ccny_rgbd::KeyframeGraphSolver Class Reference

Base class for graph-based global alignment classes. More...

#include <keyframe_graph_solver.h>

Inheritance diagram for ccny_rgbd::KeyframeGraphSolver:

List of all members.

Public Member Functions
	KeyframeGraphSolver (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
	Constructor from ROS noehandles.
virtual void	solve (KeyframeVector &keyframes, KeyframeAssociationVector &associations)=0
	Main method to call to perform graph solving.
virtual	~KeyframeGraphSolver ()
	Default destructor.
Protected Attributes
ros::NodeHandle	nh_
	the public nodehandle
ros::NodeHandle	nh_private_
	the private nodehandle

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Detailed Description

Base class for graph-based global alignment classes.

The class takes as input a vector of RGBD keyframes and a vector of associations between them, and modifies the keyframe poses based on the minimization of some error metric.

Definition at line 42 of file keyframe_graph_solver.h.

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Constructor & Destructor Documentation

ccny_rgbd::KeyframeGraphSolver::KeyframeGraphSolver	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_private
	)

Constructor from ROS noehandles.

Parameters:

nh	the public nodehandle
nh_private	the private notehandle

Definition at line 28 of file keyframe_graph_solver.cpp.

ccny_rgbd::KeyframeGraphSolver::~KeyframeGraphSolver

(

)

[virtual]

Default destructor.

Definition at line 37 of file keyframe_graph_solver.cpp.

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Member Function Documentation

virtual void ccny_rgbd::KeyframeGraphSolver::solve	(	KeyframeVector &	keyframes,
		KeyframeAssociationVector &	associations
	)		[pure virtual]

Main method to call to perform graph solving.

The keyframe poses will be modified according to some error propagation model informed by the graph defined by the keyframe associations.

Parameters:

keyframes	vector of keyframes
associations	vector of input keyframe associations

Implemented in ccny_rgbd::KeyframeGraphSolverG2O.

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Member Data Documentation

ros::NodeHandle ccny_rgbd::KeyframeGraphSolver::nh_ [protected]

the public nodehandle

Definition at line 72 of file keyframe_graph_solver.h.

ros::NodeHandle ccny_rgbd::KeyframeGraphSolver::nh_private_ [protected]

the private nodehandle

Definition at line 73 of file keyframe_graph_solver.h.

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

• keyframe_graph_solver.h
• keyframe_graph_solver.cpp