svo Namespace Reference

Namespaces
namespace	ba
	Local, global and 2-view bundle adjustment with g2o.
namespace	feature_alignment
	Subpixel refinement of a reference feature patch with the current image.
namespace	feature_detection
	Implementation of various feature detectors.
namespace	frame_utils
	Some helper functions for the frame object.
namespace	initialization
	Bootstrapping the map from the first two views.
namespace	map_debug
	A collection of debug functions to check the data consistency.
namespace	pose_optimizer
	Motion-only bundle adjustment. Minimize the reprojection error of a single frame.
namespace	warp
	Warp a patch from the reference view to the current view.
Classes
class	Config
	Global configuration file of SVO. More...
struct	Seed
	A seed is a probabilistic depth estimate for a single pixel. More...
class	DepthFilter
	Depth filter implements the Bayesian Update proposed in: "Video-based, Real-Time Multi View Stereo" by G. More...
struct	Feature
	A salient image region that is tracked across frames. More...
class	Frame
	A frame saves the image, the associated features and the estimated pose. More...
class	FrameHandlerBase
	Base class for various VO pipelines. Manages the map and the state machine. More...
class	FrameHandlerMono
	Monocular Visual Odometry Pipeline as described in the SVO paper. More...
class	MapPointCandidates
	Container for converged 3D points that are not already assigned to two keyframes. More...
class	Map
	Map object which saves all keyframes which are in a map. More...
class	Matcher
	Patch-matcher for reprojection-matching and epipolar search in triangulation. More...
class	Point
	A 3D point on the surface of the scene. More...
class	Reprojector
	Project points from the map into the image and find the corresponding feature (corner). More...
class	SparseImgAlign
	Optimize the pose of the frame by minimizing the photometric error of feature patches. More...
Typedefs
typedef g2o::EdgeProjectXYZ2UV	g2oEdgeSE3
typedef g2o::VertexSE3Expmap	g2oFrameSE3
typedef g2o::VertexSBAPointXYZ	g2oPoint
typedef list< Feature * >	Features
typedef vector< cv::Mat >	ImgPyr
typedef boost::shared_ptr< Frame >	FramePtr
typedef Matrix< double, 2, 3 >	Matrix23d
typedef Matrix< double, 6, 6 >	Matrix6d
typedef Matrix< double, 2, 6 >	Matrix26d
typedef Matrix< double, 6, 1 >	Vector6d
Variables
const double	EPS = 0.0000000001
const double	PI = 3.14159265

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Typedef Documentation

typedef list<Feature*> svo::Features

typedef boost::shared_ptr<Frame> svo::FramePtr

typedef g2o::EdgeProjectXYZ2UV svo::g2oEdgeSE3

typedef g2o::VertexSE3Expmap svo::g2oFrameSE3

typedef g2o::VertexSBAPointXYZ svo::g2oPoint

typedef vector<cv::Mat> svo::ImgPyr

typedef Matrix<double, 2, 3> svo::Matrix23d

typedef Matrix<double,2,6> svo::Matrix26d

typedef Matrix<double,6,6> svo::Matrix6d

typedef Matrix<double,6,1> svo::Vector6d

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Variable Documentation

const double svo::EPS = 0.0000000001

const double svo::PI = 3.14159265