Does the heavy lifting for frame-to-frame motion estimation. More...

Public Member Functions
void	estimateMotion (OdometryFrame reference_frame, OdometryFrame target_frame, DepthSource *depth_source, const Eigen::Isometry3d &init_motion_est, const Eigen::MatrixXd &init_motion_cov)

const FeatureMatch *	getMatches () const

double	getMeanInlierReprojectionError () const

const Eigen::Isometry3d &	getMotionEstimate () const

const Eigen::MatrixXd &	getMotionEstimateCov () const

MotionEstimateStatusCode	getMotionEstimateStatus () const

int	getNumInliers () const

int	getNumMatches () const

int	getNumReprojectionFailures () const

bool	isMotionEstimateValid () const

	MotionEstimator (const Rectification *rectification, const VisualOdometryOptions &options)

void	sanityCheck () const

Detailed Description

Does the heavy lifting for frame-to-frame motion estimation.

TODO

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

Public Member Functions