Ccny Classes-CSDN博客

ccny_rgbd::RGBDFrame Class Reference

Inheritance diagram for ccny_rgbd::RGBDFrame:

Public Member Functions
void	computeDistributions (double max_z=5.5, double max_stdev_z=0.03)
	Computes the 3D means and covariances for all the detected keypoints. 计算所有探测关键点的均值以及方差。
void	constructFeaturePointCloud (PointCloudFeature &cloud)
	Computes the 3D means and covariances for all the valid detected keypoints. 计算所有有效的探测关键点的均值以及方差。
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RGBDFrame ()
	Default (empty) constructor.
	RGBDFrame (const ImageMsg::ConstPtr &rgb_msg, const ImageMsg::ConstPtr &depth_msg, const CameraInfoMsg::ConstPtr &info_msg)
	Constructor from ROS messages. 构造函数。
Static Public Member Functions
static bool	load (RGBDFrame &frame, const std::string &path)
	Loads the RGBD frame from disk. 从磁盘中下载RGBD frame。
static bool	save (const RGBDFrame &frame, const std::string &path)
	Saves the RGBD frame to disk. 保存。
Public Attributes
cv::Mat	depth_img
	Depth image in mm (16UC1). 0 = invalid data. 16位无符号整型深度图像，0代表无效数据。
cv::Mat	descriptors
	Feature descriptor vectors. 特征描述向量。
std_msgs::Header	header
	Header taken from rgb_msg.
KeypointVector	keypoints
	2D keypoint locations
Matrix3fVector	kp_covariances
	3x3 mat of covariances
Vector3fVector	kp_means
	1x3 mat of 3D locations
BoolVector	kp_valid
	Is the z data valid?
image_geometry::PinholeCameraModel	model
	The intrinsic matrix which applies to both images.
int	n_valid_keypoints
	How many keypoints have usable 3D data.
cv::Mat	rgb_img
	RGB image (8UC3)
Protected Member Functions
void	getGaussianDistribution (int u, int v, double &z_mean, double &z_var)
	Calculates the z distribution (mean and variance) for a given pixel.
void	getGaussianMixtureDistribution (int u, int v, double &z_mean, double &z_var)
	Calculates the GMM z distribution (mean and variance) for a given pixel.
double	getStdDevZ (double z)
	Calculates the std_dev(z) from z.
double	getVarZ (double z)
	Calculates the var(z) from z.
Static Protected Attributes
static const double	Z_STDEV_CONSTANT = 0.001425
	Constant for calculating std_dev(z)

ccny_rgbd::RGBDKeyframe Class Reference

Extension of an RGBDFrame, which has a pose, and a 3D point cloud. More...

#include <rgbd_keyframe.h>

Inheritance diagram for ccny_rgbd::RGBDKeyframe:

[legend]

List of all members.

Public Member Functions
void	constructDensePointCloud (double max_z=5.5, double max_stdev_z=0.03)
	constructs the point cloud from the RGB and depth images 从RGB和深度图像中构造点云。
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RGBDKeyframe ()
	Default (empty) constructor.
	RGBDKeyframe (const RGBDFrame &frame)
	Copy constructor from a RGBDFrame.
Static Public Member Functions
static bool	load (RGBDKeyframe &keyframe, const std::string &path)
	Loads the RGBD keyframe to disk. 从磁盘中下载RGBD
static bool	save (const RGBDKeyframe &keyframe, const std::string &path)
	Saves the RGBD keyframe to disk.
Public Attributes
PointCloudT	cloud
	Dense point cloud from RGBD data.
bool	manually_added
	Whether the frame was added manually by the user. 该帧是否被用户手动添加。
double	path_length_angular
	path length, in radians, of the camera trajectory at the moment of adding the keyframe 再添加keyframe时相机轨迹的路径长度
double	path_length_linear
	path length, in meters, of the camera trajectory at the moment of adding the keyframe
tf::Transform	pose
	pose of the camera, in some fixed frame

ccny_rgbd::FeatureDetector Class Reference

Inheritance diagram for ccny_rgbd::FeatureDetector:

