Public Member Functions
size_t	computeParamsAtIndex (const cv::Mat &depthImg, cv::KeyPoint &keyPointCenter, size_t &support_size, Eigen::Vector3d &mean, Eigen::Matrix3d &cov)
size_t	computePointsAtIndex (const cv::Mat &depthImg, cv::KeyPoint &keyPointCenter, size_t &support_size, pcl::PointCloud< PointT > &pc, PointT &center)
size_t	convertDepthImageToPointCloud (const cv::Mat &depthImg, pcl::PointCloud< PointT > &pc)
	DepthCamera ()
	DepthCamera (double &_fx, double &_fy, double &_cx, double &_cy, std::vector< double > &_distances, double _ds, bool _isFloatImg=false)
	DepthCamera (const DepthCamera &other)
void	setLookupTable (cv::Mat lookup)
void	setupDepthPointCloudLookUpTable (const cv::Size &size)
Public Attributes
double	cx
double	cy
std::vector< double >	dist
double	ds
double	fx
double	fy
bool	isFloatImg
double	scale_
Private Member Functions
cv::Mat	getCameraMatrix (double fx, double fy, double cx, double cy)
cv::Mat	getDistVector (double d0, double d1, double d2, double d3, double d4)
Private Attributes
cv::Mat	_camMat
cv::Mat	_dist
cv::Mat	_lookupTable

Detailed Description

Definition at line 46 of file depth_camera.h.

Constructor & Destructor Documentation

template<typename PointT>

lslgeneric::DepthCamera< PointT >::DepthCamera ( ) [inline]

Definition at line 81 of file depth_camera.h.

template<typename PointT>

lslgeneric::DepthCamera< PointT >::DepthCamera	(	double &	_fx,
		double &	_fy,
		double &	_cx,
		double &	_cy,
		std::vector< double > &	_distances,
		double	_ds,
		bool	_isFloatImg = `false`
	)		`[inline]`

Definition at line 82 of file depth_camera.h.

template<typename PointT>

lslgeneric::DepthCamera< PointT >::DepthCamera ( const DepthCamera< PointT > & other ) [inline]

Definition at line 89 of file depth_camera.h.

template<typename PointT>

size_t lslgeneric::DepthCamera< PointT >::computeParamsAtIndex	(	const cv::Mat &	depthImg,
		cv::KeyPoint &	keyPointCenter,
		size_t &	support_size,
		Eigen::Vector3d &	mean,
		Eigen::Matrix3d &	cov
	)		`[inline]`

Definition at line 345 of file depth_camera.h.

template<typename PointT>

size_t lslgeneric::DepthCamera< PointT >::computePointsAtIndex	(	const cv::Mat &	depthImg,
		cv::KeyPoint &	keyPointCenter,
		size_t &	support_size,
		pcl::PointCloud< PointT > &	pc,
		PointT &	center
	)		`[inline]`