ndt_feature_reg::PoseEstimator Class Reference

#include <ndt_frame.h>

List of all members.

Public Member Functions
size_t	estimate (const NDTFrame &f0, const NDTFrame &f1)
size_t	estimate (const NDTFrame &f0, const NDTFrame &f1, const std::vector< cv::DMatch > &matches)
const std::vector< cv::DMatch > &	getInliers () const
Eigen::Affine3f	getTransform ()
void	matchFrames (const NDTFrame &f0, const NDTFrame &f2, std::vector< cv::DMatch > &fwd_matches)
	PoseEstimator (int NRansac, double maxidx, double maxidd)
Public Attributes
std::vector< cv::DMatch >	inliers
cv::Ptr< cv::DescriptorMatcher >	matcher
	Descriptor matcher to use (features_2d::BruteForceMatcher by default).
std::vector< cv::DMatch >	matches
	Matches between features in frames.
double	maxDist
double	maxInlierDDist2
double	maxInlierXDist2
	Maximum dist^2 for inliers in pixels.
double	minDist
int	numRansac
	number of RANSAC iterations
bool	projectMatches
Eigen::Quaterniond	quat
Eigen::Matrix3d	rot
	Rotation matrix of camera between the frames.
Eigen::Vector3d	trans
	Translation of the camera between the frames.
bool	windowed
	Whether to do windowed or whole-image matching.
int	wx
int	wy

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Detailed Description

Definition at line 345 of file ndt_frame.h.

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Constructor & Destructor Documentation

ndt_feature_reg::PoseEstimator::PoseEstimator	(	int	NRansac,
		double	maxidx,
		double	maxidd
	)

Definition at line 14 of file ndt_frame.hpp.

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Member Function Documentation

size_t ndt_feature_reg::PoseEstimator::estimate	(	const NDTFrame &	f0,
		const NDTFrame &	f1
	)

Definition at line 49 of file ndt_frame.cpp.

size_t ndt_feature_reg::PoseEstimator::estimate	(	const NDTFrame &	f0,
		const NDTFrame &	f1,
		const std::vector< cv::DMatch > &	matches
	)

Definition at line 84 of file ndt_frame.cpp.

const std::vector<cv::DMatch>& ndt_feature_reg::PoseEstimator::getInliers

(

)

const [inline]

Definition at line 353 of file ndt_frame.h.

Eigen::Affine3f ndt_feature_reg::PoseEstimator::getTransform

(

)

[inline]

Definition at line 360 of file ndt_frame.h.

void ndt_feature_reg::PoseEstimator::matchFrames	(	const NDTFrame &	f0,
		const NDTFrame &	f2,
		std::vector< cv::DMatch > &	fwd_matches
	)

Definition at line 36 of file ndt_frame.hpp.

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Member Data Documentation

std::vector<cv::DMatch> ndt_feature_reg::PoseEstimator::inliers

RANSAC inliers of matches.

Definition at line 369 of file ndt_frame.h.

cv::Ptr<cv::DescriptorMatcher> ndt_feature_reg::PoseEstimator::matcher

Descriptor matcher to use (features_2d::BruteForceMatcher by default).

Definition at line 383 of file ndt_frame.h.

std::vector<cv::DMatch> ndt_feature_reg::PoseEstimator::matches

Matches between features in frames.

Definition at line 368 of file ndt_frame.h.

double ndt_feature_reg::PoseEstimator::maxDist

Definition at line 379 of file ndt_frame.h.

double ndt_feature_reg::PoseEstimator::maxInlierDDist2

Definition at line 377 of file ndt_frame.h.

double ndt_feature_reg::PoseEstimator::maxInlierXDist2

Maximum dist^2 for inliers in pixels.

Definition at line 377 of file ndt_frame.h.

double ndt_feature_reg::PoseEstimator::minDist

Definition at line 380 of file ndt_frame.h.

int ndt_feature_reg::PoseEstimator::numRansac

number of RANSAC iterations

Definition at line 371 of file ndt_frame.h.

bool ndt_feature_reg::PoseEstimator::projectMatches

Definition at line 391 of file ndt_frame.h.

Eigen::Quaterniond ndt_feature_reg::PoseEstimator::quat

Definition at line 388 of file ndt_frame.h.

Eigen::Matrix3d ndt_feature_reg::PoseEstimator::rot

Rotation matrix of camera between the frames.

Definition at line 387 of file ndt_frame.h.

Eigen::Vector3d ndt_feature_reg::PoseEstimator::trans

Translation of the camera between the frames.

Definition at line 389 of file ndt_frame.h.

bool ndt_feature_reg::PoseEstimator::windowed

Whether to do windowed or whole-image matching.

Definition at line 374 of file ndt_frame.h.

int ndt_feature_reg::PoseEstimator::wx

Definition at line 384 of file ndt_frame.h.

int ndt_feature_reg::PoseEstimator::wy

Definition at line 384 of file ndt_frame.h.

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

• ndt_frame.h
• ndt_frame.hpp
• ndt_frame.cpp