#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 62 of file frame_projector.h.

Member Typedef Documentation

◆ RangeIndex

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

Definition at line 66 of file frame_projector.h.

Constructor & Destructor Documentation

◆ FrameProjector()

clams::FrameProjector::FrameProjector ( const rtabmap::CameraModel & model )

Definition at line 43 of file frame_projector.cpp.

Member Function Documentation

◆ cloudToRangeIndex()

FrameProjector::RangeIndex clams::FrameProjector::cloudToRangeIndex ( const pcl::PointCloud< pcl::PointXYZ >::Ptr & pcd ) const

Definition at line 50 of file frame_projector.cpp.

◆ coneFit()

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.

◆ estimateMapDepth()

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.

◆ project()

pcl::PointXYZ clams::FrameProjector::project ( const ProjectivePoint & ppt ) const

Definition at line 81 of file frame_projector.cpp.

◆ reproject()

ProjectivePoint clams::FrameProjector::reproject ( const pcl::PointXYZ & pt ) const

Definition at line 91 of file frame_projector.cpp.

Member Data Documentation

◆ model_

rtabmap::CameraModel clams::FrameProjector::model_

private

Definition at line 90 of file frame_projector.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Attributes