Class RotationOnlyDetector¶
Defined in File rotation-only-detector.h
Class Documentation¶
-
class
geometric_vision
::
RotationOnlyDetector
¶ Public Functions
-
inline
RotationOnlyDetector
()¶ Default constructor with default motion classification threshold.
-
inline explicit
RotationOnlyDetector
(double motion_classification_threshold)¶ Constructor to set the motion classification threshold.
-
bool
isRotationOnlyMotion
(const aslam::VisualNFrame::Ptr &nframe_kp1, const aslam::VisualNFrame::Ptr &nframe_k, const aslam::FrameToFrameMatchesList &matches_kp1_k, const aslam::Quaternion &q_Bkp1_Bk, const bool remove_outliers)¶ Returns true if the motion detected is rotation-only.
- Parameters
[in] nframe_kp1
: Contains camera_rig and observations from viewpoint k+1.[in] nframe_k
: Contains camera_rig and observations from viewpoint k.[in] matches_kp1_k
: Matches from camera i in viewpoint k+1 and camera i in viewpoint k.[in] q_Bkp1_Bk
: Rotation matrix taking points from the frame of reference at time k to the frame of reference at time k+1.[in] remove_outliers
: Remove outliers using 2-point RANSAC if set to true.
-
inline double
getDeviationFromParallelBearingVectorLastUpdate
() const¶ /brief Return the deviation from perfectly parallel bearing vectors.
If the deviation is small then the motion could be explained by rotation-only. If the deviation is large it is a mixed motion or translation-only motion.
-
inline double
getMotionClassificationThreshold
() const¶ /brief Return the motion classification threshold.
-
inline