Namespaces
namespace	srv
Classes
struct	AddManualKeyframe
struct	AddManualKeyframeRequest_
struct	AddManualKeyframeResponse_
class	FeatureDetector
	Base class for sparse feature extractors. More...
class	FeatureHistory
	Auxiliary class for the frame-to-frame ICP class. More...
class	FeatureViewer
	Application to test and visualize the different type of feature detectors. More...
struct	GenerateGraph
struct	GenerateGraphRequest_
struct	GenerateGraphResponse_
class	GftDetector
	GoodFeaturesToTrack detector. More...
class	KeyframeAssociation
	Class representing an association between two keyframes, used for graph-based pose alignement. More...
class	KeyframeGraphDetector
	Detects graph correspondences based on visual feature matching between keyframes. More...
class	KeyframeGraphSolver
	Base class for graph-based global alignment classes. More...
class	KeyframeGraphSolverG2O
	Graph-based global alignement using g2o (generalized graph optimizaiton) More...
class	KeyframeMapper
	Builds a 3D map from a series of RGBD keyframes. More...
struct	Load
struct	LoadRequest_
struct	LoadResponse_
class	MotionEstimation
	Base class for visual odometry motion estimation methods. More...
class	MotionEstimationICP
	Frame-to-frame ICP motion estimation. More...
class	MotionEstimationICPProbModel
	Motion estimation based on aligning sparse features against a persistent, dynamic model. More...
class	OrbDetector
	ORB detector. More...
struct	PublishKeyframe
struct	PublishKeyframeRequest_
struct	PublishKeyframeResponse_
struct	PublishKeyframes
struct	PublishKeyframesRequest_
struct	PublishKeyframesResponse_
class	RGBDFrame
	Auxiliarry class that holds together rgb and depth images. More...
class	RGBDImageProc
	Processes the raw output of OpenNI sensors to create a stream of RGB-D images. More...
class	RGBDImageProcNodelet
	Nodelet driver for the RGBDImageProc class. More...
class	RGBDKeyframe
	Extension of an RGBDFrame, which has a pose, and a 3D point cloud. More...
struct	Save
struct	SaveRequest_
struct	SaveResponse_
struct	SolveGraph
struct	SolveGraphRequest_
struct	SolveGraphResponse_
class	StarDetector
	STAR detector. More...
class	SurfDetector
	SURF detector. More...
class	VisualOdometry
	Subscribes to incoming RGBD images and outputs the position of the moving (base) frame wrt some fixed frame. More...
Typedefs
typedef ::ccny_rgbd::AddManualKeyframeRequest_ < std::allocator< void > >	AddManualKeyframeRequest
typedef boost::shared_ptr < ::ccny_rgbd::AddManualKeyframeRequest const >	AddManualKeyframeRequestConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::AddManualKeyframeRequest >	AddManualKeyframeRequestPtr
typedef ::ccny_rgbd::AddManualKeyframeResponse_ < std::allocator< void > >	AddManualKeyframeResponse
typedef boost::shared_ptr < ::ccny_rgbd::AddManualKeyframeResponse const >	AddManualKeyframeResponseConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::AddManualKeyframeResponse >	AddManualKeyframeResponsePtr
typedef std::vector< bool >	BoolVector
typedef sensor_msgs::CameraInfo	CameraInfoMsg
typedef message_filters::Subscriber < CameraInfoMsg >	CameraInfoSubFilter
typedef dynamic_reconfigure::Server < FeatureDetectorConfig >	FeatureDetectorConfigServer
typedef boost::shared_ptr < FeatureDetector >	FeatureDetectorPtr
typedef std::vector< float >	FloatVector
typedef ::ccny_rgbd::GenerateGraphRequest_ < std::allocator< void > >	GenerateGraphRequest
typedef boost::shared_ptr < ::ccny_rgbd::GenerateGraphRequest const >	GenerateGraphRequestConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::GenerateGraphRequest >	GenerateGraphRequestPtr
typedef ::ccny_rgbd::GenerateGraphResponse_ < std::allocator< void > >	GenerateGraphResponse
typedef boost::shared_ptr < ::ccny_rgbd::GenerateGraphResponse const >	GenerateGraphResponseConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::GenerateGraphResponse >	GenerateGraphResponsePtr
typedef dynamic_reconfigure::Server < GftDetectorConfig >	GftDetectorConfigServer
typedef boost::shared_ptr < GftDetectorConfigServer >	GftDetectorConfigServerPtr
typedef boost::shared_ptr < GftDetector >	GftDetectorPtr
typedef sensor_msgs::Image	ImageMsg
typedef image_transport::Publisher	ImagePublisher
typedef image_transport::SubscriberFilter	ImageSubFilter
typedef image_transport::ImageTransport	ImageTransport
typedef std::vector< int >	IntVector
typedef pcl::KdTreeFLANN < PointFeature >	KdTree
typedef Eigen::aligned_allocator < RGBDKeyframe >	KeyframeAllocator
