Visual Motion Estimator (VME). More...

Detailed Description

Visual Motion Estimator (VME).

Definition at line 165 of file engine.hpp.

#include <engine.hpp>

Inheritance diagram for jafar::vme::VmeEngine:

Public Member Functions
	VmeEngine (jafar::geom::T3D::Type t3dType, jafar::camera::StereoBench const &stereoBench)
void	setStereoBench (jafar::camera::StereoBench const &stereoBench)
std::size_t	nbTracked3DPoint ()
int	nb3DPointsOutliers ()
void	setParams (VmeEngineParams const &params_)
	Set parameters.
const jafar::gfm::MatchingResult &	getStereoResult () const
const jafar::gfm::MatchingResult &	getTrackResult () const
jafar::geom::T3D &	t3d ()
long	getElapsedTime () const
void	init (const jafar::image::Image &imageLeft, const jafar::image::Image &imageRight, unsigned int frameIndex_=0)
void	init (const jafar::gfm::MatchingResult &stereoResult, unsigned int frameIndex_=0)
void	estimateMotion (const jafar::image::Image &imageLeft, const jafar::image::Image &imageRight, unsigned int frameIndex_=0)
void	estimateMotion (const jafar::gfm::MatchingResult &trackingResult, const jafar::gfm::MatchingResult &stereoResult, unsigned int frameIndex_=0)
int	count3DPointPairs () const
Protected Member Functions
virtual void	writeLogHeader (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Private Types
typedef std::list< Point3DPair >	Point3DPairList
Private Member Functions
void	fillPoint3DList (const jafar::gfm::MatchingResult &stereoResult, std::list< Point3D > &point3DList, std::vector< Point3D * > &point3DIndex)
	This method compute the 3D points using the stereo model.
void	estimateMotion (bool doComputeErrors)
bool	removeOutliers (int k)
void	estimateMotionUncertainty ()
Private Attributes
VmeEngineParams	params
	vme parameters
double	errorMean
	mean of error
double	errorSigma
	standard deviation of error
gfm::MatchingResult	m_trackingResult
gfm::MatchingResult	m_stereoResult
std::list< Point3D >	point3DListPrev
	3D points from previous frame
std::vector< Point3D * >	point3DIndexPrev
	3D points from previous frame by their index in left image
std::list< Point3D >	point3DListCur
	3D points from current frame
std::vector< Point3D * >	point3DIndexCur
	3D points from current frame by their index in left image
Point3DPairList	me3DPointPairs
	3D points pairs which are used for the optimisation
std::size_t	sizeMe3DPointPairs
	size of the list me3DPointPairs (optimization: std::list size() method is not constant time)
double	sumMe3DPointPairsWeights
jblas::mat33	R
	rotation matrix
jblas::vec3	t
	translation vector
jblas::diag_mat	uvdCov
	[u,v,disp] covariance matrix (no cross correlation)
geom::T3D *	m_t3d
	the estimated t3d
camera::StereoBench	m_stereoBench
gfm::EngineStereoTracking	m_engineStereoTracking
unsigned int	frameIndex
int	nbOutliers
	number of outliers removed
long	elapsedTime
bool	success

Member Function Documentation

int jafar::vme::VmeEngine::count3DPointPairs ( ) const [inline]

Returns:: the number of 3D pairs used for the optimization

Definition at line 303 of file engine.hpp.

References sizeMe3DPointPairs.

void jafar::vme::VmeEngine::fillPoint3DList	(	const jafar::gfm::MatchingResult &	stereoResult,
		std::list< Point3D > &	point3DList,
		std::vector< Point3D * > &	point3DIndex
	)		`[private]`