From c55e6d7cd52fc5fa511b5577903cf08b5d338092 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 14 Apr 2022 23:50:33 +0200
Subject: [PATCH] Doc
---
.../processor/processor_visual_odometry.h | 36 +++++++++++++------
1 file changed, 25 insertions(+), 11 deletions(-)
diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index ff9bda060..dc9758cad 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -113,7 +113,7 @@ class ProcessorVisualOdometry : public ProcessorTracker
{
public:
ProcessorVisualOdometry(ParamsProcessorVisualOdometryPtr _params_visual_odometry);
- ~ProcessorVisualOdometry() override {};
+ virtual ~ProcessorVisualOdometry() override {};
WOLF_PROCESSOR_CREATE(ProcessorVisualOdometry, ParamsProcessorVisualOdometry);
@@ -145,13 +145,16 @@ class ProcessorVisualOdometry : public ProcessorTracker
public:
+ /**
+ * \brief Get params from sensor to finish processor setup
+ */
void configure(SensorBasePtr _sensor) override;
- /** Pre-process incoming Capture, see ProcessorTracker
+ /** \brief Pre-process incoming Capture, see ProcessorTracker
*/
void preProcess() override;
- /** Post-process, see ProcessorTracker
+ /** \brief Post-process, see ProcessorTracker
*/
virtual void postProcess() override;
@@ -159,7 +162,8 @@ class ProcessorVisualOdometry : public ProcessorTracker
*/
bool voteForKeyFrame() const override;
- /** \brief Tracker function
+ /**
+ * \brief Tracker function
* \return The number of successful tracks.
*
* see ProcessorTracker
@@ -167,19 +171,23 @@ class ProcessorVisualOdometry : public ProcessorTracker
unsigned int processKnown() override;
- /** \brief Process new Features or Landmarks
- *
+ /**
+ * \brief Process new Features
+ * \param _max_features the maximum number of new feature tracks
+ * \return the number of new tracks
*/
unsigned int processNew(const int& _max_features) override;
- /**\brief Creates and adds factors from last_ to origin_
- *
+ /**
+ * \brief Creates and adds factors from last_ to origin_
*/
void establishFactors() override;
- /**\brief Emplace a landmark corresponding to a track and initialize it with triangulation.
- *
+ /**
+ * \brief Emplace a landmark corresponding to a track and initialize it with triangulation.
+ * \param _feature_ptr a pointer to the feature used to create the new landmark
+ * \return a pointer to the created landmark
*/
LandmarkBasePtr emplaceLandmark(FeatureBasePtr _feature_ptr);
@@ -195,7 +203,13 @@ class ProcessorVisualOdometry : public ProcessorTracker
*/
void resetDerived() override;
- /** \brief Implementation of pyramidal KLT with openCV
+ /**
+ * \brief Implementation of pyramidal KLT with openCV
+ * \param img_prev previous image
+ * \param img_curr current image
+ * \param mwkps_prev keypoints in previous image
+ * \param mwkps_curr keypoints in current image, those tracked from the previous image
+ * \return a map with track associations
*/
TracksMap kltTrack(const cv::Mat img_prev, const cv::Mat img_curr, const KeyPointsMap &mwkps_prev, KeyPointsMap &mwkps_curr);
--
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