typedef Eigen::aligned_allocator < KeyframeAssociation >	KeyframeAssociationAllocator
typedef std::vector < KeyframeAssociation, KeyframeAssociationAllocator >	KeyframeAssociationVector
typedef std::vector < RGBDKeyframe, KeyframeAllocator >	KeyframeVector
typedef std::vector< cv::KeyPoint >	KeypointVector
typedef ::ccny_rgbd::LoadRequest_ < std::allocator< void > >	LoadRequest
typedef boost::shared_ptr < ::ccny_rgbd::LoadRequest const >	LoadRequestConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::LoadRequest >	LoadRequestPtr
typedef ::ccny_rgbd::LoadResponse_ < std::allocator< void > >	LoadResponse
typedef boost::shared_ptr < ::ccny_rgbd::LoadResponse const >	LoadResponseConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::LoadResponse >	LoadResponsePtr
typedef Eigen::Matrix3f	Matrix3f
typedef std::vector < Eigen::Matrix3f >	Matrix3fVector
typedef nav_msgs::Odometry	OdomMsg
typedef dynamic_reconfigure::Server < OrbDetectorConfig >	OrbDetectorConfigServer
typedef boost::shared_ptr < OrbDetectorConfigServer >	OrbDetectorConfigServerPtr
typedef boost::shared_ptr < OrbDetector >	OrbDetectorPtr
typedef nav_msgs::Path	PathMsg
typedef image_geometry::PinholeCameraModel	PinholeCameraModel
typedef std::vector< cv::Point2f >	Point2fVector
typedef std::vector< cv::Point3f >	Point3fVector
typedef pcl::PointCloud < PointFeature >	PointCloudFeature
typedef pcl::PointCloud< PointT >	PointCloudT
typedef pcl::PointXYZ	PointFeature
typedef pcl::PointXYZRGB	PointT
typedef ::ccny_rgbd::PublishKeyframeRequest_ < std::allocator< void > >	PublishKeyframeRequest
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframeRequest const >	PublishKeyframeRequestConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframeRequest >	PublishKeyframeRequestPtr
typedef ::ccny_rgbd::PublishKeyframeResponse_ < std::allocator< void > >	PublishKeyframeResponse
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframeResponse const >	PublishKeyframeResponseConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframeResponse >	PublishKeyframeResponsePtr
typedef ::ccny_rgbd::PublishKeyframesRequest_ < std::allocator< void > >	PublishKeyframesRequest
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframesRequest const >	PublishKeyframesRequestConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframesRequest >	PublishKeyframesRequestPtr
typedef ::ccny_rgbd::PublishKeyframesResponse_ < std::allocator< void > >	PublishKeyframesResponse
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframesResponse const >	PublishKeyframesResponseConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::PublishKeyframesResponse >	PublishKeyframesResponsePtr
typedef message_filters::Synchronizer < RGBDSyncPolicy3 >	RGBDSynchronizer3
typedef message_filters::Synchronizer < RGBDSyncPolicy4 >	RGBDSynchronizer4
typedef message_filters::sync_policies::ApproximateTime < ImageMsg, ImageMsg, CameraInfoMsg >	RGBDSyncPolicy3
typedef message_filters::sync_policies::ApproximateTime < ImageMsg, ImageMsg, CameraInfoMsg, CameraInfoMsg >	RGBDSyncPolicy4
typedef ::ccny_rgbd::SaveRequest_ < std::allocator< void > >	SaveRequest
typedef boost::shared_ptr < ::ccny_rgbd::SaveRequest const >	SaveRequestConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::SaveRequest >	SaveRequestPtr
typedef ::ccny_rgbd::SaveResponse_ < std::allocator< void > >	SaveResponse
typedef boost::shared_ptr < ::ccny_rgbd::SaveResponse const >	SaveResponseConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::SaveResponse >	SaveResponsePtr
typedef ::ccny_rgbd::SolveGraphRequest_ < std::allocator< void > >	SolveGraphRequest
typedef boost::shared_ptr < ::ccny_rgbd::SolveGraphRequest const >	SolveGraphRequestConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::SolveGraphRequest >	SolveGraphRequestPtr
typedef ::ccny_rgbd::SolveGraphResponse_ < std::allocator< void > >	SolveGraphResponse
typedef boost::shared_ptr < ::ccny_rgbd::SolveGraphResponse const >	SolveGraphResponseConstPtr
typedef boost::shared_ptr < ::ccny_rgbd::SolveGraphResponse >	SolveGraphResponsePtr
typedef dynamic_reconfigure::Server < StarDetectorConfig >	StarDetectorConfigServer
typedef boost::shared_ptr < StarDetectorConfigServer >	StarDetectorConfigServerPtr
typedef boost::shared_ptr < StarDetector >	StarDetectorPtr
typedef dynamic_reconfigure::Server < SurfDetectorConfig >	SurfDetectorConfigServer
typedef boost::shared_ptr < SurfDetectorConfigServer >	SurfDetectorConfigServerPtr
