detailed Description

Tracks features using Lucas-Kanade tracker and then estimates a homography.

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Constructor & Destructor Documentation

svo::initialization::KltHomographyInit::KltHomographyInit

(

)

[inline]

svo::initialization::KltHomographyInit::~KltHomographyInit

(

)

[inline]

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Member Function Documentation

InitResult svo::initialization::KltHomographyInit::addFirstFrame

(

FramePtr

frame_ref

)

InitResult svo::initialization::KltHomographyInit::addSecondFrame

(

FramePtr

frame_ref

)

void svo::initialization::KltHomographyInit::reset

(

)

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Friends And Related Function Documentation

friend class svo::FrameHandlerMono [friend]

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Member Data Documentation

vector<double> svo::initialization::KltHomographyInit::disparities_ [protected]

disparity between first and second frame.

vector<Vector3d> svo::initialization::KltHomographyInit::f_cur_ [protected]

bearing vectors corresponding to the keypoints in the current image.

vector<Vector3d> svo::initialization::KltHomographyInit::f_ref_ [protected]

bearing vectors corresponding to the keypoints in the reference image.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW FramePtr svo::initialization::KltHomographyInit::frame_ref_

vector<int> svo::initialization::KltHomographyInit::inliers_ [protected]

inliers after the geometric check (e.g., Homography).

vector<cv::Point2f> svo::initialization::KltHomographyInit::px_cur_ [protected]

tracked keypoints in current frame.

vector<cv::Point2f> svo::initialization::KltHomographyInit::px_ref_ [protected]

keypoints to be tracked in reference frame.

SE3 svo::initialization::KltHomographyInit::T_cur_from_ref_ [protected]

computed transformation between the first two frames.

vector<Vector3d> svo::initialization::KltHomographyInit::xyz_in_cur_ [protected]

3D points computed during the geometric check.

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

• include/svo/initialization.h