clams::FrameProjector Class Reference

#include <frame_projector.h>

Public Types
typedef std::vector< std::vector< std::vector< double > > >	RangeIndex

Public Member Functions
RangeIndex	cloudToRangeIndex (const pcl::PointCloud< pcl::PointXYZ >::Ptr &pcd) const
cv::Mat	estimateMapDepth (const pcl::PointCloud< pcl::PointXYZ >::Ptr &map, const rtabmap::Transform &transform, const cv::Mat &measurement, double coneRadius=0.02, double coneStdevThresh=0.03) const
	FrameProjector (const rtabmap::CameraModel &model)
pcl::PointXYZ	project (const ProjectivePoint &ppt) const
ProjectivePoint	reproject (const pcl::PointXYZ &pt) const

Protected Member Functions
bool	coneFit (const cv::Size &imageSize, const RangeIndex &rindex, int uc, int vc, double radius, double measurement_depth, double *mean, double *stdev) const

Private Attributes
rtabmap::CameraModel	model_

Detailed Description

This is essentially a pinhole camera model for an RGBD sensor, with some extra functions added on for use during calibration.

Definition at line 63 of file frame_projector.h.

Member Typedef Documentation

typedef std::vector< std::vector< std::vector<double> > > clams::FrameProjector::RangeIndex

Definition at line 67 of file frame_projector.h.

Constructor & Destructor Documentation

clams::FrameProjector::FrameProjector

(

const rtabmap::CameraModel &

model

)

Definition at line 43 of file frame_projector.cpp.

Member Function Documentation

FrameProjector::RangeIndex clams::FrameProjector::cloudToRangeIndex

(

const pcl::PointCloud< pcl::PointXYZ >::Ptr &

pcd

)

const

Definition at line 50 of file frame_projector.cpp.

bool clams::FrameProjector::coneFit ( const cv::Size &  imageSize, const RangeIndex &  rindex, int  uc, int  vc, double  radius, double  measurement_depth, double *  mean, double *  stdev  ) const

protected

Definition at line 176 of file frame_projector.cpp.

cv::Mat clams::FrameProjector::estimateMapDepth	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	map,
		const rtabmap::Transform &	transform,
		const cv::Mat &	measurement,
		double	coneRadius = 0.02,
		double	coneStdevThresh = 0.03
	)		const

transform is applied to the map, then projected into a depth index. The best depth estimate from the map corresponding to the measurement depth frame will be returned.

Definition at line 106 of file frame_projector.cpp.

pcl::PointXYZ clams::FrameProjector::project

(

const ProjectivePoint &

ppt

)

const

Definition at line 81 of file frame_projector.cpp.

ProjectivePoint clams::FrameProjector::reproject

(

const pcl::PointXYZ &

pt

)

const

Definition at line 91 of file frame_projector.cpp.

Member Data Documentation

rtabmap::CameraModel clams::FrameProjector::model_

private

Definition at line 91 of file frame_projector.h.

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

• frame_projector.h
• frame_projector.cpp