The main structure for VO algorithm, which contains the parameters we will use in the VO algorithm. More...

#include <VO_tools.hpp>

Public Member Functions
	VO (string data_path_="", string store_path_="", int step_size_=10)

	~VO ()

void	SetK (double focal_x, double focal_y, int principal_x, int principal_y)

int	read_file_names ()

void	solve (std::vector< Eigen::Matrix3f > &all_R, std::vector< Eigen::Vector3f > &all_t, bool store_trajectory=false, bool need_plot=false)

void	solve_once (std::vector< Eigen::Matrix3f > &all_R, std::vector< Eigen::Vector3f > &all_t, vector< Eigen::Vector2f > &pre_all_inliers1, vector< Eigen::Vector2f > &pre_all_inliers2, vector< std::vector< Eigen::Vector2f >> &all_2d_inliers, vector< std::map< int, int > > &all_indexes, map< int, vector< KeyPoint >> &index_points, map< int, Mat > &index_descriptors, Ptr< Feature2D > &f2d, int &index, int files)

void	add_points (vector< Point2d > &POINT_1, vector< Point2d > &POINT_2, Eigen::VectorXi &mask, std::vector< Eigen::Vector2f > &all_inliers1, std::vector< Eigen::Vector2f > &all_inliers2)

void	read_gt (std::string file_path)

Eigen::VectorXd	get_K_ ()

Private Attributes
int	step_size
	The step size for take critical frames. More...

string	store_path
	The path to save the final result. More...

string	data_path
	The path we get data from. More...

Mat	K
	The internal parameter matrix. More...

Eigen::VectorXd	K_
	The eigen form of internal parameter matrix k. More...

vector< string >	vector_of_files
	The parameter waiting to be used. More...

vector< Mat >	Ps

Detailed Description

The main structure for VO algorithm, which contains the parameters we will use in the VO algorithm.

Definition at line 24 of file VO_tools.hpp.

Constructor & Destructor Documentation

◆ VO()

VO::VO	(	string	data_path_ = `""`,
		string	store_path_ = `""`,
		int	step_size_ = `10`
	)

VO() The constuctor of class VO. VO() Pass store_path_, data_path_, step_size_ to the corresponding private parameter.

Parameters

[in]	store_path_	The value to be pass to store_path
[in]	data_path_	The value to be pass to data_path
[in]	step_size_	The value to be pass to step_size

Definition at line 8 of file VO_tools.cpp.

◆ ~VO()

VO::~VO ( )

~VO() The destuctor of class VO.

Definition at line 335 of file VO_tools.cpp.

Member Function Documentation

◆ add_points()

void VO::add_points	(	vector< Point2d > &	POINT_1,
		vector< Point2d > &	POINT_2,
		Eigen::VectorXi &	mask,
		std::vector< Eigen::Vector2f > &	all_inliers1,
		std::vector< Eigen::Vector2f > &	all_inliers2
	)

add_points() Be used to add new point into corresponding inlier vectors.

Parameters

[in]	POINT_1	The inlier which waiting to push into inlier vector as the first frame.
[in]	POINT_2	The inlier which waiting to push into inlier vector as the second frame.
[in]	mask	The indicator to determine whether the point should be added.
[in]	all_inliers1	The vector which contains all inliers of the first frame.
[in]	all_inliers2	The vector which contains all inliers of the second frame.

Returns: void

Definition at line 154 of file VO_tools.cpp.

Here is the caller graph for this function:

◆ get_K_()

Eigen::VectorXd VO::get_K_ ( )

get_K_() Get the K of the class.

Returns: The private parameter K

Definition at line 263 of file VO_tools.cpp.

◆ read_file_names()

int VO::read_file_names ( )

read_file_names() This function is used to extract the names of files in a specific directory. the internal parameter matrix k will need and send it to k.

Returns: Return the number of file in this directory.

Definition at line 20 of file VO_tools.cpp.

◆ read_gt()

void VO::read_gt ( std::string file_path )

read_gt() This function reads the ground truth from specific file.

