frame_common::PointcloudProc Class Reference
#include <frame.h>
List of all members.
Public Member Functions |
| void | match (const Frame &frame0, const Frame &frame1, const Eigen::Vector3d &trans, const Eigen::Quaterniond &rot, std::vector< cv::DMatch > &matches) const |
| | Match points with previous frame, given an initial pose estimate.
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| void | setPointcloud (Frame &frame, const pcl::PointCloud< pcl::PointXYZRGB > &input_cloud) const |
| | Add a pointcloud to the frame, doing all the necessary pre-processing (downsampling, computing normals, and filering based on curvature).
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Private Member Functions |
| void | getMatchingIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal > &input, const pcl::PointCloud< pcl::PointXYZRGBNormal > &output, std::vector< int > &input_indices, std::vector< int > &output_indices) const |
| | Find matches between two pointclouds using nearest neighbor KDtree search.
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| Eigen::Vector3d | projectPoint (Eigen::Vector4d &point, CamParams cam) const |
| | Project a 3D point into the image frame.
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| void | reduceCloud (const pcl::PointCloud< pcl::PointXYZRGB > &input, pcl::PointCloud< pcl::PointXYZRGBNormal > &output) const |
| | Subsample cloud for faster matching and processing, while filling in normals.
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Detailed Description
Definition at line 190 of file frame.h.
Member Function Documentation
| void frame_common::PointcloudProc::getMatchingIndices |
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const pcl::PointCloud< pcl::PointXYZRGBNormal > & |
input, |
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const pcl::PointCloud< pcl::PointXYZRGBNormal > & |
output, |
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std::vector< int > & |
input_indices, |
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std::vector< int > & |
output_indices | |
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) |
| | const [private] |
Find matches between two pointclouds using nearest neighbor KDtree search.
| void frame_common::PointcloudProc::match |
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const Frame & |
frame0, |
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const Frame & |
frame1, |
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const Eigen::Vector3d & |
trans, |
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const Eigen::Quaterniond & |
rot, |
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std::vector< cv::DMatch > & |
matches | |
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) |
| | const |
Match points with previous frame, given an initial pose estimate.
Definition at line 336 of file frame.cpp.
| Eigen::Vector3d frame_common::PointcloudProc::projectPoint |
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Eigen::Vector4d & |
point, |
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CamParams |
cam | |
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) |
| | const [private] |
Project a 3D point into the image frame.
Definition at line 490 of file frame.cpp.
| void frame_common::PointcloudProc::reduceCloud |
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const pcl::PointCloud< pcl::PointXYZRGB > & |
input, |
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pcl::PointCloud< pcl::PointXYZRGBNormal > & |
output | |
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) |
| | const [private] |
Subsample cloud for faster matching and processing, while filling in normals.
| void frame_common::PointcloudProc::setPointcloud |
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Frame & |
frame, |
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const pcl::PointCloud< pcl::PointXYZRGB > & |
input_cloud | |
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) |
| | const |
Add a pointcloud to the frame, doing all the necessary pre-processing (downsampling, computing normals, and filering based on curvature).
Definition at line 306 of file frame.cpp.
The documentation for this class was generated from the following files:
