include/svo/initialization.h File Reference

#include <svo/global.h>

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Classes
class	svo::initialization::KltHomographyInit
	Tracks features using Lucas-Kanade tracker and then estimates a homography. More...
Namespaces
namespace	svo
namespace	svo::initialization
	Bootstrapping the map from the first two views.
Enumerations
enum	svo::initialization::InitResult { svo::initialization::FAILURE, svo::initialization::NO_KEYFRAME, svo::initialization::SUCCESS }
Functions
void	svo::initialization::detectFeatures (FramePtr frame, vector< cv::Point2f > &px_vec, vector< Vector3d > &f_vec)
	Detect Fast corners in the image.
void	svo::initialization::trackKlt (FramePtr frame_ref, FramePtr frame_cur, vector< cv::Point2f > &px_ref, vector< cv::Point2f > &px_cur, vector< Vector3d > &f_ref, vector< Vector3d > &f_cur, vector< double > &disparities)
	Compute optical flow (Lucas Kanade) for selected keypoints.
void	svo::initialization::computeHomography (const vector< Vector3d > &f_ref, const vector< Vector3d > &f_cur, double focal_length, double reprojection_threshold, vector< int > &inliers, vector< Vector3d > &xyz_in_cur, SE3 &T_cur_from_ref)