A sensor frame represented as a surfel set for joint registration. More...

#include <Surfel.hpp>

Public Attributes
int	node_id = -1
CloudPtr	points
	pcl::PointXYZRGB in optical frame
CloudNPtr	normals
	pcl::Normal in optical frame (unit, facing camera)
Eigen::Affine3f	world_pose = Eigen::Affine3f::Identity()

Detailed Description

A sensor frame represented as a surfel set for joint registration.

Points and normals are stored in the camera OPTICAL frame; the current world pose maps them to world coordinates: world_pt = world_pose * optical_pt The registration optimizer refines world_pose while the points/normals stay fixed in the optical frame. world_pose is the composition worldTf * localTf, i.e. the seed equals to_affine(pose) * to_affine(intrinsics.local_transform).

Definition at line 22 of file Surfel.hpp.

Member Data Documentation

◆ node_id

int reusex::geometry::FrameSurfels::node_id = -1

Definition at line 23 of file Surfel.hpp.

◆ normals

CloudNPtr reusex::geometry::FrameSurfels::normals

pcl::Normal in optical frame (unit, facing camera)

Definition at line 25 of file Surfel.hpp.

◆ points

CloudPtr reusex::geometry::FrameSurfels::points

pcl::PointXYZRGB in optical frame

Definition at line 24 of file Surfel.hpp.

◆ world_pose

Eigen::Affine3f reusex::geometry::FrameSurfels::world_pose = Eigen::Affine3f::Identity()

Definition at line 26 of file Surfel.hpp.

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

libs/reusex/include/segmentation/Surfel.hpp