Read the clouds and transformations from files and integrate them into one common model. More...
#include <offline_integration.h>
Classes | |
class | ComputationFPS |
Helper object for the computation thread. Please have a look at the documentation of calcFPS. More... | |
class | VisualizationFPS |
Helper object for the visualization thread. Please have a look at the documentation of calcFPS. More... | |
Public Types | |
typedef pcl::ihs::OpenGLViewer | Base |
typedef pcl::ihs::OfflineIntegration | Self |
Public Slots | |
void | start () |
Start the procedure from a path. | |
Public Member Functions | |
OfflineIntegration (Base *parent=0) | |
Constructor. | |
~OfflineIntegration () | |
Destructor. | |
Private Types | |
typedef pcl::PointCloud < PointXYZRGBA > | CloudXYZRGBA |
typedef CloudXYZRGBA::ConstPtr | CloudXYZRGBAConstPtr |
typedef CloudXYZRGBA::Ptr | CloudXYZRGBAPtr |
typedef pcl::PointCloud < PointXYZRGBNormal > | CloudXYZRGBNormal |
typedef CloudXYZRGBNormal::ConstPtr | CloudXYZRGBNormalConstPtr |
typedef CloudXYZRGBNormal::Ptr | CloudXYZRGBNormalPtr |
typedef pcl::ihs::Integration | Integration |
typedef boost::shared_ptr < const Integration > | IntegrationConstPtr |
typedef boost::shared_ptr < Integration > | IntegrationPtr |
typedef pcl::ihs::Mesh | Mesh |
typedef pcl::ihs::MeshConstPtr | MeshConstPtr |
typedef pcl::ihs::MeshPtr | MeshPtr |
typedef pcl::IntegralImageNormalEstimation < PointXYZRGBA, PointXYZRGBNormal > | NormalEstimation |
typedef boost::shared_ptr < const NormalEstimation > | NormalEstimationConstPtr |
typedef boost::shared_ptr < NormalEstimation > | NormalEstimationPtr |
typedef pcl::PointXYZRGBA | PointXYZRGBA |
typedef pcl::PointXYZRGBNormal | PointXYZRGBNormal |
Private Slots | |
void | computationThread () |
Loads in new data. | |
Private Member Functions | |
bool | getFilesFromDirectory (const std::string path_dir, const std::string extension, std::vector< std::string > &files) const |
Get a list of files with from a given directory. | |
void | keyPressEvent (QKeyEvent *event) |
bool | load (const std::string &filename, CloudXYZRGBNormalPtr &cloud, Eigen::Matrix4f &T) const |
Load the cloud and transformation from the files and compute the normals. | |
bool | loadTransform (const std::string &filename, Eigen::Matrix4f &transform) const |
Load the transformation matrix from the given file. | |
void | paintEvent (QPaintEvent *event) |
Private Attributes | |
ComputationFPS | computation_fps_ |
Please have a look at the documentation of ComputationFPS. | |
bool | destructor_called_ |
Prevent the application to crash while closing. | |
IntegrationPtr | integration_ |
Integrate the data cloud into a common model. | |
MeshPtr | mesh_model_ |
Model to which new data is registered to (stored as a mesh). | |
boost::mutex | mutex_ |
Synchronization. | |
boost::mutex | mutex_quit_ |
Wait until the data finished processing. | |
NormalEstimationPtr | normal_estimation_ |
Compute the normals for the input clouds. | |
std::string | path_dir_ |
Path to the pcd and transformation files. | |
VisualizationFPS | visualization_fps_ |
Please have a look at the documentation of VisualizationFPS. |
Read the clouds and transformations from files and integrate them into one common model.
Definition at line 80 of file offline_integration.h.
Definition at line 86 of file offline_integration.h.
typedef pcl::PointCloud<PointXYZRGBA> pcl::ihs::OfflineIntegration::CloudXYZRGBA [private] |
Definition at line 110 of file offline_integration.h.
typedef CloudXYZRGBA::ConstPtr pcl::ihs::OfflineIntegration::CloudXYZRGBAConstPtr [private] |
Definition at line 112 of file offline_integration.h.
typedef CloudXYZRGBA::Ptr pcl::ihs::OfflineIntegration::CloudXYZRGBAPtr [private] |
Definition at line 111 of file offline_integration.h.
typedef pcl::PointCloud<PointXYZRGBNormal> pcl::ihs::OfflineIntegration::CloudXYZRGBNormal [private] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 115 of file offline_integration.h.
typedef CloudXYZRGBNormal::ConstPtr pcl::ihs::OfflineIntegration::CloudXYZRGBNormalConstPtr [private] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 117 of file offline_integration.h.
typedef CloudXYZRGBNormal::Ptr pcl::ihs::OfflineIntegration::CloudXYZRGBNormalPtr [private] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 116 of file offline_integration.h.
typedef pcl::ihs::Integration pcl::ihs::OfflineIntegration::Integration [private] |
Definition at line 123 of file offline_integration.h.
