ccny_rgbd::RGBDKeyframe Class Reference

Extension of an RGBDFrame, which has a pose, and a 3D point cloud. More...

#include <rgbd_keyframe.h>

Inheritance diagram for ccny_rgbd::RGBDKeyframe:

List of all members.

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RGBDKeyframe ()
	Default (empty) constructor.
	RGBDKeyframe (const RGBDFrame &frame)
	Copy constructor from a RGBDFrame.
Static Public Member Functions
static bool	load (RGBDKeyframe &keyframe, const std::string &path)
	Loads the RGBD keyframe to disk.
static bool	save (const RGBDKeyframe &keyframe, const std::string &path)
	Saves the RGBD keyframe to disk.
Public Attributes
bool	manually_added
	Whether the frame was added manually by the user.
double	path_length_angular
	path length, in radians, of the camera trajectory at the moment of adding the keyframe
double	path_length_linear
	path length, in meters, of the camera trajectory at the moment of adding the keyframe
tf::Transform	pose
	pose of the camera, in some fixed frame

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Detailed Description

Extension of an RGBDFrame, which has a pose, and a 3D point cloud.

The class is used for keyframe-based graph alignment, as well as dense mapping.

Definition at line 42 of file rgbd_keyframe.h.

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Constructor & Destructor Documentation

ccny_rgbd::RGBDKeyframe::RGBDKeyframe

(

)

Default (empty) constructor.

Definition at line 28 of file rgbd_keyframe.cpp.

ccny_rgbd::RGBDKeyframe::RGBDKeyframe

(

const RGBDFrame &

frame

)

Copy constructor from a RGBDFrame.

Parameters:

frame

reference to the frame which is being used to create a keyframe

Definition at line 34 of file rgbd_keyframe.cpp.

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Member Function Documentation

bool ccny_rgbd::RGBDKeyframe::load	(	RGBDKeyframe &	keyframe,
		const std::string &	path
	)		[static]

Loads the RGBD keyframe to disk.

Loads the RGBDFrame, as well as the additional keyframe info as .yml

Parameters:

keyframe	Reference to the keyframe being saved
path	The path to the folder where everything will be stored

Return values:

true	Successfully loaded the data
false	Loading failed - for example, directory not found

Definition at line 72 of file rgbd_keyframe.cpp.

bool ccny_rgbd::RGBDKeyframe::save	(	const RGBDKeyframe &	keyframe,
		const std::string &	path
	)		[static]

Saves the RGBD keyframe to disk.

Saves the RGBDFrame, as well as the additional keyframe info as .yml

Parameters:

keyframe	Reference to the keyframe being saved
path	The path to the folder where everything will be stored

Return values:

true	Successfully saved the data
false	Saving failed - for example, cannot create directory

Definition at line 44 of file rgbd_keyframe.cpp.

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Member Data Documentation

bool ccny_rgbd::RGBDKeyframe::manually_added

Whether the frame was added manually by the user.

Definition at line 59 of file rgbd_keyframe.h.

double ccny_rgbd::RGBDKeyframe::path_length_angular

path length, in radians, of the camera trajectory at the moment of adding the keyframe

Definition at line 69 of file rgbd_keyframe.h.

double ccny_rgbd::RGBDKeyframe::path_length_linear

path length, in meters, of the camera trajectory at the moment of adding the keyframe

Definition at line 64 of file rgbd_keyframe.h.

tf::Transform ccny_rgbd::RGBDKeyframe::pose

pose of the camera, in some fixed frame

Definition at line 57 of file rgbd_keyframe.h.

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

• rgbd_keyframe.h
• rgbd_keyframe.cpp