kfusion::cuda::ProjectiveICP Class Reference

#include <projective_icp.hpp>

Classes
struct	StreamHelper
	ProjectiveICP::StreamHelper. More...

Public Types
enum	{ MAX_PYRAMID_LEVELS = 4 }
typedef std::vector< Depth >	DepthPyr
typedef std::vector< Normals >	NormalsPyr
typedef std::vector< Cloud >	PointsPyr

Public Member Functions
virtual bool	estimateTransform (Affine3f &affine, const Intr &intr, const DepthPyr &dcurr, const NormalsPyr ncurr, const DepthPyr dprev, const NormalsPyr nprev)
virtual bool	estimateTransform (Affine3f &affine, const Intr &intr, const Frame &curr, const Frame &prev)
virtual bool	estimateTransform (Affine3f &affine, const Intr &intr, const PointsPyr &vcurr, const NormalsPyr ncurr, const PointsPyr vprev, const NormalsPyr nprev)
float	getAngleThreshold () const
float	getDistThreshold () const
int	getUsedLevelsNum () const
	ProjectiveICP ()
	ProjectiveICP. More...
void	setAngleThreshold (float angle)
void	setDistThreshold (float distance)
void	setIterationsNum (const std::vector< int > &iters)
virtual	~ProjectiveICP ()

Private Attributes
float	angle_thres_
DeviceArray2D< float >	buffer_
float	dist_thres_
std::vector< int >	iters_
cv::Ptr< StreamHelper >	shelp_

Detailed Description

Definition at line 9 of file projective_icp.hpp.

Member Typedef Documentation

DepthPyr

typedef std::vector<Depth> kfusion::cuda::ProjectiveICP::DepthPyr

Definition at line 14 of file projective_icp.hpp.

NormalsPyr

typedef std::vector<Normals> kfusion::cuda::ProjectiveICP::NormalsPyr

Definition at line 16 of file projective_icp.hpp.

PointsPyr

typedef std::vector<Cloud> kfusion::cuda::ProjectiveICP::PointsPyr

Definition at line 15 of file projective_icp.hpp.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
MAX_PYRAMID_LEVELS

Definition at line 12 of file projective_icp.hpp.

Constructor & Destructor Documentation

ProjectiveICP()

kfusion::cuda::ProjectiveICP::ProjectiveICP

(

)

ProjectiveICP.

Definition at line 68 of file projective_icp.cpp.

~ProjectiveICP()

kfusion::cuda::ProjectiveICP::~ProjectiveICP ( )

virtual

Definition at line 78 of file projective_icp.cpp.

Member Function Documentation

estimateTransform() [1/3]

bool kfusion::cuda::ProjectiveICP::estimateTransform ( Affine3f &  affine, const Intr &  intr, const DepthPyr &  dcurr, const NormalsPyr  ncurr, const DepthPyr  dprev, const NormalsPyr  nprev  )

virtual

The function takes masked depth, i.e. it assumes for performance reasons that "if depth(y,x) is not zero, then normals(y,x) surely is not qnan"

Definition at line 125 of file projective_icp.cpp.

estimateTransform() [2/3]

bool kfusion::cuda::ProjectiveICP::estimateTransform ( Affine3f &  affine, const Intr &  intr, const Frame &  curr, const Frame &  prev  )

virtual

Definition at line 110 of file projective_icp.cpp.

estimateTransform() [3/3]

bool kfusion::cuda::ProjectiveICP::estimateTransform ( Affine3f &  affine, const Intr &  intr, const PointsPyr &  vcurr, const NormalsPyr  ncurr, const PointsPyr  vprev, const NormalsPyr  nprev  )

virtual

Definition at line 169 of file projective_icp.cpp.

getAngleThreshold()

float kfusion::cuda::ProjectiveICP::getAngleThreshold

(

)

const

Definition at line 86 of file projective_icp.cpp.

getDistThreshold()

float kfusion::cuda::ProjectiveICP::getDistThreshold

(

)

const

Definition at line 80 of file projective_icp.cpp.

getUsedLevelsNum()

int kfusion::cuda::ProjectiveICP::getUsedLevelsNum

(

)

const

Definition at line 103 of file projective_icp.cpp.

setAngleThreshold()

void kfusion::cuda::ProjectiveICP::setAngleThreshold

(

float

angle

)

Definition at line 89 of file projective_icp.cpp.

setDistThreshold()

void kfusion::cuda::ProjectiveICP::setDistThreshold

(

float

distance

)

Definition at line 83 of file projective_icp.cpp.

setIterationsNum()

void kfusion::cuda::ProjectiveICP::setIterationsNum

(

const std::vector< int > &

iters

)

Definition at line 92 of file projective_icp.cpp.

Member Data Documentation

angle_thres_

float kfusion::cuda::ProjectiveICP::angle_thres_

private

Definition at line 40 of file projective_icp.hpp.

buffer_

DeviceArray2D<float> kfusion::cuda::ProjectiveICP::buffer_

private

Definition at line 42 of file projective_icp.hpp.

dist_thres_

float kfusion::cuda::ProjectiveICP::dist_thres_

private

Definition at line 41 of file projective_icp.hpp.

iters_

std::vector<int> kfusion::cuda::ProjectiveICP::iters_

private

Definition at line 39 of file projective_icp.hpp.

shelp_

cv::Ptr<StreamHelper> kfusion::cuda::ProjectiveICP::shelp_

private

Definition at line 44 of file projective_icp.hpp.

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

• projective_icp.hpp
• projective_icp.cpp