ccny_rgbd::RGBDFrame Class Reference
#include <rgbd_frame.h>
Inheritance diagram for ccny_rgbd::RGBDFrame:
[legend]
List of all members.
| Public Member Functions |
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| 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。 |
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| 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。 |
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
RGBDFrame () |
| Default (empty) constructor. |
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| RGBDFrame (const ImageMsg::ConstPtr &rgb_msg, const ImageMsg::ConstPtr &depth_msg, const CameraInfoMsg::ConstPtr &info_msg) |
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| Constructor from ROS messages. 构造函数。 |
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| Static Public Member Functions |
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| static bool |
load (RGBDFrame &frame, const std::string &path) |
| Loads the RGBD frame from disk. 从磁盘中下载RGBD frame。 |
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| static bool |
save (const RGBDFrame &frame, const std::string &path) |
| Saves the RGBD frame to disk. 保存。 |
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| Public Attributes |
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| 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。 |
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| cv::Mat |
descriptors |
| Feature descriptor vectors. 特征描述向量。 |
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| std_msgs::Header |
header |
| Header taken from rgb_msg. |
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| KeypointVector |
keypoints |
| 2D keypoint locations |
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| Matrix3fVector |
kp_covariances |
| 3x3 mat of covariances |
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| Vector3fVector |
kp_means |
| 1x3 mat of 3D locations |
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| BoolVector |
kp_valid |
| Is the z data valid? |
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| image_geometry::PinholeCameraModel |
model |
| The intrinsic matrix which applies to both images. |
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| int |
n_valid_keypoints |
| How many keypoints have usable 3D data. |
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| cv::Mat |
rgb_img |
| RGB image (8UC3) |
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| Protected Member Functions |
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| void |
getGaussianDistribution (int u, int v, double &z_mean, double &z_var) |
| Calculates the z distribution (mean and variance) for a given pixel. |
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| void |
getGaussianMixtureDistribution (int u, int v, double &z_mean, double &z_var) |
| Calculates the GMM z distribution (mean and variance) for a given pixel. |
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| double |
getStdDevZ (double z) |
| Calculates the std_dev(z) from z. |
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| double |
getVarZ (double z) |
| Calculates the var(z) from z. |
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| Static Protected Attributes |
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| 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 |
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| 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。 |
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| EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
RGBDKeyframe () |
| Default (empty) constructor. |
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| RGBDKeyframe (const RGBDFrame &frame) |
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| Copy constructor from a RGBDFrame. |
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| Static Public Member Functions |
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| static bool |
load (RGBDKeyframe &keyframe, const std::string &path) |
| Loads the RGBD keyframe to disk. 从磁盘中下载RGBD |
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| static bool |
save (const RGBDKeyframe &keyframe, const std::string &path) |
| Saves the RGBD keyframe to disk. |
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| Public Attributes |
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| PointCloudT |
cloud |
| Dense point cloud from RGBD data. |
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| bool |
manually_added |
| Whether the frame was added manually by the user. 该帧是否被用户手动添加。 |
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| 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 |
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| double |
path_length_linear |
| path length, in meters, of the camera trajectory at the moment of adding the keyframe |
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| 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 |
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| FeatureDetector () |
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| Default constructor. |
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| void |
findFeatures (RGBDFrame &frame) |
| Main function to call to detect the sparse features in an RGBDFrame and fill out the corresponding information. |
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| double |
getMaxRange () const |
| Returns the maximum allowed z-depth (in meters) for features. |
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| double |
getMaxStDev () const |
| Returns the maximum allowed std_dev(z) (in meters) for features. |
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| int |
getSmooth () const |
| Returns the smoothing size. |
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| void |
setMaxRange (double max_range) |
| Sets the maximum allowed z-depth (in meters) for features. |
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| void |
setMaxStDev (double max_stdev) |
| Sets the maximum allowed std_dev(z) (in meters) for features. |
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| void |
setSmooth (int smooth) |
| Sets the smoothing size. |
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| virtual |
~FeatureDetector () |
| Default destructor. |
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| Protected Member Functions |
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| virtual void |
findFeatures (RGBDFrame &frame, const cv::Mat &input_img)=0 |
| Implementation of the feature detector. |
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| Protected Attributes |
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| bool |
compute_descriptors_ |
| whether to calculate feature descriptors |
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| boost::mutex |
mutex_ |
| state mutex |
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| Private Attributes |
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| double |
max_range_ |
| maximum allowed z-depth (in meters) for features |
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| double |
max_stdev_ |
| maximum allowed std_dev(z) (in meters) for features |
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| 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 |
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