clams::FrameProjector Class Reference

#include <frame_projector.h>

List of all members.

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_

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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.

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Member Typedef Documentation

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

Definition at line 67 of file frame_projector.h.

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Constructor & Destructor Documentation

clams::FrameProjector::FrameProjector

(

const rtabmap::CameraModel &

model

)

Definition at line 42 of file frame_projector.cpp.

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Member Function Documentation

FrameProjector::RangeIndex clams::FrameProjector::cloudToRangeIndex

(

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

pcd

)

const

Definition at line 49 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 175 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 105 of file frame_projector.cpp.

pcl::PointXYZ clams::FrameProjector::project

(

const ProjectivePoint &

ppt

)

const

Definition at line 80 of file frame_projector.cpp.

ProjectivePoint clams::FrameProjector::reproject

(

const pcl::PointXYZ &

pt

)

const

Definition at line 90 of file frame_projector.cpp.

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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