Depth source where a fully dense, metric depth image is available. More...

#include <depth_image.hpp>

Inheritance diagram for fovis::DepthImage:

Public Member Functions
	DepthImage (const CameraIntrinsicsParameters &rgb_camera_params, int depth_width, int depth_height)
virtual double	getBaseline () const
virtual void	getXyz (OdometryFrame *frame)
virtual bool	haveXyz (int u, int v)
virtual void	refineXyz (FeatureMatch matches, int num_matches, OdometryFrame frame)
void	setDepthImage (const float *depth_data)
	~DepthImage ()
Private Member Functions
bool	getXyzInterp (KeypointData *kpdata)
int	rgbToDepthIndex (double u, double v) const
Private Attributes
float *	_depth_data
int	_depth_height
int	_depth_width
double	_fx_inv
double	_fy_inv
double	_neg_cx_div_fx
double	_neg_cy_div_fy
Eigen::Matrix< double, 3, Eigen::Dynamic > *	_rays
int	_rgb_height
int	_rgb_width
float	_x_scale
float	_y_scale

Detailed Description

Depth source where a fully dense, metric depth image is available.

TODO

Definition at line 19 of file depth_image.hpp.

Constructor & Destructor Documentation

fovis::DepthImage::DepthImage	(	const CameraIntrinsicsParameters &	rgb_camera_params,
		int	depth_width,
		int	depth_height
	)

Definition at line 10 of file depth_image.cpp.

fovis::DepthImage::~DepthImage ( )

Definition at line 44 of file depth_image.cpp.

Member Function Documentation

virtual double fovis::DepthImage::getBaseline ( ) const [inline, virtual]

Return baseline of depth source, if applicable. If not applicable (e.g. for OpenNI devices) return 0.

Implements fovis::DepthSource.

Definition at line 39 of file depth_image.hpp.

void fovis::DepthImage::getXyz ( OdometryFrame * frame ) [virtual]

Populate keypoints in frame with XYZ data.

Implements fovis::DepthSource.

Definition at line 65 of file depth_image.cpp.

bool fovis::DepthImage::getXyzInterp ( KeypointData * kpdata ) [private]

Definition at line 116 of file depth_image.cpp.

bool fovis::DepthImage::haveXyz	(	int	u,
		int	v
	)		`[virtual]`

This should return true if it's not certain there's no depth at (u,v). It should be an inexpensive check that is used to avoid pointless (hah!) creation of keypoints. False positives are fine as ling as getXyz gets rid of them.

Implements fovis::DepthSource.

Definition at line 59 of file depth_image.cpp.

void fovis::DepthImage::refineXyz	(	FeatureMatch *	matches,
		int	num_matches,
		OdometryFrame *	frame
	)		`[virtual]`

Refine XYZ data of target keypoints in matches (usually after subpixel refinement of the matches across time).

Implements fovis::DepthSource.

Definition at line 97 of file depth_image.cpp.

int fovis::DepthImage::rgbToDepthIndex	(	double	u,
		double	v
	)		const `[inline, private]`

Definition at line 42 of file depth_image.hpp.

void fovis::DepthImage::setDepthImage ( const float * depth_data )

Set the depth image, a width x height array of distances, units given in meters. Each pixel of the depth image corresponds to a point in the rectified RGB image.

Definition at line 51 of file depth_image.cpp.