All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends
Public Member Functions | Protected Attributes
ccny_rgbd::KeyframeGraphSolver Class Reference

Base class for graph-based global alignment classes. More...

#include <keyframe_graph_solver.h>

Inheritance diagram for ccny_rgbd::KeyframeGraphSolver:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 KeyframeGraphSolver (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
 Constructor from ROS noehandles.
virtual void solve (KeyframeVector &keyframes, KeyframeAssociationVector &associations)=0
 Main method to call to perform graph solving.
virtual ~KeyframeGraphSolver ()
 Default destructor.

Protected Attributes

ros::NodeHandle nh_
 the public nodehandle
ros::NodeHandle nh_private_
 the private nodehandle

Detailed Description

Base class for graph-based global alignment classes.

The class takes as input a vector of RGBD keyframes and a vector of associations between them, and modifies the keyframe poses based on the minimization of some error metric.

Definition at line 42 of file keyframe_graph_solver.h.


Constructor & Destructor Documentation

Constructor from ROS noehandles.

Parameters:
nhthe public nodehandle
nh_privatethe private notehandle

Definition at line 28 of file keyframe_graph_solver.cpp.

Default destructor.

Definition at line 37 of file keyframe_graph_solver.cpp.


Member Function Documentation

virtual void ccny_rgbd::KeyframeGraphSolver::solve ( KeyframeVector keyframes,
KeyframeAssociationVector associations 
) [pure virtual]

Main method to call to perform graph solving.

The keyframe poses will be modified according to some error propagation model informed by the graph defined by the keyframe associations.

Parameters:
keyframesvector of keyframes
associationsvector of input keyframe associations

Implemented in ccny_rgbd::KeyframeGraphSolverG2O.


Member Data Documentation

the public nodehandle

Definition at line 72 of file keyframe_graph_solver.h.

the private nodehandle

Definition at line 73 of file keyframe_graph_solver.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends


ccny_rgbd
Author(s): Ivan Dryanovski
autogenerated on Fri Apr 12 2013 20:38:48