ndt_feature_reg::NDTFrameProc< PointT > Class Template Reference

#include <ndt_frame_proc.h>

List of all members.

Public Types
typedef Eigen::Transform < double, 3, Eigen::Affine, Eigen::ColMajor >	EigenTransform
Public Member Functions
void	addFrame (NDTFrame< PointT > *f)
void	addFrameIncremental (NDTFrame< PointT > *f, bool skipMatching, bool ndtEstimateDI=false, bool match_full=false, bool match_no_association=false)
void	convertMatches (const std::vector< cv::DMatch > &in, std::vector< std::pair< int, int > > &out)
std::vector< std::pair< int, int > >	convertMatches (const std::vector< cv::DMatch > &in)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	createColoredFeaturePC (NDTFrame< PointT > &f, pcl::PointXYZRGB color)
	NDTFrameProc (int nb_ransac, double max_inldist_xy, double max_inldist_z)
void	processFrames (bool skipMatching, bool ndtEstimateDI=false, bool match_full=false, bool match_no_association=false)
void	trimNbFrames (size_t maxNbFrames)
virtual	~NDTFrameProc ()
Public Attributes
cv::Ptr< cv::FeatureDetector >	detector
cv::Ptr< cv::DescriptorExtractor >	extractor
std::vector< NDTFrame< PointT > *, Eigen::aligned_allocator < NDTFrame< PointT > > >	frames
double	img_scale
bool	non_mean
PoseEstimator< PointT, PointT >	pe
std::vector< EigenTransform, Eigen::aligned_allocator < EigenTransform > >	transformVector
double	trim_factor
Private Member Functions
void	calcDescriptors (NDTFrame< PointT > *f) const
void	detectKeypoints (NDTFrame< PointT > *f) const

---

Detailed Description

template<typename PointT>
class ndt_feature_reg::NDTFrameProc< PointT >

Definition at line 46 of file ndt_frame_proc.h.

---

Member Typedef Documentation

template<typename PointT>

typedef Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> ndt_feature_reg::NDTFrameProc< PointT >::EigenTransform

Definition at line 86 of file ndt_frame_proc.h.

---

Constructor & Destructor Documentation

template<typename PointT>

ndt_feature_reg::NDTFrameProc< PointT >::NDTFrameProc	(	int	nb_ransac,
		double	max_inldist_xy,
		double	max_inldist_z
	)		[inline]

Definition at line 73 of file ndt_frame_proc.h.

template<typename PointT>

virtual ndt_feature_reg::NDTFrameProc< PointT >::~NDTFrameProc

(

)

[inline, virtual]

Definition at line 112 of file ndt_frame_proc.h.

---

Member Function Documentation

template<typename PointT>

void ndt_feature_reg::NDTFrameProc< PointT >::addFrame

(

NDTFrame< PointT > *

f

)

[inline]

Definition at line 59 of file ndt_frame_proc.h.

template<typename PointT>

void ndt_feature_reg::NDTFrameProc< PointT >::addFrameIncremental	(	NDTFrame< PointT > *	f,
		bool	skipMatching,
		bool	ndtEstimateDI = false,
		bool	match_full = false,
		bool	match_no_association = false
	)

Definition at line 8 of file ndt_frame_proc.hpp.

template<typename PointT>

void ndt_feature_reg::NDTFrameProc< PointT >::calcDescriptors

(

NDTFrame< PointT > *

f

)

const [private]

Definition at line 183 of file ndt_frame_proc.hpp.

template<typename PointT>

void ndt_feature_reg::NDTFrameProc< PointT >::convertMatches	(	const std::vector< cv::DMatch > &	in,
		std::vector< std::pair< int, int > > &	out
	)		[inline]

Definition at line 90 of file ndt_frame_proc.h.

template<typename PointT>

std::vector<std::pair<int,int> > ndt_feature_reg::NDTFrameProc< PointT >::convertMatches

(

const std::vector< cv::DMatch > &

in

)

[inline]

Definition at line 100 of file ndt_frame_proc.h.

template<typename PointT>

pcl::PointCloud< pcl::PointXYZRGB >::Ptr ndt_feature_reg::NDTFrameProc< PointT >::createColoredFeaturePC	(	NDTFrame< PointT > &	f,
		pcl::PointXYZRGB	color
	)

Definition at line 203 of file ndt_frame_proc.hpp.

template<typename PointT>

void ndt_feature_reg::NDTFrameProc< PointT >::detectKeypoints

(

NDTFrame< PointT > *

f

)

const [private]

Definition at line 165 of file ndt_frame_proc.hpp.

template<typename PointT >

void ndt_feature_reg::NDTFrameProc< PointT >::processFrames	(	bool	skipMatching,
		bool	ndtEstimateDI = false,
		bool	match_full = false,
		bool	match_no_association = false
	)

Definition at line 88 of file ndt_frame_proc.hpp.

template<typename PointT >

void ndt_feature_reg::NDTFrameProc< PointT >::trimNbFrames

(

size_t

maxNbFrames

)

Definition at line 72 of file ndt_frame_proc.hpp.

---

Member Data Documentation

template<typename PointT>

cv::Ptr<cv::FeatureDetector> ndt_feature_reg::NDTFrameProc< PointT >::detector

Definition at line 107 of file ndt_frame_proc.h.

template<typename PointT>

cv::Ptr<cv::DescriptorExtractor> ndt_feature_reg::NDTFrameProc< PointT >::extractor

Definition at line 108 of file ndt_frame_proc.h.

template<typename PointT>

std::vector< NDTFrame<PointT>*,Eigen::aligned_allocator<NDTFrame<PointT> > > ndt_feature_reg::NDTFrameProc< PointT >::frames

Definition at line 87 of file ndt_frame_proc.h.

template<typename PointT>

double ndt_feature_reg::NDTFrameProc< PointT >::img_scale

Definition at line 109 of file ndt_frame_proc.h.

template<typename PointT>

bool ndt_feature_reg::NDTFrameProc< PointT >::non_mean

Definition at line 111 of file ndt_frame_proc.h.

template<typename PointT>

PoseEstimator<PointT,PointT> ndt_feature_reg::NDTFrameProc< PointT >::pe

Definition at line 85 of file ndt_frame_proc.h.

template<typename PointT>

std::vector<EigenTransform, Eigen::aligned_allocator<EigenTransform> > ndt_feature_reg::NDTFrameProc< PointT >::transformVector

Definition at line 88 of file ndt_frame_proc.h.

template<typename PointT>

double ndt_feature_reg::NDTFrameProc< PointT >::trim_factor

Definition at line 110 of file ndt_frame_proc.h.

---

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

• ndt_frame_proc.h
• ndt_frame_proc.hpp