slam::Cluster Class Reference

#include <cluster.h>

List of all members.

Public Member Functions
	Cluster ()
	Class constructor.
	Cluster (int id, int frame_id, tf::Transform camera_pose, vector< cv::KeyPoint > kp_l, vector< cv::KeyPoint > kp_r, cv::Mat orb_desc, cv::Mat sift_desc, vector< cv::Point3f > points)
	Class constructor.
tf::Transform	getCameraPose () const
	Get camera pose.
int	getFrameId () const
	Get the frame id.
int	getId () const
	Get the cluster id.
vector< cv::KeyPoint >	getLeftKp () const
	Get left cv::KeyPoints.
cv::Mat	getOrb () const
	Get orb descriptors.
vector< cv::Point3f >	getPoints () const
	Get 3D camera points.
vector< cv::KeyPoint >	getRightKp () const
	Get right cv::KeyPoints.
cv::Mat	getSift () const
	Get sift descriptors.
vector< cv::Point3f >	getWorldPoints ()
	Computes and returns the 3D points in world coordinates.
Private Attributes
tf::Transform	camera_pose_
	> Corresponding frame id
int	frame_id_
	> Cluster id
int	id_
vector< cv::KeyPoint >	kp_l_
	> Camera world position
vector< cv::KeyPoint >	kp_r_
	> left cv::KeyPoints.
cv::Mat	orb_desc_
	> left cv::KeyPoints.
vector< cv::Point3f >	points_
	> Sift descriptors
cv::Mat	sift_desc_
	> ORB descriptors

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Detailed Description

Definition at line 20 of file cluster.h.

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Constructor & Destructor Documentation

slam::Cluster::Cluster

(

)

Class constructor.

Definition at line 8 of file cluster.cpp.

slam::Cluster::Cluster	(	int	id,
		int	frame_id,
		tf::Transform	camera_pose,
		vector< cv::KeyPoint >	kp_l,
		vector< cv::KeyPoint >	kp_r,
		cv::Mat	orb_desc,
		cv::Mat	sift_desc,
		vector< cv::Point3f >	points
	)

Class constructor.

Definition at line 10 of file cluster.cpp.

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Member Function Documentation

tf::Transform slam::Cluster::getCameraPose

(

)

const [inline]

Get camera pose.

Definition at line 68 of file cluster.h.

int slam::Cluster::getFrameId

(

)

const [inline]

Get the frame id.

Definition at line 44 of file cluster.h.

int slam::Cluster::getId

(

)

const [inline]

Get the cluster id.

Definition at line 40 of file cluster.h.

vector<cv::KeyPoint> slam::Cluster::getLeftKp

(

)

const [inline]

Get left cv::KeyPoints.

Definition at line 48 of file cluster.h.

cv::Mat slam::Cluster::getOrb

(

)

const [inline]

Get orb descriptors.

Definition at line 56 of file cluster.h.

vector<cv::Point3f> slam::Cluster::getPoints

(

)

const [inline]

Get 3D camera points.

Definition at line 64 of file cluster.h.

vector<cv::KeyPoint> slam::Cluster::getRightKp

(

)

const [inline]

Get right cv::KeyPoints.

Definition at line 52 of file cluster.h.

cv::Mat slam::Cluster::getSift

(

)

const [inline]

Get sift descriptors.

Definition at line 60 of file cluster.h.

vector< cv::Point3f > slam::Cluster::getWorldPoints

(

)

Computes and returns the 3D points in world coordinates.

Returns:

the 3D points in world coordinates

Definition at line 13 of file cluster.cpp.

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Member Data Documentation

tf::Transform slam::Cluster::camera_pose_ [private]

> Corresponding frame id

Definition at line 77 of file cluster.h.

int slam::Cluster::frame_id_ [private]

> Cluster id

Definition at line 75 of file cluster.h.

int slam::Cluster::id_ [private]

Definition at line 73 of file cluster.h.

vector<cv::KeyPoint> slam::Cluster::kp_l_ [private]

> Camera world position

Definition at line 79 of file cluster.h.

vector<cv::KeyPoint> slam::Cluster::kp_r_ [private]

> left cv::KeyPoints.

Definition at line 81 of file cluster.h.

cv::Mat slam::Cluster::orb_desc_ [private]

> left cv::KeyPoints.

Definition at line 83 of file cluster.h.

vector<cv::Point3f> slam::Cluster::points_ [private]

> Sift descriptors

Definition at line 86 of file cluster.h.

cv::Mat slam::Cluster::sift_desc_ [private]

> ORB descriptors

Definition at line 84 of file cluster.h.

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

• cluster.h
• cluster.cpp