Struct VisualOdometry 

pub struct VisualOdometry {
    pub intrinsics: IntrinsicMatrix,
    pub ransac_threshold: f64,
    pub max_ransac_iter: usize,
    pub min_inliers: usize,
    /* private fields */
}

Visual odometry: frame-to-frame motion estimation via tracked features.

Fields

intrinsics: IntrinsicMatrix

Camera intrinsics.

ransac_threshold: f64

RANSAC threshold in pixels for E-matrix estimation.

max_ransac_iter: usize

Maximum RANSAC iterations.

min_inliers: usize

Minimum inliers for a valid motion estimate.

Implementations

impl VisualOdometry

pub fn new(intrinsics: IntrinsicMatrix) -> Self

Create a new VO instance.

pub fn process_frame( &mut self, keypoints: &[[f64; 2]], matches: &[(usize, usize)], ) -> Result<Option<Pose>>

Process a new frame, estimating relative motion from matches.

• keypoints: 2D keypoints in the current frame.
• matches: (prev_idx, curr_idx) pairs.

Returns the estimated Pose of the current frame (or None on the first frame / insufficient matches).

pub fn current_pose(&self) -> &Pose

Get the current accumulated camera pose.

pub fn reset(&mut self)

Reset the odometry to the initial state.