ccny_rgbd::RGBDFrame Class Reference
#include <rgbd_frame.h>
Inheritance diagram for ccny_rgbd::RGBDFrame:
[legend]
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 | |
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 bool | |
Loads the RGBD frame from disk. 从磁盘中下载RGBD frame。 | |
static bool | |
Saves the RGBD frame to disk. 保存。 | |
cv::Mat | |
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 | |
Feature descriptor vectors. 特征描述向量。 | |
Header taken from rgb_msg. | |
2D keypoint locations | |
3x3 mat of covariances | |
1x3 mat of 3D locations | |
Is the z data valid? | |
image_geometry::PinholeCameraModel | |
The intrinsic matrix which applies to both images. | |
int | |
How many keypoints have usable 3D data. | |
cv::Mat | |
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 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]
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 | |
Dense point cloud from RGBD data. | |
bool | |
Whether the frame was added manually by the user. 该帧是否被用户手动添加。 | |
double | |
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, in meters, of the camera trajectory at the moment of adding the keyframe | |
tf::Transform | |
pose of the camera, in some fixed frame |
ccny_rgbd::FeatureDetector Class Reference
Inheritance diagram for ccny_rgbd::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 | |
Default destructor. | |
virtual void | findFeatures (RGBDFrame &frame, const cv::Mat &input_img)=0 |
Implementation of the feature detector. | |
bool | |
whether to calculate feature descriptors | |
boost::mutex | |
state mutex | |
double | |
maximum allowed z-depth (in meters) for features | |
double | |
maximum allowed std_dev(z) (in meters) for features | |
int | |
blurring size (blur winddow = smooth*2 + 1) |
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
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 | |
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 | |
Detects graph correspondences based on visual feature matching between keyframes 基于视觉特征匹配的 | |
Base class for graph-based global alignment classes | |
Graph-based global alignement using g2o (generalized graph optimizaiton) | |
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 | |
Base class for visual odometry motion estimation methods 视觉里程计运动估计方法的基类 | |
Frame-to-frame ICP motion estimation 帧到帧之间的运动估计 | |
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 | |
Auxiliarry class that holds together rgb and depth images | |
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。 | |
Nodelet driver for the RGBDImageProc class | |
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。 | |
STAR detector | |
SURF detector | |
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 |
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