ccny_rgbd::KeyframeAssociation Class Reference

Class representing an association between two keyframes, used for graph-based pose alignement. More...

#include <keyframe_association.h>

List of all members.

Public Types
enum	Type { VO, RANSAC, ODOMETRY }
	Association types. More...
Public Attributes
tf::Transform	a2b
	Transform between the two keyframe poses.
int	kf_idx_a
	index of keyframe A
int	kf_idx_b
	index of keyframe B
std::vector< cv::DMatch >	matches
	for type=RANSAC, vector of RANSAC inliers mtaches
Type	type
	source of the association

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Detailed Description

Class representing an association between two keyframes, used for graph-based pose alignement.

Association types:

• VO: from visual odometry
• RANSAC: from RANSAC-based sparse feature matching
• ODOMETRY: from classical odometry sources

Definition at line 41 of file keyframe_association.h.

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Member Enumeration Documentation

enum ccny_rgbd::KeyframeAssociation::Type

Association types.

• VO: from visual odometry
• RANSAC: from RANSAC-based sparse feature matching
• ODOMETRY: from classical odometry sources

Enumerator:

VO
RANSAC
ODOMETRY

Definition at line 51 of file keyframe_association.h.

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Member Data Documentation

tf::Transform ccny_rgbd::KeyframeAssociation::a2b

Transform between the two keyframe poses.

The transform is expressed in A's coordinate frame. A and B's poses are expressed in the fixed frame.

B.pose = A.pose * a2b

Definition at line 67 of file keyframe_association.h.

int ccny_rgbd::KeyframeAssociation::kf_idx_a

index of keyframe A

Definition at line 53 of file keyframe_association.h.

int ccny_rgbd::KeyframeAssociation::kf_idx_b

index of keyframe B

Definition at line 54 of file keyframe_association.h.

std::vector<cv::DMatch> ccny_rgbd::KeyframeAssociation::matches

for type=RANSAC, vector of RANSAC inliers mtaches

Definition at line 58 of file keyframe_association.h.

Type ccny_rgbd::KeyframeAssociation::type

source of the association

Definition at line 56 of file keyframe_association.h.

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

• keyframe_association.h