Public Member Functions | Private Attributes
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

Detailed Description

Definition at line 20 of file cluster.h.


Constructor & Destructor Documentation

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.


Member Function Documentation

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.


Member Data Documentation

> 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.


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


stereo_slam
Author(s): Pep Lluis Negre
autogenerated on Thu Jun 6 2019 21:40:57