Frame Class Reference

#include <frame.h>

List of all members.

Public Member Functions
void	convertToPcl (std::vector< int > &idx_points, std::vector< cv::Point3f > points_out, int keyframe_id, pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr &pointcloud)
void	convertToPcl (std::vector< cv::Point3f > points_out, int keyframe_id, pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr &pointcloud)
	Frame ()
	Contructor for an empty object.
	Frame (ucl_drone::ProcessedImageMsg::ConstPtr msg)
	Contructor: msg is used for the initialization.
	~Frame ()
	Destructor.
Public Attributes
cv::Mat	descriptors
	descriptors of keypoints in OpenCV format
std::vector< cv::Point2f >	imgPoints
	3D coordinates of keypoints in OpenCV format
ucl_drone::ProcessedImageMsg	msg
	ProcessedImage Message.
ucl_drone::Pose3D	pose_visual_msg
	visual pose estimated (not used in this implementation)

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Detailed Description

A Frame object stores ImageProcessed message and posseses facilities to convert 2D points in OpenCV format. There are also facilities to convert 3D points to PCL format. In the future Frame objects can also be useful for Bundle Adjustment

Definition at line 48 of file frame.h.

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Constructor & Destructor Documentation

Frame::Frame

(

)

Contructor for an empty object.

Definition at line 13 of file frame.cpp.

Frame::Frame

(

ucl_drone::ProcessedImageMsg::ConstPtr

msg

)

Contructor: msg is used for the initialization.

Definition at line 17 of file frame.cpp.

Frame::~Frame

(

)

Destructor.

Definition at line 40 of file frame.cpp.

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Member Function Documentation

void Frame::convertToPcl	(	std::vector< int > &	idx_points,
		std::vector< cv::Point3f >	points_out,
		int	keyframe_id,
		pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr &	pointcloud
	)

This function converts points to the PCL format

Parameters:

[in]	idx_points,:	indexes (in this->imgPoints) of points to be converted
[in]	points_out,:	3D points in the OpenCV format to be converted in PCL
[in]	keyframe_id,:	used to fill in the field which correponds in XYZRGBSIFTPoint
[out]	pointcloud,:	result of the conversion to PCL format

Definition at line 152 of file frame.cpp.

void Frame::convertToPcl	(	std::vector< cv::Point3f >	points_out,
		int	keyframe_id,
		pcl::PointCloud< pcl::PointXYZRGBSIFT >::Ptr &	pointcloud
	)

This function converts all points to the PCL format

Parameters:

[in]	points_out,:	points to be converted in the OpenCV format
[in]	keyframe_id,:	used to fill in the field which correponds in XYZRGBSIFTPoint
[out]	pointcloud,:	result of the conversion to PCL format

Definition at line 186 of file frame.cpp.

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Member Data Documentation

cv::Mat Frame::descriptors

descriptors of keypoints in OpenCV format

Definition at line 80 of file frame.h.

std::vector< cv::Point2f > Frame::imgPoints

3D coordinates of keypoints in OpenCV format

Definition at line 78 of file frame.h.

ucl_drone::ProcessedImageMsg Frame::msg

ProcessedImage Message.

Definition at line 77 of file frame.h.

ucl_drone::Pose3D Frame::pose_visual_msg

visual pose estimated (not used in this implementation)

Definition at line 79 of file frame.h.

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

• frame.h
• frame.cpp