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2026-09-28 16:36:22 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.13</ span >
2026-08-06 22:56:24 +00:00
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< a href = "#pub-types" > Public Types</ a > |
< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classclams_1_1FrameProjector-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > clams::FrameProjector Class Reference</ div ></ div >
</ div > <!--header-->
< div class = "contents" >
< p >< code > #include < < a class = "el" href = "frame__projector_8h_source.html" > frame_projector.h</ a > > </ code ></ p >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-types" name = "pub-types" ></ a >
Public Types</ h2 ></ td ></ tr >
< tr class = "memitem:a16e9cf95972f5c84af1682f75fedd005" id = "r_a16e9cf95972f5c84af1682f75fedd005" >< td class = "memItemLeft" align = "right" valign = "top" > typedef std::vector< std::vector< std::vector< double > > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classclams_1_1FrameProjector.html#a16e9cf95972f5c84af1682f75fedd005" > RangeIndex</ a ></ td ></ tr >
< tr class = "separator:a16e9cf95972f5c84af1682f75fedd005" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:aa7f474fb4842c2f7930acb9f1b07f8bc" id = "r_aa7f474fb4842c2f7930acb9f1b07f8bc" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa7f474fb4842c2f7930acb9f1b07f8bc" name = "aa7f474fb4842c2f7930acb9f1b07f8bc" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > FrameProjector</ b > (const < a class = "el" href = "classrtabmap_1_1CameraModel.html" > rtabmap::CameraModel</ a > & model)</ td ></ tr >
< tr class = "separator:aa7f474fb4842c2f7930acb9f1b07f8bc" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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RangeIndex  </ td >< td class = "memItemRight" valign = "bottom" >< b > cloudToRangeIndex</ b > (const pcl::PointCloud< pcl::PointXYZ > ::Ptr & pcd) const</ td ></ tr >
< tr class = "separator:ad0b1c866e8bfce2f7a4dba9e9540dd15" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a26c74a7a7f6f6e9c2e18d6a38693699c" id = "r_a26c74a7a7f6f6e9c2e18d6a38693699c" >< td class = "memItemLeft" align = "right" valign = "top" > cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classclams_1_1FrameProjector.html#a26c74a7a7f6f6e9c2e18d6a38693699c" > estimateMapDepth</ a > (const pcl::PointCloud< pcl::PointXYZ > ::Ptr & map, const < a class = "el" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > & transform, const cv::Mat & measurement, double coneRadius=0.02, double coneStdevThresh=0.03) const</ td ></ tr >
< tr class = "separator:a26c74a7a7f6f6e9c2e18d6a38693699c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab3547d615ac67279f44faf0752909337" id = "r_ab3547d615ac67279f44faf0752909337" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ab3547d615ac67279f44faf0752909337" name = "ab3547d615ac67279f44faf0752909337" ></ a >
pcl::PointXYZ  </ td >< td class = "memItemRight" valign = "bottom" >< b > project</ b > (const < a class = "el" href = "classclams_1_1ProjectivePoint.html" > ProjectivePoint</ a > & ppt) const</ td ></ tr >
< tr class = "separator:ab3547d615ac67279f44faf0752909337" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a409fe7bcf0d873c06110d30d795baf89" id = "r_a409fe7bcf0d873c06110d30d795baf89" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a409fe7bcf0d873c06110d30d795baf89" name = "a409fe7bcf0d873c06110d30d795baf89" ></ a >
< a class = "el" href = "classclams_1_1ProjectivePoint.html" > ProjectivePoint</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > reproject</ b > (const pcl::PointXYZ & pt) const</ td ></ tr >
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Protected Member Functions</ h2 ></ td ></ tr >
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bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > coneFit</ b > (const cv::Size & imageSize, const RangeIndex & rindex, int uc, int vc, double radius, double measurement_depth, double *mean, double *stdev) const</ td ></ tr >
< tr class = "separator:aee478040703319cc4696894e773b8e19" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > This is essentially a pinhole camera model for an RGBD sensor, with some extra functions added on for use during calibration. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "frame__projector_8h_source.html#l00062" > 62</ a > of file < a class = "el" href = "frame__projector_8h_source.html" > frame_projector.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Typedef Documentation</ h2 >
< a id = "a16e9cf95972f5c84af1682f75fedd005" name = "a16e9cf95972f5c84af1682f75fedd005" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a16e9cf95972f5c84af1682f75fedd005" > ◆  </ a ></ span > RangeIndex</ h2 >
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< td class = "memname" > typedef std::vector< std::vector< std::vector< double> > > clams::FrameProjector::RangeIndex</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "frame__projector_8h_source.html#l00066" > 66</ a > of file < a class = "el" href = "frame__projector_8h_source.html" > frame_projector.h</ a > .</ p >
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< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a26c74a7a7f6f6e9c2e18d6a38693699c" name = "a26c74a7a7f6f6e9c2e18d6a38693699c" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a26c74a7a7f6f6e9c2e18d6a38693699c" > ◆  </ a ></ span > estimateMapDepth()</ h2 >
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< td class = "memname" > cv::Mat clams::FrameProjector::estimateMapDepth </ td >
< td > (</ td >
< td class = "paramtype" > const pcl::PointCloud< pcl::PointXYZ > ::Ptr &  </ td >
< td class = "paramname" >< em > map</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > &  </ td >
< td class = "paramname" >< em > transform</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > measurement</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > coneRadius</ em > = < code > 0.02</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > coneStdevThresh</ em > = < code > 0.03</ code >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > 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. </ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/clams/< a class = "el" href = "frame__projector_8h_source.html" > frame_projector.h</ a ></ li >
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< li class = "navelem" >< b > clams</ b ></ li >< li class = "navelem" >< a class = "el" href = "classclams_1_1FrameProjector.html" > FrameProjector</ a ></ li >
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