ccny_rgbd::MotionEstimation Class Reference

Base class for visual odometry motion estimation methods. More...

#include <motion_estimation.h>

Inheritance diagram for ccny_rgbd::MotionEstimation:

List of all members.

Public Types
enum	MotionConstraint { NONE = 0, ROLL_PITCH = 1, ROLL_PITCH_Z = 2 }
Public Member Functions
virtual int	getModelSize () const
	Return the size of the internal model. Overriden for classes that use a model.
tf::Transform	getMotionEstimation (RGBDFrame &frame)
	Main function for estimating motion.
	MotionEstimation (const ros::NodeHandle &nh, const ros::NodeHandle &nh_private)
	Constructor from ROS nodehandles.
void	setBaseToCameraTf (const tf::Transform &b2c)
	Set the transformation between the base and camera frames.
virtual	~MotionEstimation ()
	Default destructor.
Protected Member Functions
void	constrainMotion (tf::Transform &motion)
	Constrains the motion in accordance to the class motion constraints.
virtual bool	getMotionEstimationImpl (RGBDFrame &frame, const tf::Transform &prediction, tf::Transform &motion)=0
	Implementation of the motion estimation algorithm.
Protected Attributes
tf::Transform	b2c_
	Base (moving) frame to Camera-optical frame.
int	motion_constraint_
	The motion constraint type.
ros::NodeHandle	nh_
	The public nodehandle.
ros::NodeHandle	nh_private_
	The private nodehandle.

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Detailed Description

Base class for visual odometry motion estimation methods.

The motion is estimated in increments of the change of pose of the base frame. The increments are expressed wrt fixed frame.

Definition at line 40 of file motion_estimation.h.

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Member Enumeration Documentation

enum ccny_rgbd::MotionEstimation::MotionConstraint

Enumerator:

NONE
ROLL_PITCH
ROLL_PITCH_Z

Definition at line 44 of file motion_estimation.h.

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Constructor & Destructor Documentation

ccny_rgbd::MotionEstimation::MotionEstimation	(	const ros::NodeHandle &	nh,
		const ros::NodeHandle &	nh_private
	)

Constructor from ROS nodehandles.

Parameters:

nh	the public nodehandle
nh_private	the private nodehandle

Definition at line 28 of file motion_estimation.cpp.

ccny_rgbd::MotionEstimation::~MotionEstimation

(

)

[virtual]

Default destructor.

Definition at line 39 of file motion_estimation.cpp.

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Member Function Documentation

void ccny_rgbd::MotionEstimation::constrainMotion

(

tf::Transform &

motion

)

[protected]

Constrains the motion in accordance to the class motion constraints.

This method can be called by the inheriting classes if desired.

Parameters:

motion

the incremental motion which is constrained.

Definition at line 75 of file motion_estimation.cpp.

virtual int ccny_rgbd::MotionEstimation::getModelSize

(

)

const [inline, virtual]

Return the size of the internal model. Overriden for classes that use a model.

Returns:

the size of the model

Reimplemented in ccny_rgbd::MotionEstimationICPProbModel, and ccny_rgbd::MotionEstimationICP.

Definition at line 79 of file motion_estimation.h.

tf::Transform ccny_rgbd::MotionEstimation::getMotionEstimation

(

RGBDFrame &

frame

)

Main function for estimating motion.

The motion is equal to the change of pose of the base frame, and is expressed wrt the fixed frame

Pose_new = motion * Pose_old;

Parameters:

frame

The RGBD Frame for which the motion is estimated

Returns:

incremental motion transform

Todo:

this should return a covariance

Todo:

motion prediction disabled for now

Definition at line 44 of file motion_estimation.cpp.

virtual bool ccny_rgbd::MotionEstimation::getMotionEstimationImpl	(	RGBDFrame &	frame,
		const tf::Transform &	prediction,
		tf::Transform &	motion
	)		[protected, pure virtual]

Implementation of the motion estimation algorithm.

Parameters:

frame	the current RGBD frame
prediction	the motion prediction (currently ignored)
motion	the output motion

Return values:

true	the motion estimation was successful
false	the motion estimation failed

Implemented in ccny_rgbd::MotionEstimationICPProbModel, and ccny_rgbd::MotionEstimationICP.

void ccny_rgbd::MotionEstimation::setBaseToCameraTf

(

const tf::Transform &

b2c

)

Set the transformation between the base and camera frames.

Parameters:

b2c	The transform from the base frame to the camera frame, expressed wrt the base frame.

Definition at line 98 of file motion_estimation.cpp.

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Member Data Documentation

tf::Transform ccny_rgbd::MotionEstimation::b2c_ [protected]

Base (moving) frame to Camera-optical frame.

Definition at line 86 of file motion_estimation.h.

int ccny_rgbd::MotionEstimation::motion_constraint_ [protected]

The motion constraint type.

Definition at line 88 of file motion_estimation.h.

ros::NodeHandle ccny_rgbd::MotionEstimation::nh_ [protected]

The public nodehandle.

Definition at line 83 of file motion_estimation.h.

ros::NodeHandle ccny_rgbd::MotionEstimation::nh_private_ [protected]

The private nodehandle.

Definition at line 84 of file motion_estimation.h.

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

• motion_estimation.h
• motion_estimation.cpp