Extension of an RGBDFrame, which has a pose, and a 3D point cloud. More...
#include <rgbd_keyframe.h>
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | RGBDKeyframe () |
| Default (empty) constructor. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | RGBDKeyframe () |
| Default (empty) constructor. | |
| RGBDKeyframe (const RGBDFrame &frame) | |
| Copy constructor from a RGBDFrame. | |
| 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. | |
| static bool | load (RGBDKeyframe &keyframe, const std::string &path) |
| Loads the RGBD keyframe to disk. | |
| static bool | save (const RGBDKeyframe &keyframe, const std::string &path) |
| Saves the RGBD keyframe to disk. | |
| static bool | save (const RGBDKeyframe &keyframe, const std::string &path) |
| Saves the RGBD keyframe to disk. | |
Public Attributes | |
| bool | manually_added |
| Whether the frame was added manually by the user. | |
| double | path_length_angular |
| path length, in radians, of the camera trajectory at the moment of adding the keyframe | |
| double | path_length_linear |
| path length, in meters, of the camera trajectory at the moment of adding the keyframe | |
| Pose | pose |
| pose of the camera, in some fixed frame | |
Extension of an RGBDFrame, which has a pose, and a 3D point cloud.
The class is used for keyframe-based graph alignment, as well as dense mapping.
Definition at line 39 of file include/rgbdtools/rgbd_keyframe.h.
Default (empty) constructor.
Definition at line 28 of file rgbd_keyframe.cpp.
| rgbdtools::RGBDKeyframe::RGBDKeyframe | ( | const RGBDFrame & | frame | ) |
Copy constructor from a RGBDFrame.
| frame | reference to the frame which is being used to create a keyframe |
Definition at line 34 of file rgbd_keyframe.cpp.
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW rgbdtools::RGBDKeyframe::RGBDKeyframe | ( | ) |
Default (empty) constructor.
| rgbdtools::RGBDKeyframe::RGBDKeyframe | ( | const RGBDFrame & | frame | ) |
Copy constructor from a RGBDFrame.
| frame | reference to the frame which is being used to create a keyframe |
| bool rgbdtools::RGBDKeyframe::load | ( | RGBDKeyframe & | keyframe, |
| const std::string & | path | ||
| ) | [static] |
Loads the RGBD keyframe to disk.
Loads the RGBDFrame, as well as the additional keyframe info as .yml
| keyframe | Reference to the keyframe being saved |
| path | The path to the folder where everything will be stored |
| true | Successfully loaded the data |
| false | Loading failed - for example, directory not found |
Definition at line 77 of file rgbd_keyframe.cpp.
| static bool rgbdtools::RGBDKeyframe::load | ( | RGBDKeyframe & | keyframe, |
| const std::string & | path | ||
| ) | [static] |
Loads the RGBD keyframe to disk.
Loads the RGBDFrame, as well as the additional keyframe info as .yml
| keyframe | Reference to the keyframe being saved |
| path | The path to the folder where everything will be stored |
| true | Successfully loaded the data |
| false | Loading failed - for example, directory not found |
| static bool rgbdtools::RGBDKeyframe::save | ( | const RGBDKeyframe & | keyframe, |
| const std::string & | path | ||
| ) | [static] |
Saves the RGBD keyframe to disk.
Saves the RGBDFrame, as well as the additional keyframe info as .yml
| keyframe | Reference to the keyframe being saved |
| path | The path to the folder where everything will be stored |
| true | Successfully saved the data |
| false | Saving failed - for example, cannot create directory |
| bool rgbdtools::RGBDKeyframe::save | ( | const RGBDKeyframe & | keyframe, |
| const std::string & | path | ||
| ) | [static] |
Saves the RGBD keyframe to disk.
Saves the RGBDFrame, as well as the additional keyframe info as .yml
| keyframe | Reference to the keyframe being saved |
| path | The path to the folder where everything will be stored |
| true | Successfully saved the data |
| false | Saving failed - for example, cannot create directory |
Definition at line 49 of file rgbd_keyframe.cpp.
Whether the frame was added manually by the user.
Definition at line 56 of file include/rgbdtools/rgbd_keyframe.h.
path length, in radians, of the camera trajectory at the moment of adding the keyframe
Definition at line 66 of file include/rgbdtools/rgbd_keyframe.h.
path length, in meters, of the camera trajectory at the moment of adding the keyframe
Definition at line 61 of file include/rgbdtools/rgbd_keyframe.h.
pose of the camera, in some fixed frame
Definition at line 54 of file include/rgbdtools/rgbd_keyframe.h.