typedef boost::shared_ptr < SurfDetector >	SurfDetectorPtr
typedef pcl::registration::TransformationEstimationSVD < PointFeature, PointFeature >	TransformationEstimationSVD
typedef Eigen::Vector3f	Vector3f
typedef std::vector < Eigen::Vector3f >	Vector3fVector
Enumerations
enum	DepthFitMode { DEPTH_FIT_LINEAR, DEPTH_FIT_LINEAR_ZERO, DEPTH_FIT_QUADRATIC, DEPTH_FIT_QUADRATIC_ZERO }
	Polynomial fit modes for depth unwarping. More...
Functions
void	buildPointCloud (const cv::Mat &depth_img_rect, const cv::Mat &intr_rect_ir, PointCloudT &cloud)
	Constructs a point cloud, a depth image and instrinsic matrix.
void	buildPointCloud (const cv::Mat &depth_img_rect_reg, const cv::Mat &rgb_img_rect, const cv::Mat &intr_rect_rgb, PointCloudT &cloud)
	Constructs a point cloud with color.
void	buildRegisteredDepthImage (const cv::Mat &intr_rect_ir, const cv::Mat &intr_rect_rgb, const cv::Mat &ir2rgb, const cv::Mat &depth_img_rect, cv::Mat &depth_img_rect_reg)
	reprojects a depth image to another depth image, registered in the rgb camera's frame.
void	convertCameraInfoToMats (const CameraInfoMsg::ConstPtr camera_info_msg, cv::Mat &intr, cv::Mat &dist)
	Create OpenCV matrices from a CameraInfoMsg.
void	convertMatToCameraInfo (const cv::Mat &intr, CameraInfoMsg &camera_info_msg)
	Create CameraInfoMsg from OpenCV matrices (assumes no distortion)
void	depthImageFloatTo16bit (const cv::Mat &depth_image_in, cv::Mat &depth_image_out)
	converts a 32FC1 depth image (in meters) to a 16UC1 depth image (in mm).
Eigen::Matrix4f	eigenFromTf (const tf::Transform &tf)
	Converts an tf::Transform transform to an Eigen transform.
double	getMsDuration (const ros::WallTime &start)
	Returns the duration, in ms, from a given time.
void	getTfDifference (const tf::Transform &motion, double &dist, double &angle)
	Given a transform, calculates the linear and angular distance between it and identity.
void	getTfDifference (const tf::Transform &a, const tf::Transform b, double &dist, double &angle)
	Given two transformss, calculates the linear and angular distance between them, or the linear and angular components of a.inv() * b.
bool	loadKeyframes (KeyframeVector &keyframes, const std::string &path)
	Loads a vector of RGBD keyframes to disk.
void	openCVRtToTf (const cv::Mat &R, const cv::Mat &t, tf::Transform &transform)
	Creates a tf transform from a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.
	PLUGINLIB_DECLARE_CLASS (ccny_rgbd, RGBDImageProcNodelet, RGBDImageProcNodelet, nodelet::Nodelet)
void	pointCloudFromMeans (const Vector3fVector &means, PointCloudFeature &cloud)
	Creates a pcl point cloud form a vector of eigen matrix means.
void	removeInvalidDistributions (const Vector3fVector &means, const Matrix3fVector &covariances, const BoolVector &valid, Vector3fVector &means_f, Matrix3fVector &covariances_f)
	Filters out a vector of means and a vector of covariances given a mask of valid entries.
void	removeInvalidMeans (const Vector3fVector &means, const BoolVector &valid, Vector3fVector &means_f)
	Filters out a vector of means given a mask of valid entries.
bool	saveKeyframes (const KeyframeVector &keyframes, const std::string &path)
	Saves a vector of RGBD keyframes to disk.
tf::Transform	tfFromEigen (Eigen::Matrix4f trans)
	Converts an Eigen transform to a tf::Transform.
bool	tfGreaterThan (const tf::Transform &a, double dist, double angle)
	Given a transfom (possibly computed as a difference between two transforms) checks if either its angular or linar component exceeds a threshold.
void	tfToEigenRt (const tf::Transform &tf, Matrix3f &R, Vector3f &t)
	Decomposes a tf into an Eigen 3x3 rotation matrix and Eigen 3x1 rotation vector.
void	tfToOpenCVRt (const tf::Transform &transform, cv::Mat &R, cv::Mat &t)
	Decomposes a tf::Transform into a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.
void	tfToXYZRPY (const tf::Transform &t, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
	Decomposes a tf::Transform into x, y, z, roll, pitch, yaw.
void	transformDistributions (Vector3fVector &means, Matrix3fVector &covariances, const tf::Transform &transform)
	Transforms a vector of means and covariances.
void	transformMeans (Vector3fVector &means, const tf::Transform &transform)
	Transforms a vector of means.
void	unwarpDepthImage (cv::Mat &depth_img_in, const cv::Mat &coeff0, const cv::Mat &coeff1, const cv::Mat &coeff2, int fit_mode=DEPTH_FIT_QUADRATIC)
	Given a depth image, uwarps it according to a polynomial model.

