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okvis::VioVisualizer Class Reference

This class is responsible to visualize the matching results. More...

#include <VioVisualizer.hpp>

Classes

struct  VisualizationData
 This struct contains the relevant data for visualizing. More...
 

Public Member Functions

 VioVisualizer (okvis::VioParameters &parameters)
 Constructor. More...
 
virtual ~VioVisualizer ()
 
void init (okvis::VioParameters &parameters)
 Initialise parameters. Called in constructor. More...
 
void showDebugImages (VisualizationData::Ptr &data)
 Show the current frames with the current keyframe and all its matches. More...
 
cv::Mat drawMatches (VisualizationData::Ptr &data, size_t image_number)
 Circles all keypoints in the current frame, links the matching ones to the current keyframe and returns the result. More...
 

Private Member Functions

cv::Mat drawKeypoints (VisualizationData::Ptr &data, size_t cameraIndex)
 Circles all keypoints in the current frame and returns the result. More...
 

Private Attributes

okvis::VioParameters parameters_
 Parameters and settings. More...
 

Detailed Description

This class is responsible to visualize the matching results.

Constructor & Destructor Documentation

okvis::VioVisualizer::VioVisualizer ( okvis::VioParameters parameters)

Constructor.

Parameters
parametersParameters and settings.
okvis::VioVisualizer::~VioVisualizer ( )
virtual

Member Function Documentation

cv::Mat okvis::VioVisualizer::drawKeypoints ( VisualizationData::Ptr data,
size_t  cameraIndex 
)
private

Circles all keypoints in the current frame and returns the result.

Parameters
dataVisualization data.
cameraIndexIndex of the frame to display.
Returns
OpenCV matrix with the resulting image.
cv::Mat okvis::VioVisualizer::drawMatches ( VisualizationData::Ptr data,
size_t  image_number 
)

Circles all keypoints in the current frame, links the matching ones to the current keyframe and returns the result.

Parameters
dataVisualization data.
image_numberIndex of the frame to display.
Returns
OpenCV matrix with the resulting image.
void okvis::VioVisualizer::init ( okvis::VioParameters parameters)

Initialise parameters. Called in constructor.

Parameters
parametersParameters and settings.
void okvis::VioVisualizer::showDebugImages ( VisualizationData::Ptr data)

Show the current frames with the current keyframe and all its matches.

Parameters
dataVisualization data containing all the info.

Member Data Documentation

okvis::VioParameters okvis::VioVisualizer::parameters_
private

Parameters and settings.


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