openni_range_image_registration_reader.cpp File Reference

#include <set>
#include <map>
#include <iostream>
#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 "pcl/io/pcd_io.h"
#include <boost/thread/thread.hpp>

Include dependency graph for openni_range_image_registration_reader.cpp:

Go to the source code of this file.

Classes
struct	OpenniFrame
struct	VoxelGridCloud
Defines
#define	READ_INFO_FILE_PARAM(CURRENT_PARAM_NAME)
Functions
int	main (int argc, char **argv)
void	printUsage (const char *progName)
std::vector< std::string >	readInfoFiles (const std::string &folder_name)
void	readOpenniFrame (istream &info_file, OpenniFrame &frame)
Variables
float	angular_resolution = -1
Eigen::Affine3f	current_pose = Eigen::Affine3f::Identity()
std::string	dir_name = "."
float	icp_max_distance_end_consecutive = 0.05
float	icp_max_distance_end_keyframe = 0.05
float	icp_max_distance_start_consecutive = 0.3
float	icp_max_distance_start_keyframe = 0.15
int	icp_num_iterations_consecutive = 20
int	icp_num_iterations_keyframe = 10
int	icp_search_radius_consecutive = 3
int	icp_search_radius_keyframe = 1
Eigen::Affine3f	last_pose
int	max_no_of_threads = 1
float	maximum_range = -1.0f
float	new_keyframe_overlap = 0.85
float	output_resolution = 0.005
float	overlap_calculation_max_error = 0.25
bool	save_point_clouds = false
bool	show_color_image = 1
bool	show_range_image = 1
bool	show_registered_clouds = 1

---

Define Documentation

#define READ_INFO_FILE_PARAM

(

CURRENT_PARAM_NAME

)

Value:

if (parameter_name == #CURRENT_PARAM_NAME) \
      { \
        info_file >> frame.CURRENT_PARAM_NAME; \
        if (0) \
          std::cout << PVARN(frame.CURRENT_PARAM_NAME); \
      }

---

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 245 of file openni_range_image_registration_reader.cpp.

void printUsage

(

const char *

progName

)

Definition at line 232 of file openni_range_image_registration_reader.cpp.

std::vector<std::string> readInfoFiles

(

const std::string &

folder_name

)

Definition at line 84 of file openni_range_image_registration_reader.cpp.

void readOpenniFrame	(	istream &	info_file,
		OpenniFrame &	frame
	)

Definition at line 142 of file openni_range_image_registration_reader.cpp.

---

Variable Documentation

float angular_resolution = -1

Definition at line 30 of file openni_range_image_registration_reader.cpp.

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

Definition at line 82 of file openni_range_image_registration_reader.cpp.

std::string dir_name = "."

Definition at line 28 of file openni_range_image_registration_reader.cpp.

float icp_max_distance_end_consecutive = 0.05

Definition at line 33 of file openni_range_image_registration_reader.cpp.

float icp_max_distance_end_keyframe = 0.05

Definition at line 36 of file openni_range_image_registration_reader.cpp.

float icp_max_distance_start_consecutive = 0.3

Definition at line 33 of file openni_range_image_registration_reader.cpp.

float icp_max_distance_start_keyframe = 0.15

Definition at line 36 of file openni_range_image_registration_reader.cpp.

int icp_num_iterations_consecutive = 20

Definition at line 34 of file openni_range_image_registration_reader.cpp.

int icp_num_iterations_keyframe = 10

Definition at line 37 of file openni_range_image_registration_reader.cpp.

int icp_search_radius_consecutive = 3

Definition at line 32 of file openni_range_image_registration_reader.cpp.

int icp_search_radius_keyframe = 1

Definition at line 35 of file openni_range_image_registration_reader.cpp.

Eigen::Affine3f last_pose

Definition at line 82 of file openni_range_image_registration_reader.cpp.

int max_no_of_threads = 1

Definition at line 40 of file openni_range_image_registration_reader.cpp.

float maximum_range = -1.0f

Definition at line 43 of file openni_range_image_registration_reader.cpp.

float new_keyframe_overlap = 0.85

Definition at line 39 of file openni_range_image_registration_reader.cpp.

float output_resolution = 0.005

Definition at line 41 of file openni_range_image_registration_reader.cpp.

float overlap_calculation_max_error = 0.25

Definition at line 38 of file openni_range_image_registration_reader.cpp.

bool save_point_clouds = false

Definition at line 229 of file openni_range_image_registration_reader.cpp.

bool show_color_image = 1

Definition at line 78 of file openni_range_image_registration_reader.cpp.

bool show_range_image = 1

Definition at line 79 of file openni_range_image_registration_reader.cpp.

bool show_registered_clouds = 1

Definition at line 80 of file openni_range_image_registration_reader.cpp.