#include <iostream>
#include <pcl/io/openni_grabber.h>
#include "pcl/range_image/range_image_planar.h"
#include "pcl/common/common_headers.h"
#include "pcl/visualization/range_image_visualizer.h"
#include "pcl/visualization/pcl_visualizer.h"
#include "pcl/console/parse.h"
#include <boost/filesystem.hpp>
Go to the source code of this file.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 161 of file openni_range_image_registration.cpp.
void printUsage | ( | const char * | progName | ) |
Definition at line 146 of file openni_range_image_registration.cpp.
void saveFrame | ( | ) |
Definition at line 78 of file openni_range_image_registration.cpp.
float angular_resolution = 0.5f |
Definition at line 20 of file openni_range_image_registration.cpp.
Definition at line 33 of file openni_range_image_registration.cpp.
boost::shared_ptr<openni_wrapper::Image> color_image_ptr |
Definition at line 42 of file openni_range_image_registration.cpp.
Eigen::Affine3f current_pose = Eigen::Affine3f::Identity() |
Definition at line 75 of file openni_range_image_registration.cpp.
boost::shared_ptr<openni_wrapper::DepthImage> depth_image_ptr |
Definition at line 41 of file openni_range_image_registration.cpp.
std::string device_id = "#1" |
Definition at line 16 of file openni_range_image_registration.cpp.
std::string dir_name |
Definition at line 18 of file openni_range_image_registration.cpp.
int icp_num_iterations_consecutive = 20 |
Definition at line 25 of file openni_range_image_registration.cpp.
int icp_num_iterations_keyframe = 10 |
Definition at line 27 of file openni_range_image_registration.cpp.
int icp_search_radius_consecutive = 3 |
Definition at line 24 of file openni_range_image_registration.cpp.
int icp_search_radius_keyframe = 1 |
Definition at line 26 of file openni_range_image_registration.cpp.
boost::mutex image_mutex |
Definition at line 39 of file openni_range_image_registration.cpp.
int key_frame_counter = 0 |
Definition at line 47 of file openni_range_image_registration.cpp.
Eigen::Affine3f last_keyframe_pose |
Definition at line 75 of file openni_range_image_registration.cpp.
Eigen::Affine3f last_pose |
Definition at line 75 of file openni_range_image_registration.cpp.
int max_no_of_threads = 1 |
Definition at line 32 of file openni_range_image_registration.cpp.
float maximum_range = -1.0f |
Definition at line 30 of file openni_range_image_registration.cpp.
float new_keyframe_overlap = 0.85 |
Definition at line 28 of file openni_range_image_registration.cpp.
std::string output_prefix = "openni_icp" |
Definition at line 17 of file openni_range_image_registration.cpp.
pcl::PointCloud<pcl::PointXYZ>::ConstPtr point_cloud_ptr |
Definition at line 40 of file openni_range_image_registration.cpp.
int range_image_counter = 0 |
Definition at line 47 of file openni_range_image_registration.cpp.
bool received_new_depth_data = false |
Definition at line 45 of file openni_range_image_registration.cpp.
bool received_new_image_pair = false |
Definition at line 44 of file openni_range_image_registration.cpp.
bool show_color_image = 0 |
Definition at line 35 of file openni_range_image_registration.cpp.
bool show_range_image = 1 |
Definition at line 36 of file openni_range_image_registration.cpp.
Definition at line 37 of file openni_range_image_registration.cpp.
float size_factor = 1.0 |
Definition at line 22 of file openni_range_image_registration.cpp.