typedef boost::shared_ptr<const Integration> pcl::ihs::OfflineIntegration::IntegrationConstPtr [private] |
Definition at line 125 of file offline_integration.h.
typedef boost::shared_ptr<Integration> pcl::ihs::OfflineIntegration::IntegrationPtr [private] |
Definition at line 124 of file offline_integration.h.
typedef pcl::ihs::Mesh pcl::ihs::OfflineIntegration::Mesh [private] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 119 of file offline_integration.h.
typedef pcl::ihs::MeshConstPtr pcl::ihs::OfflineIntegration::MeshConstPtr [private] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 121 of file offline_integration.h.
typedef pcl::ihs::MeshPtr pcl::ihs::OfflineIntegration::MeshPtr [private] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 120 of file offline_integration.h.
typedef pcl::IntegralImageNormalEstimation<PointXYZRGBA, PointXYZRGBNormal> pcl::ihs::OfflineIntegration::NormalEstimation [private] |
Definition at line 127 of file offline_integration.h.
typedef boost::shared_ptr<const NormalEstimation> pcl::ihs::OfflineIntegration::NormalEstimationConstPtr [private] |
Definition at line 129 of file offline_integration.h.
typedef boost::shared_ptr<NormalEstimation> pcl::ihs::OfflineIntegration::NormalEstimationPtr [private] |
Definition at line 128 of file offline_integration.h.
typedef pcl::PointXYZRGBA pcl::ihs::OfflineIntegration::PointXYZRGBA [private] |
Definition at line 109 of file offline_integration.h.
typedef pcl::PointXYZRGBNormal pcl::ihs::OfflineIntegration::PointXYZRGBNormal [private] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 114 of file offline_integration.h.
Definition at line 87 of file offline_integration.h.
pcl::ihs::OfflineIntegration::OfflineIntegration | ( | Base * | parent = 0 | ) | [explicit] |
Constructor.
Definition at line 64 of file offline_integration.cpp.
Destructor.
Definition at line 89 of file offline_integration.cpp.
void pcl::ihs::OfflineIntegration::computationThread | ( | ) | [private, slot] |
Loads in new data.
Definition at line 115 of file offline_integration.cpp.
bool pcl::ihs::OfflineIntegration::getFilesFromDirectory | ( | const std::string | path_dir, |
const std::string | extension, | ||
std::vector< std::string > & | files | ||
) | const [private] |
Get a list of files with from a given directory.
[in] | path_dir | Path to search for the files. |
[in] | extension | File extension (must start with a dot). E.g. '.pcd'. |
[out] | files | Paths to the files. |
Definition at line 191 of file offline_integration.cpp.
void pcl::ihs::OfflineIntegration::keyPressEvent | ( | QKeyEvent * | event | ) | [private] |
Definition at line 337 of file offline_integration.cpp.
bool pcl::ihs::OfflineIntegration::load | ( | const std::string & | filename, |
CloudXYZRGBNormalPtr & | cloud, | ||
Eigen::Matrix4f & | T | ||
) | const [private] |
Load the cloud and transformation from the files and compute the normals.
[in] | filename | Path to the pcd file. |
[out] | cloud | Cloud with computed normals. |
[out] | T | Loaded transformation. |
Definition at line 260 of file offline_integration.cpp.
bool pcl::ihs::OfflineIntegration::loadTransform | ( | const std::string & | filename, |
Eigen::Matrix4f & | transform | ||
) | const [private] |
Load the transformation matrix from the given file.
[in] | filename | Path to the file. |
[out] | transform | The loaded transform. |
Definition at line 225 of file offline_integration.cpp.
void pcl::ihs::OfflineIntegration::paintEvent | ( | QPaintEvent * | event | ) | [private, virtual] |
Reimplemented from pcl::ihs::OpenGLViewer.
Definition at line 310 of file offline_integration.cpp.
void pcl::ihs::OfflineIntegration::start | ( | ) | [slot] |
Start the procedure from a path.
Definition at line 99 of file offline_integration.cpp.
Please have a look at the documentation of ComputationFPS.
Definition at line 200 of file offline_integration.h.
bool pcl::ihs::OfflineIntegration::destructor_called_ [private] |
Prevent the application to crash while closing.
Definition at line 218 of file offline_integration.h.
Integrate the data cloud into a common model.
Definition at line 215 of file offline_integration.h.
Model to which new data is registered to (stored as a mesh).
Definition at line 209 of file offline_integration.h.
boost::mutex pcl::ihs::OfflineIntegration::mutex_ [private] |
Synchronization.
Definition at line 194 of file offline_integration.h.
boost::mutex pcl::ihs::OfflineIntegration::mutex_quit_ [private] |
Wait until the data finished processing.
Definition at line 197 of file offline_integration.h.
Compute the normals for the input clouds.
Definition at line 212 of file offline_integration.h.
std::string pcl::ihs::OfflineIntegration::path_dir_ [private] |
Path to the pcd and transformation files.
Definition at line 206 of file offline_integration.h.
Please have a look at the documentation of VisualizationFPS.
Definition at line 203 of file offline_integration.h.