libstereo-odometry.h File Reference

This file exposes the public C++ API and data types of the stereo-odometry library. More...

#include <opencv2/opencv.hpp>
#include <opencv2/core/version.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/utils/CTimeLogger.h>
#include <mrpt/vision/CStereoRectifyMap.h>
#include <mrpt/vision/CImagePyramid.h>
#include <mrpt/vision/TSimpleFeature.h>
#include <mrpt/vision/CFeatureExtraction.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DRotVec.h>
#include <mrpt/math/CMatrixB.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/os.h>
#include <mrpt/system/threads.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/synch/CThreadSafeVariable.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/version.h>
#include <mrpt/slam/CObservationStereoImages.h>
#include <fstream>

Go to the source code of this file.

Classes
struct	rso::KpRadiusSorter
struct	rso::KpRowSorter
struct	rso::t_change_in_pose_output
class	rso::CStereoOdometryEstimator
struct	rso::CStereoOdometryEstimator::TStereoOdometryRequest
struct	rso::CStereoOdometryEstimator::TStereoOdometryResult
struct	rso::CStereoOdometryEstimator::TGeneralParams
struct	rso::CStereoOdometryEstimator::TInterFrameMatchingParams
struct	rso::CStereoOdometryEstimator::TLeastSquaresParams
struct	rso::CStereoOdometryEstimator::TRectifyParams
struct	rso::CStereoOdometryEstimator::TGUIParams
struct	rso::CStereoOdometryEstimator::TDetectParams
struct	rso::CStereoOdometryEstimator::TLeftRightMatchParams
struct	rso::CStereoOdometryEstimator::TImagePairData
struct	rso::CStereoOdometryEstimator::TImagePairData::img_data_t
struct	rso::CStereoOdometryEstimator::TImagePairData::img_pairing_data_t
struct	rso::CStereoOdometryEstimator::TTrackingData
struct	rso::CStereoOdometryEstimator::TTrackedPixels
struct	rso::CStereoOdometryEstimator::TInfoForTheGUI

Namespaces
	rso

Macros
#define	SQUARE(_X)   _X*_X
#define	INVALID_IDX   -1
#define	DUMP_BOOL_VAR(_B)   _B ? cout << "Yes" : cout << "No"; cout << endl;
#define	SHOW_WARNING(MSG)   cout << "[Visual Odometry] " << MSG << endl;
#define	DUMP_VO_ERROR_CODE(_CODE)
#define	DUMP_VECTOR(_V)

Typedefs
typedef std::vector< cv::KeyPoint >	rso::TKeyPointList
typedef std::vector< cv::DMatch >	rso::TDMatchList
typedef struct rso::t_change_in_pose_output	rso::t_change_in_pose_output
typedef std::vector< std::pair < size_t, size_t > >	rso::vector_index_pairs_t
typedef std::vector< std::pair < mrpt::utils::TPixelCoord, mrpt::utils::TPixelCoord > >	rso::vector_pixel_pairs_t

Enumerations
enum	rso::VOErrorCode {   rso::voecNone, rso::voecBadCondNumber, rso::voecIncrFuncCostStg1, rso::voecIncrFuncCostStg2,   rso::voecFirstIteration, rso::voecBadTracking }

Detailed Description

This file exposes the public C++ API and data types of the stereo-odometry library.

Macro Definition Documentation

#define DUMP_BOOL_VAR

(

_B

)

_B ? cout << "Yes" : cout << "No"; cout << endl;

#define DUMP_VECTOR

(

_V

)

Value:

for(size_t k = 0; k < _V.size()-1; ++k) \
                cout << _V[k] << ","; \
        cout << _V[_V.size()-1] << endl;

#define DUMP_VO_ERROR_CODE

(

_CODE

)

Value:

cout << "[sVO] ERROR: "; \
        switch( _CODE ) {       case voecBadCondNumber    : cout << "(LS) Bad Condition Number" << endl; break; \
                                                case voecIncrFuncCostStg1 : cout << "(LS) (Initial) Function cost increased too many times" << endl; break; \
                                                case voecIncrFuncCostStg2 : cout << "(LS) (Final) Function cost increased too many times" << endl; break; \
                                                case voecFirstIteration   : cout << "First iteration, no change in pose can be computed" << endl; break; \
                                                case voecBadTracking      : cout << "Number of tracked features is low " << endl; break; \
                                                case voecNone : default   : cout << "None" << endl; break; }

#define INVALID_IDX   -1

#define SHOW_WARNING

(

MSG

)

cout << "[Visual Odometry] " << MSG << endl;

#define SQUARE

(

_X

)

_X*_X