Typedef Documentation

typedef ::ccny_rgbd::AddManualKeyframeRequest_<std::allocator<void> > ccny_rgbd::AddManualKeyframeRequest

Definition at line 41 of file AddManualKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::AddManualKeyframeRequest const> ccny_rgbd::AddManualKeyframeRequestConstPtr

Definition at line 44 of file AddManualKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::AddManualKeyframeRequest> ccny_rgbd::AddManualKeyframeRequestPtr

Definition at line 43 of file AddManualKeyframe.h.

typedef ::ccny_rgbd::AddManualKeyframeResponse_<std::allocator<void> > ccny_rgbd::AddManualKeyframeResponse

Definition at line 64 of file AddManualKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::AddManualKeyframeResponse const> ccny_rgbd::AddManualKeyframeResponseConstPtr

Definition at line 67 of file AddManualKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::AddManualKeyframeResponse> ccny_rgbd::AddManualKeyframeResponsePtr

Definition at line 66 of file AddManualKeyframe.h.

typedef std::vector<bool> ccny_rgbd::BoolVector

Definition at line 59 of file types.h.

typedef sensor_msgs::CameraInfo ccny_rgbd::CameraInfoMsg

Definition at line 80 of file types.h.

typedef message_filters::Subscriber<CameraInfoMsg> ccny_rgbd::CameraInfoSubFilter

Definition at line 90 of file types.h.

typedef dynamic_reconfigure::Server<FeatureDetectorConfig> ccny_rgbd::FeatureDetectorConfigServer

Definition at line 99 of file types.h.

typedef boost::shared_ptr<FeatureDetector> ccny_rgbd::FeatureDetectorPtr

Definition at line 119 of file feature_detector.h.

typedef std::vector<float> ccny_rgbd::FloatVector

Definition at line 58 of file types.h.

typedef ::ccny_rgbd::GenerateGraphRequest_<std::allocator<void> > ccny_rgbd::GenerateGraphRequest

Definition at line 41 of file GenerateGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::GenerateGraphRequest const> ccny_rgbd::GenerateGraphRequestConstPtr

Definition at line 44 of file GenerateGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::GenerateGraphRequest> ccny_rgbd::GenerateGraphRequestPtr

Definition at line 43 of file GenerateGraph.h.

typedef ::ccny_rgbd::GenerateGraphResponse_<std::allocator<void> > ccny_rgbd::GenerateGraphResponse

Definition at line 64 of file GenerateGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::GenerateGraphResponse const> ccny_rgbd::GenerateGraphResponseConstPtr

Definition at line 67 of file GenerateGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::GenerateGraphResponse> ccny_rgbd::GenerateGraphResponsePtr

Definition at line 66 of file GenerateGraph.h.

typedef dynamic_reconfigure::Server<GftDetectorConfig> ccny_rgbd::GftDetectorConfigServer

Definition at line 101 of file types.h.

typedef boost::shared_ptr<GftDetectorConfigServer> ccny_rgbd::GftDetectorConfigServerPtr

Definition at line 102 of file types.h.

typedef boost::shared_ptr<GftDetector> ccny_rgbd::GftDetectorPtr

Definition at line 74 of file gft_detector.h.

typedef sensor_msgs::Image ccny_rgbd::ImageMsg

Definition at line 79 of file types.h.

typedef image_transport::Publisher ccny_rgbd::ImagePublisher

Definition at line 88 of file types.h.

typedef image_transport::SubscriberFilter ccny_rgbd::ImageSubFilter

Definition at line 89 of file types.h.

typedef image_transport::ImageTransport ccny_rgbd::ImageTransport

Definition at line 87 of file types.h.

typedef std::vector<int> ccny_rgbd::IntVector

Definition at line 57 of file types.h.

typedef pcl::KdTreeFLANN<PointFeature> ccny_rgbd::KdTree

Definition at line 74 of file types.h.

typedef Eigen::aligned_allocator<RGBDKeyframe> ccny_rgbd::KeyframeAllocator

Definition at line 100 of file rgbd_keyframe.h.

typedef Eigen::aligned_allocator<KeyframeAssociation> ccny_rgbd::KeyframeAssociationAllocator

Definition at line 70 of file keyframe_association.h.

typedef std::vector<KeyframeAssociation, KeyframeAssociationAllocator> ccny_rgbd::KeyframeAssociationVector

Definition at line 71 of file keyframe_association.h.

typedef std::vector<RGBDKeyframe, KeyframeAllocator> ccny_rgbd::KeyframeVector

Definition at line 101 of file rgbd_keyframe.h.

typedef std::vector<cv::KeyPoint> ccny_rgbd::KeypointVector

Definition at line 64 of file types.h.

typedef ::ccny_rgbd::LoadRequest_<std::allocator<void> > ccny_rgbd::LoadRequest

Definition at line 46 of file Load.h.

