Todo List

Member rgbdtools::MotionEstimation::getMotionEstimation (RGBDFrame &frame, const AffineTransform &prediction=AffineTransform::Identity())

this should return a covariance

Member rgbdtools::MotionEstimationICPProbModel::getMotionEstimationImpl (RGBDFrame &frame, const AffineTransform &prediction, AffineTransform &motion)

: currently ignores prediction

Member rgbdtools::MotionEstimationICPProbModel::saveModel (const std::string &filename)

also save Eigen means and covariances

Member rgbdtools::RGBDFrame::computeDistributions (double max_z=5.5, double max_stdev_z=0.03)

do we want default values?

These should be arguments or const static members

do we want default values?

Member rgbdtools::RGBDFrame::constructDensePointCloud (PointCloudT &cloud, double max_z=5.5, double max_stdev_z=0.03) const

do we want default values? or ROS parameters here)

do we want default values? or ROS parameters here)

Member rgbdtools::RGBDFrame::getGaussianMixtureDistribution (int u, int v, double &z_mean, double &z_var) const

reference for the paper

Different window sizes? based on sigma_u, sigma_v?

reference for the paper