Point Cloud Library (PCL)  1.14.1-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

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. 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 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]

Definition at line 55 of file evaluation.h.

◆ RGB [2/2]

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

◆ 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

static const float Evaluation::cx
static

Definition at line 81 of file evaluation.h.

◆ cy

static const float Evaluation::cy
static

Definition at line 81 of file evaluation.h.

◆ fx

static const float Evaluation::fx
static

Definition at line 81 of file evaluation.h.

◆ fy

static const float Evaluation::fy
static

Definition at line 81 of file evaluation.h.


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