typedef boost::shared_ptr< ::ccny_rgbd::LoadRequest const> ccny_rgbd::LoadRequestConstPtr

Definition at line 49 of file Load.h.

typedef boost::shared_ptr< ::ccny_rgbd::LoadRequest> ccny_rgbd::LoadRequestPtr

Definition at line 48 of file Load.h.

typedef ::ccny_rgbd::LoadResponse_<std::allocator<void> > ccny_rgbd::LoadResponse

Definition at line 69 of file Load.h.

typedef boost::shared_ptr< ::ccny_rgbd::LoadResponse const> ccny_rgbd::LoadResponseConstPtr

Definition at line 72 of file Load.h.

typedef boost::shared_ptr< ::ccny_rgbd::LoadResponse> ccny_rgbd::LoadResponsePtr

Definition at line 71 of file Load.h.

typedef Eigen::Matrix3f ccny_rgbd::Matrix3f

Definition at line 52 of file types.h.

typedef std::vector<Eigen::Matrix3f> ccny_rgbd::Matrix3fVector

Definition at line 62 of file types.h.

typedef nav_msgs::Odometry ccny_rgbd::OdomMsg

Definition at line 81 of file types.h.

typedef dynamic_reconfigure::Server<OrbDetectorConfig> ccny_rgbd::OrbDetectorConfigServer

Definition at line 110 of file types.h.

typedef boost::shared_ptr<OrbDetectorConfigServer> ccny_rgbd::OrbDetectorConfigServerPtr

Definition at line 111 of file types.h.

typedef boost::shared_ptr<OrbDetector> ccny_rgbd::OrbDetectorPtr

Definition at line 72 of file orb_detector.h.

typedef nav_msgs::Path ccny_rgbd::PathMsg

Definition at line 82 of file types.h.

typedef image_geometry::PinholeCameraModel ccny_rgbd::PinholeCameraModel

Definition at line 86 of file types.h.

typedef std::vector<cv::Point2f> ccny_rgbd::Point2fVector

Definition at line 60 of file types.h.

typedef std::vector<cv::Point3f> ccny_rgbd::Point3fVector

Definition at line 61 of file types.h.

typedef pcl::PointCloud<PointFeature> ccny_rgbd::PointCloudFeature

Definition at line 72 of file types.h.

typedef pcl::PointCloud<PointT> ccny_rgbd::PointCloudT

Definition at line 69 of file types.h.

typedef pcl::PointXYZ ccny_rgbd::PointFeature

Definition at line 71 of file types.h.

typedef pcl::PointXYZRGB ccny_rgbd::PointT

Definition at line 68 of file types.h.

typedef ::ccny_rgbd::PublishKeyframeRequest_<std::allocator<void> > ccny_rgbd::PublishKeyframeRequest

Definition at line 46 of file PublishKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframeRequest const> ccny_rgbd::PublishKeyframeRequestConstPtr

Definition at line 49 of file PublishKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframeRequest> ccny_rgbd::PublishKeyframeRequestPtr

Definition at line 48 of file PublishKeyframe.h.

typedef ::ccny_rgbd::PublishKeyframeResponse_<std::allocator<void> > ccny_rgbd::PublishKeyframeResponse

Definition at line 69 of file PublishKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframeResponse const> ccny_rgbd::PublishKeyframeResponseConstPtr

Definition at line 72 of file PublishKeyframe.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframeResponse> ccny_rgbd::PublishKeyframeResponsePtr

Definition at line 71 of file PublishKeyframe.h.

typedef ::ccny_rgbd::PublishKeyframesRequest_<std::allocator<void> > ccny_rgbd::PublishKeyframesRequest

Definition at line 46 of file PublishKeyframes.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframesRequest const> ccny_rgbd::PublishKeyframesRequestConstPtr

Definition at line 49 of file PublishKeyframes.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframesRequest> ccny_rgbd::PublishKeyframesRequestPtr

Definition at line 48 of file PublishKeyframes.h.

typedef ::ccny_rgbd::PublishKeyframesResponse_<std::allocator<void> > ccny_rgbd::PublishKeyframesResponse

Definition at line 69 of file PublishKeyframes.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframesResponse const> ccny_rgbd::PublishKeyframesResponseConstPtr

Definition at line 72 of file PublishKeyframes.h.

typedef boost::shared_ptr< ::ccny_rgbd::PublishKeyframesResponse> ccny_rgbd::PublishKeyframesResponsePtr

Definition at line 71 of file PublishKeyframes.h.

typedef message_filters::Synchronizer<RGBDSyncPolicy3> ccny_rgbd::RGBDSynchronizer3

Definition at line 94 of file types.h.

typedef message_filters::Synchronizer<RGBDSyncPolicy4> ccny_rgbd::RGBDSynchronizer4

Definition at line 95 of file types.h.

typedef message_filters::sync_policies::ApproximateTime<ImageMsg, ImageMsg, CameraInfoMsg> ccny_rgbd::RGBDSyncPolicy3