Returns: void

Definition at line 268 of file VO_tools.cpp.

◆ SetK()

void VO::SetK	(	double	focal_x,
		double	focal_y,
		int	principal_x,
		int	principal_y
	)

SetK() This function which is used to pass the parameters in to the internal parameter matrix.

Parameters

[in]	focal_x	The position of focal on x-axis.
[in]	focal_y	The position of focal on y-axis.
[in]	principal_x	The position of camera center on x-axis.
[in]	principal_y	The position of camera center on y-axis.

Return values

NULL	void output

Definition at line 14 of file VO_tools.cpp.

◆ solve()

void VO::solve	(	std::vector< Eigen::Matrix3f > &	all_R,
		std::vector< Eigen::Vector3f > &	all_t,
		bool	store_trajectory = `false`,
		bool	need_plot = `false`
	)

solve() The main structure of VO algorithm.

Parameters

[in]	store_trajectory	Whether we need to store the trajectory parameters into a specific file
[in]	need_plot	Whether we need to plot the result
[in]	all_R	The vector which contains the rotation information between two step
[in]	all_t	The vector which contains the translation information between two step

Return values

1	Algorithm runs successfully
0	Fails

Definition at line 48 of file VO_tools.cpp.

◆ solve_once()

void VO::solve_once	(	std::vector< Eigen::Matrix3f > &	all_R,
		std::vector< Eigen::Vector3f > &	all_t,
		vector< Eigen::Vector2f > &	pre_all_inliers1,
		vector< Eigen::Vector2f > &	pre_all_inliers2,
		vector< std::vector< Eigen::Vector2f >> &	all_2d_inliers,
		vector< std::map< int, int > > &	all_indexes,
		map< int, vector< KeyPoint >> &	index_points,
		map< int, Mat > &	index_descriptors,
		Ptr< Feature2D > &	f2d,
		int &	index,
		int	files
	)

solve_once() Runs the vo algorithm once.

Parameters

[in]	all_R	The vector which contains the rotation information between two step
[in]	all_t	The vector which contains the translation information between two step
[in]	pre_all_inliers1	The vector which contains previous all inliers of the first frame.
[in]	pre_all_inliers2	The vector which contains previous all inliers of the second frame.
[in]	all_2d_inliers	The inliers waiting to be stored.
[in]	all_indexes	The mapping between all the matched frames.
[in]	index_points	THe mapping between keypoint and its corresponing index.
[in]	index_descriptors	The mapping between the index and their corresponding feature descriptors.
[in]	f2d	The SIFT feature extractor.
[in]	index	The index of the frame that will be process in the solve percedure.
[in]	files	The index of file.

Returns: void

Definition at line 175 of file VO_tools.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ data_path

string VO::data_path

private

The path we get data from.

Definition at line 40 of file VO_tools.hpp.

◆ K

Mat VO::K

private

The internal parameter matrix.

Definition at line 45 of file VO_tools.hpp.

◆ K_

Eigen::VectorXd VO::K_

private

The eigen form of internal parameter matrix k.

Definition at line 50 of file VO_tools.hpp.

◆ Ps

vector<Mat> VO::Ps

private

Definition at line 57 of file VO_tools.hpp.

◆ step_size

int VO::step_size

private

The step size for take critical frames.

Definition at line 30 of file VO_tools.hpp.

◆ store_path

string VO::store_path

private

The path to save the final result.

Definition at line 35 of file VO_tools.hpp.

◆ vector_of_files

vector<string> VO::vector_of_files

private

The parameter waiting to be used.

Definition at line 55 of file VO_tools.hpp.

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

vo/VO_tools.hpp
vo/VO_tools.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VO()

◆ ~VO()

Member Function Documentation

◆ add_points()

◆ get_K_()

◆ read_file_names()

◆ read_gt()

◆ SetK()

◆ solve()

◆ solve_once()

Member Data Documentation

◆ data_path

◆ K

◆ K_

◆ Ps

◆ step_size

◆ store_path

◆ vector_of_files