Point Cloud Library (PCL)  1.9.1-dev
List of all members | Classes | Public Types | Public Member Functions | Static Public Attributes
Evaluation Class Reference

class for RGB-D SLAM Dataset and Benchmark More...

#include </__w/1/s/gpu/kinfu/tools/evaluation.h>

Public Types

typedef boost::shared_ptr< EvaluationPtr
 
typedef pcl::gpu::KinfuTracker::PixelRGB RGB
 
typedef boost::shared_ptr< EvaluationPtr
 
typedef pcl::gpu::kinfuLS::PixelRGB RGB
 

Public Member Functions

 Evaluation (const std::string &folder)
 
void setMatchFile (const std::string &file)
 Sets file with matches between depth and rgb. More...
 
bool grab (double stamp, pcl::gpu::PtrStepSz< const RGB > &rgb24)
 Reads rgb frame from the folder. More...
 
bool grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth)
 Reads depth frame from the folder. More...
 
bool grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth, pcl::gpu::PtrStepSz< const RGB > &rgb24)
 Reads depth & rgb frame from the folder. More...
 
void saveAllPoses (const pcl::gpu::KinfuTracker &kinfu, int frame_number=-1, const std::string &logfile="kinfu_poses.txt") const
 
 Evaluation (const std::string &folder)
 
void setMatchFile (const std::string &file)
 Sets file with matches between depth and rgb. More...
 
bool grab (double stamp, pcl::gpu::PtrStepSz< const RGB > &rgb24)
 Reads rgb frame from the folder. More...
 
bool grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth)
 Reads depth frame from the folder. More...
 
bool grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth, pcl::gpu::PtrStepSz< const RGB > &rgb24)
 Reads depth & rgb frame from the folder. More...
 
void saveAllPoses (const pcl::gpu::kinfuLS::KinfuTracker &kinfu, int frame_number=-1, const std::string &logfile="kinfu_poses.txt") const
 

Static Public Attributes

static const float fx
 
static const float fy
 
static const float cx
 
static const float cy
 

Detailed Description

class for RGB-D SLAM Dataset and Benchmark

Author
Anatoly Baskeheev, Itseez Ltd, (mynam.nosp@m.e.my.nosp@m.surna.nosp@m.me@m.nosp@m.ycomp.nosp@m.any..nosp@m.com)

Definition at line 48 of file evaluation.h.

Member Typedef Documentation

typedef boost::shared_ptr<Evaluation> Evaluation::Ptr

Definition at line 51 of file evaluation.h.

typedef boost::shared_ptr<Evaluation> Evaluation::Ptr

Definition at line 51 of file evaluation.h.

Definition at line 52 of file evaluation.h.

Definition at line 52 of file evaluation.h.

Constructor & Destructor Documentation

Evaluation::Evaluation ( const std::string &  folder)
Evaluation::Evaluation ( const std::string &  folder)

Member Function Documentation

bool Evaluation::grab ( double  stamp,
pcl::gpu::PtrStepSz< const RGB > &  rgb24 
)

Reads rgb frame from the folder.

Parameters
stampindex of frame to read (stamps are not implemented)
rgb24
bool Evaluation::grab ( double  stamp,
pcl::gpu::PtrStepSz< const RGB > &  rgb24 
)

Reads rgb frame from the folder.

Parameters
stampindex of frame to read (stamps are not implemented)
rgb24
bool Evaluation::grab ( double  stamp,
pcl::gpu::PtrStepSz< const unsigned short > &  depth 
)

Reads depth frame from the folder.

Parameters
stampindex of frame to read (stamps are not implemented)
depth
bool Evaluation::grab ( double  stamp,
pcl::gpu::PtrStepSz< const unsigned short > &  depth 
)

Reads depth frame from the folder.

Parameters
stampindex of frame to read (stamps are not implemented)
depth
bool Evaluation::grab ( double  stamp,
pcl::gpu::PtrStepSz< const unsigned short > &  depth,
pcl::gpu::PtrStepSz< const RGB > &  rgb24 
)

Reads depth & rgb frame from the folder.

Before calling this folder please call 'setMatchFile', or an error will be returned otherwise.

Parameters
stampindex of accociated frame pair (stamps are not implemented)
depth
rgb24
bool Evaluation::grab ( double  stamp,
pcl::gpu::PtrStepSz< const unsigned short > &  depth,
pcl::gpu::PtrStepSz< const RGB > &  rgb24 
)

Reads depth & rgb frame from the folder.

Before calling this folder please call 'setMatchFile', or an error will be returned otherwise.

Parameters
stampindex of accociated frame pair (stamps are not implemented)
depth
rgb24
void Evaluation::saveAllPoses ( const pcl::gpu::KinfuTracker kinfu,
int  frame_number = -1,
const std::string &  logfile = "kinfu_poses.txt" 
) const
void Evaluation::saveAllPoses ( const pcl::gpu::kinfuLS::KinfuTracker kinfu,
int  frame_number = -1,
const std::string &  logfile = "kinfu_poses.txt" 
) const
void Evaluation::setMatchFile ( const std::string &  file)

Sets file with matches between depth and rgb.

void Evaluation::setMatchFile ( const std::string &  file)

Sets file with matches between depth and rgb.

Member Data Documentation

static const float Evaluation::cx
static

Definition at line 78 of file evaluation.h.

static const float Evaluation::cy
static

Definition at line 78 of file evaluation.h.

static const float Evaluation::fx
static

Definition at line 78 of file evaluation.h.

static const float Evaluation::fy
static

Definition at line 78 of file evaluation.h.


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