Definition at line 92 of file types.h.

typedef message_filters::sync_policies::ApproximateTime<ImageMsg, ImageMsg, CameraInfoMsg, CameraInfoMsg> ccny_rgbd::RGBDSyncPolicy4

Definition at line 93 of file types.h.

typedef ::ccny_rgbd::SaveRequest_<std::allocator<void> > ccny_rgbd::SaveRequest

Definition at line 46 of file Save.h.

typedef boost::shared_ptr< ::ccny_rgbd::SaveRequest const> ccny_rgbd::SaveRequestConstPtr

Definition at line 49 of file Save.h.

typedef boost::shared_ptr< ::ccny_rgbd::SaveRequest> ccny_rgbd::SaveRequestPtr

Definition at line 48 of file Save.h.

typedef ::ccny_rgbd::SaveResponse_<std::allocator<void> > ccny_rgbd::SaveResponse

Definition at line 69 of file Save.h.

typedef boost::shared_ptr< ::ccny_rgbd::SaveResponse const> ccny_rgbd::SaveResponseConstPtr

Definition at line 72 of file Save.h.

typedef boost::shared_ptr< ::ccny_rgbd::SaveResponse> ccny_rgbd::SaveResponsePtr

Definition at line 71 of file Save.h.

typedef ::ccny_rgbd::SolveGraphRequest_<std::allocator<void> > ccny_rgbd::SolveGraphRequest

Definition at line 41 of file SolveGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::SolveGraphRequest const> ccny_rgbd::SolveGraphRequestConstPtr

Definition at line 44 of file SolveGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::SolveGraphRequest> ccny_rgbd::SolveGraphRequestPtr

Definition at line 43 of file SolveGraph.h.

typedef ::ccny_rgbd::SolveGraphResponse_<std::allocator<void> > ccny_rgbd::SolveGraphResponse

Definition at line 64 of file SolveGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::SolveGraphResponse const> ccny_rgbd::SolveGraphResponseConstPtr

Definition at line 67 of file SolveGraph.h.

typedef boost::shared_ptr< ::ccny_rgbd::SolveGraphResponse> ccny_rgbd::SolveGraphResponsePtr

Definition at line 66 of file SolveGraph.h.

typedef dynamic_reconfigure::Server<StarDetectorConfig> ccny_rgbd::StarDetectorConfigServer

Definition at line 104 of file types.h.

typedef boost::shared_ptr<StarDetectorConfigServer> ccny_rgbd::StarDetectorConfigServerPtr

Definition at line 105 of file types.h.

typedef boost::shared_ptr<StarDetector> ccny_rgbd::StarDetectorPtr

Definition at line 72 of file star_detector.h.

typedef dynamic_reconfigure::Server<SurfDetectorConfig> ccny_rgbd::SurfDetectorConfigServer

Definition at line 107 of file types.h.

typedef boost::shared_ptr<SurfDetectorConfigServer> ccny_rgbd::SurfDetectorConfigServerPtr

Definition at line 108 of file types.h.

typedef boost::shared_ptr<SurfDetector> ccny_rgbd::SurfDetectorPtr

Definition at line 70 of file surf_detector.h.

typedef pcl::registration::TransformationEstimationSVD<PointFeature, PointFeature> ccny_rgbd::TransformationEstimationSVD

Definition at line 75 of file types.h.

typedef Eigen::Vector3f ccny_rgbd::Vector3f

Definition at line 53 of file types.h.

typedef std::vector<Eigen::Vector3f> ccny_rgbd::Vector3fVector

Definition at line 63 of file types.h.

Enumeration Type Documentation

enum ccny_rgbd::DepthFitMode

Polynomial fit modes for depth unwarping.

The modes include:

DEPTH_FIT_LINEAR (c0 + c1*d)
DEPTH_FIT_LINEAR_ZERO (c1*d)
DEPTH_FIT_QUADRATIC (c0 + c1*d + c2*d^2)
DEPTH_FIT_QUADRATIC_ZERO (c1*d + c2*d^2)

The recommended mode is DEPTH_FIT_QUADRATIC

Enumerator:

DEPTH_FIT_LINEAR
DEPTH_FIT_LINEAR_ZERO
DEPTH_FIT_QUADRATIC
DEPTH_FIT_QUADRATIC_ZERO

Definition at line 41 of file proc_util.h.

Function Documentation

void ccny_rgbd::buildPointCloud	(	const cv::Mat &	depth_img_rect,
		const cv::Mat &	intr_rect_ir,
		PointCloudT &	cloud
	)

Constructs a point cloud, a depth image and instrinsic matrix.

Parameters:

depth_img_rect	rectified depth image (16UC1, in mm)
intr_rect_ir	intinsic matrix of the rectified depth image
cloud	reference to teh output point cloud

Definition at line 308 of file rgbd_util.cpp.

void ccny_rgbd::buildPointCloud	(	const cv::Mat &	depth_img_rect_reg,
		const cv::Mat &	rgb_img_rect,
		const cv::Mat &	intr_rect_rgb,
		PointCloudT &	cloud
	)

Constructs a point cloud with color.

