jafar::modeler::KinectModeler Class Reference

KinectModeler is a class that builds a mesh for an object from color and depth sequence. More...

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Detailed Description

KinectModeler is a class that builds a mesh for an object from color and depth sequence.

The obtained mesh can then be saved in PLY format.

Definition at line 44 of file kinect_modeler.hpp.

#include <kinect_modeler.hpp>

List of all members.

Classes
struct	edge_type
struct	vertex
	holds all the data about a vertex More...
Public Types
typedef ublas::bounded_vector < float, 3 >	fvec3
Public Member Functions
	KinectModeler (fdetect_v2::Detector< Feature > *_detector=new fdetect_v2::SURFDetectorT< Feature >(), gfm_v2::Matcher< Feature > *_matcher=new gfm_v2::GroupsMatcher< Feature >(new gfm::WindowMatchFocus(100000, 100000), 10, 10, 2, 20.0, 0.6, 0.6, 0.1, 0.2, 10000, 10, 0.4, 0.0))
void	add (const image::Image &color_img, const ublas::matrix< float > &depth_image)
void	build ()
void	analyse ()
void	write (const std::string &filename)
Protected Types
typedef fdetect_v2::InterestFeatureWithData < fdetect_v2::FloatDescriptor, cv::Point3f >	Feature
typedef fdetect_v2::DetectionResult < Feature >	DR
typedef gfm_v2::MatchingResult < Feature >	MR
typedef gfm_v2::GroupsMatcher < Feature >	GroupsMatcher
typedef gfm_v2::MatchSourceInfo < Feature >	MatchSourceInfoType
typedef boost::bimap< Feature *, unsigned int >	bm_type
typedef bm_type::left_map::const_iterator	features_citerator
typedef bm_type::right_map::const_iterator	indices_citerator
Protected Attributes
fdetect_v2::Detector< Feature > *	detector
	interest features detector
gfm_v2::Matcher< Feature > *	matcher
	interest features matcher
gfm_v2::EngineTracking< Feature > *	tracker
	interest feature tracker
bm_type	features_indices
std::map< unsigned int, DR >	sequence_detect
	storage of detection results
size_t	counter
unsigned int	index
unsigned int	global
int	status
std::map< unsigned int, vertex >	vertices
	map of vertexes data
Private Types
typedef boost::adjacency_list < boost::listS, boost::vecS, boost::directedS, boost::no_property, edge_type >	Graph
typedef Graph::edge_descriptor	Edge
typedef Graph::vertex_descriptor	Vertex
Private Member Functions
bool	is_invalid (const ublas::matrix< float > &M, size_t r)
	an entry row is said to be invalid if any of its elements is zero
bool	is_invalid (Feature *f, const ublas::matrix< float > &M, int width)
	a feature is said to be invalid, if its corresponding entry row is invalid
void	means (const MR &paired, fvec3 &ref_mean, fvec3 &match_mean)
void	erase (MR &mr, const std::vector< unsigned char > &outliers)
void	fill_cloud_with_contours (size_t image_idx)
	fills cloud_map at with points from the external contours of the image at index of images_map
template<class InputIterator , class OutputIterator , class T >
void	copy_others (InputIterator first, InputIterator last, OutputIterator result, const T &value)
Private Attributes
std::map< size_t, ublas::matrix< float > >	depth_map
std::map< size_t, image::Image >	images_map
std::map< size_t, pcl::PointCloud< pcl::PointXYZ > >	cloud_map
std::map< size_t, MatchSourceInfoType * >	match_infos
int	previous_width
MatchSourceInfoType *	m_source_info
jblas::mat44	H
	ICP performer.
fvec3	ref_mean
	means of ref points and match points
fvec3	match_mean
fvec3	transformed_mean
std::vector< unsigned char >	outliers
	outliers from ransac computation of T3D
Graph	images_graph
int	nb_componenets

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Member Function Documentation

void jafar::modeler::KinectModeler::erase	(	MR &	mr,
		const std::vector< unsigned char > &	outliers
	)		[inline, private]

Returns:

matching result mr cleaned from its outliers

Definition at line 163 of file kinect_modeler.hpp.

References jafar::gfm_v2::MatchingResult< InterestFeatureT >::begin(), jafar::gfm_v2::MatchingResult< InterestFeatureT >::end(), and jafar::gfm_v2::MatchingResult< InterestFeatureT >::erase().

void jafar::modeler::KinectModeler::means	(	const MR &	paired,
		fvec3 &	ref_mean,
		fvec3 &	match_mean
	)		[inline, private]

Returns:

barycenters of refs and matchs of a matching result

Definition at line 149 of file kinect_modeler.hpp.

References jafar::gfm_v2::MatchingResult< InterestFeatureT >::begin(), jafar::gfm_v2::MatchingResult< InterestFeatureT >::end(), and jafar::gfm_v2::MatchingResult< InterestFeatureT >::size().

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Member Data Documentation

jblas::mat44 jafar::modeler::KinectModeler::H [private]

ICP performer.

intermediate homography

Definition at line 120 of file kinect_modeler.hpp.

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

• modules/modeler/include/modeler/kinect_modeler.hpp