rtabmap::GainCompensator Class Reference

#include <GainCompensator.h>

Public Member Functions
void	apply (int id, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, bool rgb=true) const
void	apply (int id, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool rgb=true) const
void	apply (int id, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool rgb=true) const
void	apply (int id, cv::Mat &image, bool rgb=true) const
void	feed (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudA, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudB, const Transform &transformB)
void	feed (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudA, const pcl::IndicesPtr &indicesA, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudB, const pcl::IndicesPtr &indicesB, const Transform &transformB)
void	feed (const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds, const std::multimap< int, Link > &links)
void	feed (const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds, const std::map< int, pcl::IndicesPtr > &indices, const std::multimap< int, Link > &links)
void	feed (const std::map< int, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr > &clouds, const std::map< int, pcl::IndicesPtr > &indices, const std::multimap< int, Link > &links)
void	feed (const std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr, pcl::IndicesPtr > > &clouds, const std::multimap< int, Link > &links)
	GainCompensator (double maxCorrespondenceDistance=0.02, double minOverlap=0.0, double alpha=0.01, double beta=10)
double	getGain (int id, double *r=0, double *g=0, double *b=0) const
int	getIndex (int id) const
virtual	~GainCompensator ()

Private Attributes
double	alpha_
double	beta_
cv::Mat_< double >	gains_
std::map< int, int >	idToIndex_
double	maxCorrespondenceDistance_
double	minOverlap_

Detailed Description

Works like cv::GainCompensator but with point clouds

Definition at line 44 of file GainCompensator.h.

Constructor & Destructor Documentation

GainCompensator()

rtabmap::GainCompensator::GainCompensator	(	double	maxCorrespondenceDistance = 0.02,
		double	minOverlap = 0.0,
		double	alpha = 0.01,
		double	beta = 10
	)

Definition at line 46 of file GainCompensator.cpp.

~GainCompensator()

rtabmap::GainCompensator::~GainCompensator ( )

virtual

Definition at line 54 of file GainCompensator.cpp.

Member Function Documentation

apply() [1/4]

void rtabmap::GainCompensator::apply	(	int	id,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		bool	rgb = true
	)		const

Definition at line 426 of file GainCompensator.cpp.

apply() [2/4]

void rtabmap::GainCompensator::apply	(	int	id,
		pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	rgb = true
	)		const

Definition at line 434 of file GainCompensator.cpp.

apply() [3/4]

void rtabmap::GainCompensator::apply	(	int	id,
		pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	rgb = true
	)		const

Definition at line 443 of file GainCompensator.cpp.

apply() [4/4]

void rtabmap::GainCompensator::apply	(	int	id,
		cv::Mat &	image,
		bool	rgb = true
	)		const

Definition at line 453 of file GainCompensator.cpp.

feed() [1/6]

void rtabmap::GainCompensator::feed	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloudA,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloudB,
		const Transform &	transformB
	)

Definition at line 57 of file GainCompensator.cpp.

feed() [2/6]

void rtabmap::GainCompensator::feed	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloudA,
		const pcl::IndicesPtr &	indicesA,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloudB,
		const pcl::IndicesPtr &	indicesB,
		const Transform &	transformB
	)

Definition at line 70 of file GainCompensator.cpp.

feed() [3/6]

void rtabmap::GainCompensator::feed	(	const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &	clouds,
		const std::multimap< int, Link > &	links
	)

Definition at line 88 of file GainCompensator.cpp.

feed() [4/6]

void rtabmap::GainCompensator::feed	(	const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &	clouds,
		const std::map< int, pcl::IndicesPtr > &	indices,
		const std::multimap< int, Link > &	links
	)

Definition at line 364 of file GainCompensator.cpp.

feed() [5/6]

void rtabmap::GainCompensator::feed	(	const std::map< int, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr > &	clouds,
		const std::map< int, pcl::IndicesPtr > &	indices,
		const std::multimap< int, Link > &	links
	)

Definition at line 371 of file GainCompensator.cpp.

feed() [6/6]

void rtabmap::GainCompensator::feed	(	const std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr, pcl::IndicesPtr > > &	clouds,
		const std::multimap< int, Link > &	links
	)

Definition at line 378 of file GainCompensator.cpp.

getGain()

double rtabmap::GainCompensator::getGain	(	int	id,
		double *	r = 0,
		double *	g = 0,
		double *	b = 0
	)		const

Definition at line 475 of file GainCompensator.cpp.

getIndex()

int rtabmap::GainCompensator::getIndex

(

int

id

)

const

Definition at line 495 of file GainCompensator.cpp.

Member Data Documentation

alpha_

double rtabmap::GainCompensator::alpha_

private

Definition at line 101 of file GainCompensator.h.

beta_

double rtabmap::GainCompensator::beta_

private

Definition at line 102 of file GainCompensator.h.

gains_

cv::Mat_<double> rtabmap::GainCompensator::gains_

private

Definition at line 97 of file GainCompensator.h.

idToIndex_

std::map<int, int> rtabmap::GainCompensator::idToIndex_

private

Definition at line 98 of file GainCompensator.h.

maxCorrespondenceDistance_

double rtabmap::GainCompensator::maxCorrespondenceDistance_

private

Definition at line 99 of file GainCompensator.h.

minOverlap_

double rtabmap::GainCompensator::minOverlap_

private

Definition at line 100 of file GainCompensator.h.

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

• GainCompensator.h
• GainCompensator.cpp