Prior to calling this functions, both images need to be rectified, and the depth image has to be registered into the frame of the RGB image.

Parameters:

depth_img_rect_reg	rectified and registered depth image (16UC1, in mm)
rgb_img_rect	rectified rgb image (8UC3)
intr_rect_rgb	intrinsic matrix
cloud	reference to the output point cloud

Definition at line 348 of file rgbd_util.cpp.

void ccny_rgbd::buildRegisteredDepthImage	(	const cv::Mat &	intr_rect_ir,
		const cv::Mat &	intr_rect_rgb,
		const cv::Mat &	ir2rgb,
		const cv::Mat &	depth_img_rect,
		cv::Mat &	depth_img_rect_reg
	)

reprojects a depth image to another depth image, registered in the rgb camera's frame.

Both images need to be rectified first. ir2rgb is a matrix such that for any point P_IR in the depth camera frame P_RGB = ir2rgb * P_IR

Parameters:

intr_rect_ir	intrinsic matrix of the rectified depth image
intr_rect_rgb	intrinsic matrix of the rectified RGB image
ir2rgb	extrinsic matrix between the IR(depth) and RGB cameras
depth_img_rect	the input image: rectified depth image
depth_img_rect_reg	the output image: rectified and registered into the RGB frame

Definition at line 395 of file rgbd_util.cpp.

void ccny_rgbd::convertCameraInfoToMats	(	const CameraInfoMsg::ConstPtr	camera_info_msg,
		cv::Mat &	intr,
		cv::Mat &	dist
	)

Create OpenCV matrices from a CameraInfoMsg.

Parameters:

camera_info_msg	input CameraInfoMsg
intr	output OpenCV intrinsic matrix
dist	output OpenCV distortion vector

Definition at line 201 of file rgbd_util.cpp.

void ccny_rgbd::convertMatToCameraInfo	(	const cv::Mat &	intr,
		CameraInfoMsg &	camera_info_msg
	)

Create CameraInfoMsg from OpenCV matrices (assumes no distortion)

Parameters:

intr	input OpenCV intrinsic matrix
camera_info_msg	output CameraInfoMsg

Definition at line 224 of file rgbd_util.cpp.

void ccny_rgbd::depthImageFloatTo16bit	(	const cv::Mat &	depth_image_in,
		cv::Mat &	depth_image_out
	)

converts a 32FC1 depth image (in meters) to a 16UC1 depth image (in mm).

Parameters:

depth_image_in	the input 32FC1 image
depth_image_out	the output 16UC1 image

Definition at line 475 of file rgbd_util.cpp.

Eigen::Matrix4f ccny_rgbd::eigenFromTf ( const tf::Transform & tf )

Converts an tf::Transform transform to an Eigen transform.

Parameters:

tf	the tf transform

Returns:: the Eigen version of the transform

Definition at line 53 of file rgbd_util.cpp.

double ccny_rgbd::getMsDuration ( const ros::WallTime & start )

Returns the duration, in ms, from a given time.

Parameters:

start the start time

Returns:: duration (in ms) from start until now

Definition at line 101 of file rgbd_util.cpp.

void ccny_rgbd::getTfDifference	(	const tf::Transform &	motion,
		double &	dist,
		double &	angle
	)

Given a transform, calculates the linear and angular distance between it and identity.

Parameters:

motion	the incremental motion
dist	reference to linear distance
angle	reference to angular distance

Definition at line 28 of file rgbd_util.cpp.

void ccny_rgbd::getTfDifference	(	const tf::Transform &	a,
		const tf::Transform	b,
		double &	dist,
		double &	angle
	)

Given two transformss, calculates the linear and angular distance between them, or the linear and angular components of a.inv() * b.

Parameters:

a	the first transform
b	the second transform
dist	reference to the linear distance
angle	reference to the angular distance

Definition at line 35 of file rgbd_util.cpp.

bool ccny_rgbd::loadKeyframes	(	KeyframeVector &	keyframes,
		const std::string &	path
	)

Loads a vector of RGBD keyframes to disk.

Parameters:

keyframes	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 126 of file rgbd_keyframe.cpp.

void ccny_rgbd::openCVRtToTf	(	const cv::Mat &	R,
		const cv::Mat &	t,
		tf::Transform &	transform
	)

Creates a tf transform from a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.

Parameters:

R	the 3x3 OpenCV matrix
t	the 3x1 OpenCV vector
transform	reference to the output transform

Definition at line 182 of file rgbd_util.cpp.

ccny_rgbd::PLUGINLIB_DECLARE_CLASS	(	ccny_rgbd	,
		RGBDImageProcNodelet	,
		RGBDImageProcNodelet	,
		nodelet::Nodelet
	)

void ccny_rgbd::pointCloudFromMeans	(	const Vector3fVector &	means,
		PointCloudFeature &	cloud
	)

Creates a pcl point cloud form a vector of eigen matrix means.

