openni_range_image_registration.cpp File Reference

#include <iostream>
#include <pcl/io/openni_grabber.h>
#include "pcl/range_image/range_image_planar.h"
#include "pcl/common/common_headers.h"
#include "pcl/visualization/range_image_visualizer.h"
#include "pcl/visualization/pcl_visualizer.h"
#include "pcl/console/parse.h"
#include <boost/filesystem.hpp>

Include dependency graph for openni_range_image_registration.cpp:

Go to the source code of this file.

Classes
struct	EventHelper
Functions
int	main (int argc, char **argv)
void	printUsage (const char *progName)
void	saveFrame ()
Variables
float	angular_resolution = 0.5f
bool	capture = false
boost::shared_ptr < openni_wrapper::Image >	color_image_ptr
Eigen::Affine3f	current_pose = Eigen::Affine3f::Identity()
boost::shared_ptr < openni_wrapper::DepthImage >	depth_image_ptr
std::string	device_id = "#1"
std::string	dir_name
int	icp_num_iterations_consecutive = 20
int	icp_num_iterations_keyframe = 10
int	icp_search_radius_consecutive = 3
int	icp_search_radius_keyframe = 1
boost::mutex	image_mutex
int	key_frame_counter = 0
Eigen::Affine3f	last_keyframe_pose
Eigen::Affine3f	last_pose
int	max_no_of_threads = 1
float	maximum_range = -1.0f
float	new_keyframe_overlap = 0.85
std::string	output_prefix = "openni_icp"
pcl::PointCloud< pcl::PointXYZ > ::ConstPtr	point_cloud_ptr
int	range_image_counter = 0
bool	received_new_depth_data = false
bool	received_new_image_pair = false
bool	show_color_image = 0
bool	show_range_image = 1
bool	show_registered_clouds = 1
float	size_factor = 1.0

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 161 of file openni_range_image_registration.cpp.

void printUsage

(

const char *

progName

)

Definition at line 146 of file openni_range_image_registration.cpp.

void saveFrame

(

)

Definition at line 78 of file openni_range_image_registration.cpp.

---

Variable Documentation

float angular_resolution = 0.5f

Definition at line 20 of file openni_range_image_registration.cpp.

bool capture = false

Definition at line 33 of file openni_range_image_registration.cpp.

boost::shared_ptr<openni_wrapper::Image> color_image_ptr

Definition at line 42 of file openni_range_image_registration.cpp.

Eigen::Affine3f current_pose = Eigen::Affine3f::Identity()

Definition at line 75 of file openni_range_image_registration.cpp.

boost::shared_ptr<openni_wrapper::DepthImage> depth_image_ptr

Definition at line 41 of file openni_range_image_registration.cpp.

std::string device_id = "#1"

Definition at line 16 of file openni_range_image_registration.cpp.

std::string dir_name

Definition at line 18 of file openni_range_image_registration.cpp.

int icp_num_iterations_consecutive = 20

Definition at line 25 of file openni_range_image_registration.cpp.

int icp_num_iterations_keyframe = 10

Definition at line 27 of file openni_range_image_registration.cpp.

int icp_search_radius_consecutive = 3

Definition at line 24 of file openni_range_image_registration.cpp.

int icp_search_radius_keyframe = 1

Definition at line 26 of file openni_range_image_registration.cpp.

boost::mutex image_mutex

Definition at line 39 of file openni_range_image_registration.cpp.

int key_frame_counter = 0

Definition at line 47 of file openni_range_image_registration.cpp.

Eigen::Affine3f last_keyframe_pose

Definition at line 75 of file openni_range_image_registration.cpp.

Eigen::Affine3f last_pose

Definition at line 75 of file openni_range_image_registration.cpp.

int max_no_of_threads = 1

Definition at line 32 of file openni_range_image_registration.cpp.

float maximum_range = -1.0f

Definition at line 30 of file openni_range_image_registration.cpp.

float new_keyframe_overlap = 0.85

Definition at line 28 of file openni_range_image_registration.cpp.

std::string output_prefix = "openni_icp"

Definition at line 17 of file openni_range_image_registration.cpp.

pcl::PointCloud<pcl::PointXYZ>::ConstPtr point_cloud_ptr

Definition at line 40 of file openni_range_image_registration.cpp.

int range_image_counter = 0

Definition at line 47 of file openni_range_image_registration.cpp.

bool received_new_depth_data = false

Definition at line 45 of file openni_range_image_registration.cpp.

bool received_new_image_pair = false

Definition at line 44 of file openni_range_image_registration.cpp.

bool show_color_image = 0

Definition at line 35 of file openni_range_image_registration.cpp.

bool show_range_image = 1

Definition at line 36 of file openni_range_image_registration.cpp.

bool show_registered_clouds = 1

Definition at line 37 of file openni_range_image_registration.cpp.

float size_factor = 1.0

Definition at line 22 of file openni_range_image_registration.cpp.