#include <frame.h>

Public Member Functions
void	match (const Frame &frame0, const Frame &frame1, const Eigen::Vector3d &trans, const Eigen::Quaterniond &rot, std::vector< cv::DMatch > &matches) const
	Match points with previous frame, given an initial pose estimate.
void	setPointcloud (Frame &frame, const pcl::PointCloud< pcl::PointXYZRGB > &input_cloud) const
	Add a pointcloud to the frame, doing all the necessary pre-processing (downsampling, computing normals, and filering based on curvature).
Private Member Functions
void	getMatchingIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal > &input, const pcl::PointCloud< pcl::PointXYZRGBNormal > &output, std::vector< int > &input_indices, std::vector< int > &output_indices) const
	Find matches between two pointclouds using nearest neighbor KDtree search.
Eigen::Vector3d	projectPoint (Eigen::Vector4d &point, CamParams cam) const
	Project a 3D point into the image frame.
void	reduceCloud (const pcl::PointCloud< pcl::PointXYZRGB > &input, pcl::PointCloud< pcl::PointXYZRGBNormal > &output) const
	Subsample cloud for faster matching and processing, while filling in normals.

Detailed Description

Definition at line 197 of file frame.h.

Member Function Documentation

void frame_common::PointcloudProc::getMatchingIndices	(	const pcl::PointCloud< pcl::PointXYZRGBNormal > &	input,
		const pcl::PointCloud< pcl::PointXYZRGBNormal > &	output,
		std::vector< int > &	input_indices,
		std::vector< int > &	output_indices
	)		const `[private]`

Find matches between two pointclouds using nearest neighbor KDtree search.

Definition at line 403 of file frame.cpp.

void frame_common::PointcloudProc::match	(	const Frame &	frame0,
		const Frame &	frame1,
		const Eigen::Vector3d &	trans,
		const Eigen::Quaterniond &	rot,
		std::vector< cv::DMatch > &	matches
	)		const

Match points with previous frame, given an initial pose estimate.

Definition at line 337 of file frame.cpp.

Eigen::Vector3d frame_common::PointcloudProc::projectPoint	(	Eigen::Vector4d &	point,
		CamParams	cam
	)		const `[private]`

Project a 3D point into the image frame.

Definition at line 491 of file frame.cpp.

void frame_common::PointcloudProc::reduceCloud	(	const pcl::PointCloud< pcl::PointXYZRGB > &	input,
		pcl::PointCloud< pcl::PointXYZRGBNormal > &	output
	)		const `[private]`

Subsample cloud for faster matching and processing, while filling in normals.

Definition at line 441 of file frame.cpp.

void frame_common::PointcloudProc::setPointcloud	(	Frame &	frame,
		const pcl::PointCloud< pcl::PointXYZRGB > &	input_cloud
	)		const

Add a pointcloud to the frame, doing all the necessary pre-processing (downsampling, computing normals, and filering based on curvature).

Definition at line 307 of file frame.cpp.

The documentation for this class was generated from the following files: