frame_common::FrameExtended Class Reference

Inheritance diagram for frame_common::FrameExtended:

Public Member Functions
template<typename PointT , typename PointNT >
void	estimateNormals (const pcl::PointCloud< PointT > &input, const pcl::PointIndices &indices, pcl::PointCloud< PointNT > &output)
	Estimates point normals and surface flatness measures for point-to-plane matching.
void	match (frame_common::FrameExtended &frame, const Eigen::Vector3d &trans, const Eigen::Quaterniond &rot, std::vector< cv::DMatch > &matches)
	Match points with previous frame, given an initial pose estimate of trans and rot.
void	setPointcloud (const pcl::PointCloud< pcl::PointXYZRGB > &input_cloud)
	Add a pointcloud to the frame, doing all the necessary pre-processing (downsampling, computing normals, and filering based on curvature).
Public Attributes
pcl::PointCloud < pcl::PointXYZRGBNormal >	cloud
	Point Cloud dataset. Contains: XYZ data + NormalXYZ data + Surface flatness (curvature) measure.
pcl::PointIndices	indices
	Set of point indices that correspond to the data that we care about in cloud.
Private Member Functions
void	getMatchingIndices (PointCloud< PointXYZRGBNormal > &input, PointCloud< PointXYZRGBNormal > &output, std::vector< int > &input_indices, std::vector< int > &output_indices)
Eigen::Vector3d	projectPoint (Eigen::Vector4d &point)
void	reduceCloud (const PointCloud< PointXYZRGB > &input, PointCloud< PointXYZRGBNormal > &output)

Detailed Description

Extended Frame class.

Definition at line 65 of file frame_extended.h.

template<typename PointT , typename PointNT >

void frame_common::FrameExtended::estimateNormals	(	const pcl::PointCloud< PointT > &	input,
		const pcl::PointIndices &	indices,
		pcl::PointCloud< PointNT > &	output
	)			`[inline]`

Estimates point normals and surface flatness measures for point-to-plane matching.

Definition at line 75 of file frame_extended.h.

void frame_common::FrameExtended::getMatchingIndices	(	PointCloud< PointXYZRGBNormal > &	input,
		PointCloud< PointXYZRGBNormal > &	output,
		std::vector< int > &	input_indices,
		std::vector< int > &	output_indices
	)			`[inline, private]`

Definition at line 226 of file frame_extended.h.

void frame_common::FrameExtended::match	(	frame_common::FrameExtended &	frame,
		const Eigen::Vector3d &	trans,
		const Eigen::Quaterniond &	rot,
		std::vector< cv::DMatch > &	matches
	)			`[inline]`

Match points with previous frame, given an initial pose estimate of trans and rot.

Definition at line 92 of file frame_extended.h.

Eigen::Vector3d frame_common::FrameExtended::projectPoint ( Eigen::Vector4d & point ) [inline, private]

Definition at line 260 of file frame_extended.h.

void frame_common::FrameExtended::reduceCloud	(	const PointCloud< PointXYZRGB > &	input,
		PointCloud< PointXYZRGBNormal > &	output
	)			`[inline, private]`

Definition at line 179 of file frame_extended.h.

void frame_common::FrameExtended::setPointcloud ( const pcl::PointCloud< pcl::PointXYZRGB > & input_cloud ) [inline]

Add a pointcloud to the frame, doing all the necessary pre-processing (downsampling, computing normals, and filering based on curvature).

Definition at line 149 of file frame_extended.h.

pcl::PointCloud<pcl::PointXYZRGBNormal> frame_common::FrameExtended::cloud

Point Cloud dataset. Contains: XYZ data + NormalXYZ data + Surface flatness (curvature) measure.

Definition at line 69 of file frame_extended.h.

Set of point indices that correspond to the data that we care about in cloud.

Definition at line 71 of file frame_extended.h.

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