Ccny Classes

ccny_rgbd::RGBDFrame Class Reference

#include <rgbd_frame.h>

Inheritance diagram for ccny_rgbd::RGBDFrame:

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[legend]

List of all members.

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:

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[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:

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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

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