svo::initialization Namespace Reference

Bootstrapping the map from the first two views. More...

Classes
class	KltHomographyInit
	Tracks features using Lucas-Kanade tracker and then estimates a homography. More...
Enumerations
enum	InitResult { FAILURE, NO_KEYFRAME, SUCCESS }
Functions
void	detectFeatures (FramePtr frame, vector< cv::Point2f > &px_vec, vector< Vector3d > &f_vec)
	Detect Fast corners in the image.
void	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	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)

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Detailed Description

Bootstrapping the map from the first two views.

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Enumeration Type Documentation

enum svo::initialization::InitResult

Enumerator:

FAILURE
NO_KEYFRAME
SUCCESS

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Function Documentation

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
	)

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.