Evaluation Class Reference

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

#include </builddir/build/BUILD/pcl-1.15.0-build/pcl-pcl-1.15.0/gpu/kinfu/tools/evaluation.h>

Public Types
using	Ptr = pcl::shared_ptr<Evaluation>
using	ConstPtr = pcl::shared_ptr<const Evaluation>
using	RGB = pcl::gpu::KinfuTracker::PixelRGB
using	Ptr = pcl::shared_ptr<Evaluation>
using	ConstPtr = pcl::shared_ptr<const Evaluation>
using	RGB = pcl::gpu::kinfuLS::PixelRGB

Public Member Functions
	Evaluation (const std::string &folder)
void	setMatchFile (const std::string &file)
	Sets file with matches between depth and rgb.
bool	grab (double stamp, pcl::gpu::PtrStepSz< const RGB > &rgb24)
	Reads rgb frame from the folder.
bool	grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth)
	Reads depth frame from the folder.
bool	grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth, pcl::gpu::PtrStepSz< const RGB > &rgb24)
	Reads depth & rgb frame from the folder.
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.
bool	grab (double stamp, pcl::gpu::PtrStepSz< const RGB > &rgb24)
	Reads rgb frame from the folder.
bool	grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth)
	Reads depth frame from the folder.
bool	grab (double stamp, pcl::gpu::PtrStepSz< const unsigned short > &depth, pcl::gpu::PtrStepSz< const RGB > &rgb24)
	Reads depth & rgb frame from the folder.
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 50 of file evaluation.h.

Member Typedef Documentation

ConstPtr [1/2]

using Evaluation::ConstPtr = pcl::shared_ptr<const Evaluation>

Definition at line 54 of file evaluation.h.

ConstPtr [2/2]

using Evaluation::ConstPtr = pcl::shared_ptr<const Evaluation>

Definition at line 54 of file evaluation.h.

Ptr [1/2]

using Evaluation::Ptr = pcl::shared_ptr<Evaluation>

Definition at line 53 of file evaluation.h.

Ptr [2/2]

using Evaluation::Ptr = pcl::shared_ptr<Evaluation>

Definition at line 53 of file evaluation.h.

RGB [1/2]

using Evaluation::RGB = pcl::gpu::KinfuTracker::PixelRGB

Definition at line 55 of file evaluation.h.

RGB [2/2]

using Evaluation::RGB = pcl::gpu::kinfuLS::PixelRGB

Definition at line 55 of file evaluation.h.

Constructor & Destructor Documentation

Evaluation() [1/2]

Evaluation::Evaluation

(

const std::string &

folder

)

Evaluation() [2/2]

Evaluation::Evaluation

(

const std::string &

folder

)

Member Function Documentation

grab() [1/6]

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

Reads rgb frame from the folder.

Parameters

stamp	index of frame to read (stamps are not implemented)
rgb24

grab() [2/6]

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

Reads rgb frame from the folder.

Parameters

stamp	index of frame to read (stamps are not implemented)
rgb24

grab() [3/6]

bool Evaluation::grab	(	double	stamp,
		pcl::gpu::PtrStepSz< const unsigned short > &	depth )

Reads depth frame from the folder.

Parameters

stamp	index of frame to read (stamps are not implemented)
depth

grab() [4/6]

bool Evaluation::grab	(	double	stamp,
		pcl::gpu::PtrStepSz< const unsigned short > &	depth )

Reads depth frame from the folder.

Parameters

stamp	index of frame to read (stamps are not implemented)
depth

grab() [5/6]

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

stamp	index of associated frame pair (stamps are not implemented)
depth
rgb24

grab() [6/6]

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

stamp	index of associated frame pair (stamps are not implemented)
depth
rgb24

References cx, cy, fx, and fy.

saveAllPoses() [1/2]

void Evaluation::saveAllPoses	(	const pcl::gpu::kinfuLS::KinfuTracker &	kinfu,
		int	frame_number = -1,
		const std::string &	logfile = "kinfu_poses.txt" ) const

saveAllPoses() [2/2]

void Evaluation::saveAllPoses	(	const pcl::gpu::KinfuTracker &	kinfu,
		int	frame_number = -1,
		const std::string &	logfile = "kinfu_poses.txt" ) const

setMatchFile() [1/2]

void Evaluation::setMatchFile

(

const std::string &

file

)

Sets file with matches between depth and rgb.

setMatchFile() [2/2]

void Evaluation::setMatchFile

(

const std::string &

file

)

Sets file with matches between depth and rgb.

Member Data Documentation

cx

const float Evaluation::cx

static

Definition at line 81 of file evaluation.h.

Referenced by grab().

cy

const float Evaluation::cy

static

Definition at line 81 of file evaluation.h.

Referenced by grab().

fx

const float Evaluation::fx

static

Definition at line 81 of file evaluation.h.

Referenced by grab().

fy

const float Evaluation::fy

static

Definition at line 81 of file evaluation.h.

Referenced by grab().

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

• /builddir/build/BUILD/pcl-1.15.0-build/pcl-pcl-1.15.0/gpu/kinfu/tools/evaluation.h
• /builddir/build/BUILD/pcl-1.15.0-build/pcl-pcl-1.15.0/gpu/kinfu_large_scale/tools/evaluation.h