Public Member Functions
	FeatureDetector ()
	Default constructor.
void	findFeatures (RGBDFrame &frame)
	Main function to call to detect the sparse features in an RGBDFrame and fill out the corresponding information.
double	getMaxRange () const
	Returns the maximum allowed z-depth (in meters) for features.
double	getMaxStDev () const
	Returns the maximum allowed std_dev(z) (in meters) for features.
int	getSmooth () const
	Returns the smoothing size.
void	setMaxRange (double max_range)
	Sets the maximum allowed z-depth (in meters) for features.
void	setMaxStDev (double max_stdev)
	Sets the maximum allowed std_dev(z) (in meters) for features.
void	setSmooth (int smooth)
	Sets the smoothing size.
virtual	~FeatureDetector ()
	Default destructor.
Protected Member Functions
virtual void	findFeatures (RGBDFrame &frame, const cv::Mat &input_img)=0
	Implementation of the feature detector.
Protected Attributes
bool	compute_descriptors_
	whether to calculate feature descriptors
boost::mutex	mutex_
	state mutex
Private Attributes
double	max_range_
	maximum allowed z-depth (in meters) for features
double	max_stdev_
	maximum allowed std_dev(z) (in meters) for features
int	smooth_
	blurring size (blur winddow = smooth*2 + 1)

Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

ccny_rgbd::FeatureDetector	Base class for sparse feature extractors稀疏特征提取的基类
ccny_rgbd::FeatureHistory	Auxiliary class for the frame-to-frame ICP class 用于icp中的辅助类
ccny_rgbd::FeatureViewer	Application to test and visualize the different type of feature detectors 用于测试以及可视不同类型的特征
ccny_rgbd::GftDetector	GoodFeaturesToTrack detector
ccny_rgbd::KeyframeAssociation	Class representing an association between two keyframes, used for graph-based pose alignement 表示两关键帧之间的联系，用于图像的配准
ccny_rgbd::KeyframeGraphDetector	Detects graph correspondences based on visual feature matching between keyframes 基于视觉特征匹配的
ccny_rgbd::KeyframeGraphSolver	Base class for graph-based global alignment classes
ccny_rgbd::KeyframeGraphSolverG2O	Graph-based global alignement using g2o (generalized graph optimizaiton)
ccny_rgbd::KeyframeMapper	Builds a 3D map from a series of RGBD keyframes 根据以系列大的关键帧构建3D 地图
ccny_rgbd::MotionEstimation	Base class for visual odometry motion estimation methods 视觉里程计运动估计方法的基类
ccny_rgbd::MotionEstimationICP	Frame-to-frame ICP motion estimation 帧到帧之间的运动估计
ccny_rgbd::MotionEstimationICPProbModel	Motion estimation based on aligning sparse features against a persistent, dynamic model 基于对应稀疏特征点的运动估计，持续，动态模型
ccny_rgbd::OrbDetector	ORB detector
ccny_rgbd::RGBDFrame	Auxiliarry class that holds together rgb and depth images
ccny_rgbd::RGBDImageProc	Processes the raw output of OpenNI sensors to create a stream of RGB-D images 处理从openni 传感器所得原始数据，得到RGB-D图像流。
ccny_rgbd::RGBDImageProcNodelet	Nodelet driver for the RGBDImageProc class
ccny_rgbd::RGBDKeyframe	Extension of an RGBDFrame, which has a pose, and a 3D point cloud RGBDFrame的扩展，包含了姿态以及3D点云。
ccny_rgbd::StarDetector	STAR detector
ccny_rgbd::SurfDetector	SURF detector
ccny_rgbd::VisualOdometry	Subscribes to incoming RGBD images and outputs the position of the moving (base) frame wrt some fixed frame 订阅RGBD图像输出运动姿态