ndt_feature_reg::PoseEstimator< PointSource, PointTarget > Class Template Reference

#include <ndt_frame.h>

List of all members.

Public Member Functions
size_t	estimate (const NDTFrame< PointSource > &f0, const NDTFrame< PointTarget > &f1)
size_t	estimate (const NDTFrame< PointSource > &f0, const NDTFrame< PointTarget > &f1, const std::vector< cv::DMatch > &matches)
const std::vector< cv::DMatch > &	getInliers () const
Eigen::Affine3f	getTransform ()
void	matchFrames (const NDTFrame< PointSource > &f0, const NDTFrame< PointTarget > &f2, std::vector< cv::DMatch > &fwd_matches)
	PoseEstimator (int NRansac, double maxidx, double maxidd)
Public Attributes
std::vector< cv::DMatch >	inliers
cv::Ptr< cv::DescriptorMatcher >	matcher
	Descriptor matcher to use (features_2d::BruteForceMatcher by default).
std::vector< cv::DMatch >	matches
	Matches between features in frames.
double	maxDist
double	maxInlierDDist2
double	maxInlierXDist2
	Maximum dist^2 for inliers in pixels.
double	minDist
int	numRansac
	number of RANSAC iterations
bool	projectMatches
Eigen::Quaterniond	quat
Eigen::Matrix3d	rot
	Rotation matrix of camera between the frames.
Eigen::Vector3d	trans
	Translation of the camera between the frames.
bool	windowed
	Whether to do windowed or whole-image matching.
int	wx
int	wy

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Detailed Description

template<typename PointSource, typename PointTarget>
class ndt_feature_reg::PoseEstimator< PointSource, PointTarget >

Definition at line 347 of file ndt_frame.h.

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Constructor & Destructor Documentation

template<typename PointSource , typename PointTarget >

ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::PoseEstimator	(	int	NRansac,
		double	maxidx,
		double	maxidd
	)

Definition at line 14 of file ndt_frame.hpp.

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Member Function Documentation

template<typename PointSource, typename PointTarget>

size_t ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::estimate	(	const NDTFrame< PointSource > &	f0,
		const NDTFrame< PointTarget > &	f1
	)

Definition at line 51 of file ndt_frame.hpp.

template<typename PointSource, typename PointTarget>

size_t ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::estimate	(	const NDTFrame< PointSource > &	f0,
		const NDTFrame< PointTarget > &	f1,
		const std::vector< cv::DMatch > &	matches
	)

Definition at line 87 of file ndt_frame.hpp.

template<typename PointSource, typename PointTarget>

const std::vector<cv::DMatch>& ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::getInliers

(

)

const [inline]

Definition at line 355 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

Eigen::Affine3f ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::getTransform

(

)

[inline]

Definition at line 362 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

void ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::matchFrames	(	const NDTFrame< PointSource > &	f0,
		const NDTFrame< PointTarget > &	f2,
		std::vector< cv::DMatch > &	fwd_matches
	)

Definition at line 36 of file ndt_frame.hpp.

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Member Data Documentation

template<typename PointSource, typename PointTarget>

std::vector<cv::DMatch> ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::inliers

RANSAC inliers of matches.

Definition at line 371 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

cv::Ptr<cv::DescriptorMatcher> ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::matcher

Descriptor matcher to use (features_2d::BruteForceMatcher by default).

Definition at line 385 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

std::vector<cv::DMatch> ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::matches

Matches between features in frames.

Definition at line 370 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

double ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::maxDist

Definition at line 381 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

double ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::maxInlierDDist2

Definition at line 379 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

double ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::maxInlierXDist2

Maximum dist^2 for inliers in pixels.

Definition at line 379 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

double ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::minDist

Definition at line 382 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

int ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::numRansac

number of RANSAC iterations

Definition at line 373 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

bool ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::projectMatches

Definition at line 393 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

Eigen::Quaterniond ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::quat

Definition at line 390 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix3d ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::rot

Rotation matrix of camera between the frames.

Definition at line 389 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

Eigen::Vector3d ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::trans

Translation of the camera between the frames.

Definition at line 391 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

bool ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::windowed

Whether to do windowed or whole-image matching.

Definition at line 376 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

int ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::wx

Definition at line 386 of file ndt_frame.h.

template<typename PointSource, typename PointTarget>

int ndt_feature_reg::PoseEstimator< PointSource, PointTarget >::wy

Definition at line 386 of file ndt_frame.h.

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

• ndt_frame.h
• ndt_frame.hpp