clams::FrameProjector Class Reference

#include <frame_projector.h>

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

Public Member Functions
	FrameProjector (const rtabmap::CameraModel &model)
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
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

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.

Member Function Documentation

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.

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

• corelib/include/rtabmap/core/clams/frame_projector.h