Parameters:

means	vector of 3x1 matrices of positions (3D means)
cloud	reference to the output cloud

Definition at line 286 of file rgbd_util.cpp.

void ccny_rgbd::removeInvalidDistributions	(	const Vector3fVector &	means,
		const Matrix3fVector &	covariances,
		const BoolVector &	valid,
		Vector3fVector &	means_f,
		Matrix3fVector &	covariances_f
	)

Filters out a vector of means and a vector of covariances given a mask of valid entries.

Parameters:

means	input vector of 3x1 matrices
covariances	input vector of 3x3 matrices
valid	vector mask of valid flags
means_f	output vector of 3x1 matrices
covariances_f	output vector of 3x1 matrices

Definition at line 122 of file rgbd_util.cpp.

void ccny_rgbd::removeInvalidMeans	(	const Vector3fVector &	means,
		const BoolVector &	valid,
		Vector3fVector &	means_f
	)

Filters out a vector of means given a mask of valid entries.

Parameters:

means	input vector of 3x1 matrices
valid	vector mask of valid flags
means_f	output vector of 3x1 matrices

Definition at line 106 of file rgbd_util.cpp.

bool ccny_rgbd::saveKeyframes	(	const KeyframeVector &	keyframes,
		const std::string &	path
	)

Saves a vector of RGBD keyframes to disk.

Parameters:

keyframes	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 108 of file rgbd_keyframe.cpp.

tf::Transform ccny_rgbd::tfFromEigen ( Eigen::Matrix4f trans )

Converts an Eigen transform to a tf::Transform.

Parameters:

trans Eigen transform

Returns:: tf version of the eigen transform

Definition at line 41 of file rgbd_util.cpp.

bool ccny_rgbd::tfGreaterThan	(	const tf::Transform &	a,
		double	dist,
		double	angle
	)

Given a transfom (possibly computed as a difference between two transforms) checks if either its angular or linar component exceeds a threshold.

Parameters:

a	input transform
dist	linear distance trheshold
angle	angular distance threshold

Definition at line 87 of file rgbd_util.cpp.

void ccny_rgbd::tfToEigenRt	(	const tf::Transform &	tf,
		Matrix3f &	R,
		Vector3f &	t
	)

Decomposes a tf into an Eigen 3x3 rotation matrix and Eigen 3x1 rotation vector.

Parameters:

tf	the transform
R	reference to the 3x3 Eigen matrix
t	reference to the 3x1 Eigen vector

Definition at line 143 of file rgbd_util.cpp.

void ccny_rgbd::tfToOpenCVRt	(	const tf::Transform &	transform,
		cv::Mat &	R,
		cv::Mat &	t
	)

Decomposes a tf::Transform into a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.

Parameters:

transform	the transform
R	reference to the 3x3 OpenCV matrix
t	reference to the 3x1 OpenCV vector

Definition at line 162 of file rgbd_util.cpp.

void ccny_rgbd::tfToXYZRPY	(	const tf::Transform &	t,
		double &	x,
		double &	y,
		double &	z,
		double &	roll,
		double &	pitch,
		double &	yaw
	)

Decomposes a tf::Transform into x, y, z, roll, pitch, yaw.

Parameters:

t	the input transform
x	the output x component
y	the output y component
z	the output z component
roll	the output roll component
pitch	the output pitch component
yaw	the output yaw component

Definition at line 74 of file rgbd_util.cpp.

void ccny_rgbd::transformDistributions	(	Vector3fVector &	means,
		Matrix3fVector &	covariances,
		const tf::Transform &	transform
	)

Transforms a vector of means and covariances.

Parameters:

means	vector of 3x1 matrices of positions (3D means)
covariances	vector of 3x3 covariance matrices
transform	the tranformation to be applied to all the means and covariances

Definition at line 266 of file rgbd_util.cpp.

void ccny_rgbd::transformMeans	(	Vector3fVector &	means,
		const tf::Transform &	transform
	)

Transforms a vector of means.

Parameters:

means	vector of 3x1 matrices of positions (3D means)
transform	the tranformation to be applied to all the means

Definition at line 250 of file rgbd_util.cpp.

void ccny_rgbd::unwarpDepthImage	(	cv::Mat &	depth_img_in,
		const cv::Mat &	coeff0,
		const cv::Mat &	coeff1,
		const cv::Mat &	coeff2,
		int	fit_mode = `DEPTH_FIT_QUADRATIC`
	)

Given a depth image, uwarps it according to a polynomial model.

The size of the c matrices should be equal to the image size.

Parameters:

depth_img_in	depth image to be unwarped (16UC1, in mm)
coeff0	matrix of c0 coefficients
coeff1	matrix of c1 coefficients
coeff2	matrix of c2 coefficients
fit_mode	the polynomial fitting mode, see DepthFitMode. d = c0 + c1d + c2d^2

Definition at line 28 of file proc_util.cpp.

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