Holds the data for one graph node and provides functionality to compute relative transformations to other Nodes.
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Public Member Functions |
| void | addPointCloud (pointcloud_type::Ptr pc_col) |
| void | buildFlannIndex () |
| void | clearFeatureInformation () |
| void | clearPointCloud () |
| | erase the points from the cloud to save memory
|
| unsigned int | featureMatching (const Node *other, std::vector< cv::DMatch > *matches) const |
| tf::StampedTransform | getBase2PointsTransform () |
| | Transform, e.g., from kinematics.
|
| tf::StampedTransform | getGroundTruthTransform () |
| | Transform, e.g., from MoCap.
|
| tf::StampedTransform | getOdomTransform () |
| | Transform, e.g., from Joint/Wheel odometry.
|
| bool | getRelativeTransformationTo (const Node *target_node, std::vector< cv::DMatch > *initial_matches, Eigen::Matrix4f &resulting_transformation, float &rmse, std::vector< cv::DMatch > &matches) const |
| | Compute the relative transformation between the nodes.
|
| MatchingResult | matchNodePair (const Node *older_node) |
| | Compare the features of two nodes and compute the transformation.
|
| | Node (const cv::Mat &visual, const cv::Mat &depth, const cv::Mat &detection_mask, const sensor_msgs::CameraInfoConstPtr &cam_info, std_msgs::Header depth_header, cv::Ptr< cv::FeatureDetector > detector, cv::Ptr< cv::DescriptorExtractor > extractor) |
| | Node (const cv::Mat visual, cv::Ptr< cv::FeatureDetector > detector, cv::Ptr< cv::DescriptorExtractor > extractor, pointcloud_type::Ptr point_cloud, const cv::Mat detection_mask=cv::Mat()) |
| | Node () |
| void | publish (ros::Time timestamp, ros::Publisher pub) |
| | Send own pointcloud with given frame, publisher and timestamp.
|
| void | setBase2PointsTransform (tf::StampedTransform &b2p) |
| | Transform, e.g., from kinematics.
|
| void | setGroundTruthTransform (tf::StampedTransform gt) |
| | Transform, e.g., from MoCap.
|
| void | setOdomTransform (tf::StampedTransform odom) |
| | Transform, e.g., from Joint/Wheel odometry.
|
| | ~Node () |
| | Delete the flannIndex if built.
|
Public Attributes |
std::vector< std::pair< float,
float > > | feature_depth_stats_ |
| | Contains the minimum and maximum depth in the feature's range (not used yet)
|
| cv::Mat | feature_descriptors_ |
| | descriptor definitions
|
| std::vector< cv::KeyPoint > | feature_locations_2d_ |
| | Where in the image are the descriptors.
|
std::vector< Eigen::Vector4f,
Eigen::aligned_allocator
< Eigen::Vector4f > > | feature_locations_3d_ |
| | backprojected 3d descriptor locations relative to cam position in homogeneous coordinates (last dimension is 1.0)
|
| unsigned int | id_ |
| | pointcloud_type centrally defines what the pc is templated on
|
| pointcloud_type::Ptr | pc_col |
| | must correspond to the g2o vertex id
|
| std::vector< float > | siftgpu_descriptors |
Protected Member Functions |
| template<class CONTAINER > |
| void | computeInliersAndError (const CONTAINER &initial_matches, const Eigen::Matrix4f &transformation, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &origins, const std::vector< std::pair< float, float > > origins_depth_stats, const std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &targets, const std::vector< std::pair< float, float > > targets_depth_stats, std::vector< cv::DMatch > &new_inliers, double &mean_error, std::vector< double > &errors, double squaredMaxInlierDistInM=0.0009) const |
| template<class CONTAINER > |
| Eigen::Matrix4f | getTransformFromMatches (const Node *other_node, const CONTAINER &matches, bool &valid, float max_dist_m=-1) const |
| template<class CONTAINER > |
| Eigen::Matrix4f | getTransformFromMatchesUmeyama (const Node *other_node, CONTAINER matches) const |
| void | mat2dist (const Eigen::Matrix4f &t, double &dist) |
| | Get the norm of the translational part of an affine matrix (Helper for isBigTrafo)
|
| void | projectTo3D (std::vector< cv::KeyPoint > &feature_locations_2d, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &feature_locations_3d, const pointcloud_type::ConstPtr point_cloud) |
| | return the 3D projection of valid keypoints using information from the point cloud and remove invalid keypoints (NaN depth)
|
| void | projectTo3D (std::vector< cv::KeyPoint > &feature_locations_2d, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &feature_locations_3d, const cv::Mat &depth, const sensor_msgs::CameraInfoConstPtr &cam_info) |
| | return the 3D projection of valid keypoints using information from the depth image and remove invalid keypoints (NaN depth)
|
| void | retrieveBase2CamTransformation () |
| | Retrieves and stores the transformation from base to point cloud at capturing time.
|
Protected Attributes |
| tf::StampedTransform | base2points_ |
| | contains the transformation from the base (defined on param server) to the point_cloud
|
| cv::flann::Index * | flannIndex |
| tf::StampedTransform | ground_truth_transform_ |
| | contains the transformation from the mocap system
|
| int | initial_node_matches_ |
| tf::StampedTransform | odom_transform_ |
| | contains the transformation from the wheel encoders/joint states
|
Static Protected Attributes |
| static QMutex | gicp_mutex |
| static QMutex | siftgpu_mutex |
Holds the data for one graph node and provides functionality to compute relative transformations to other Nodes.
Definition at line 58 of file node.h.
