geometry.hpp File Reference

Declarations for geometry-related calculations. More...

`#include "general_resources.hpp"`
`#include "opencv_resources.hpp"`
`#include "pcl_resources.hpp"`
`#include "ros_resources.hpp"`
`#include <Eigen/Geometry>`
Include dependency graph for geometry.hpp:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

## Defines

#define ALGEBRAIC_DISTANCE   1
#define DEFAULT_ASSIGN_MODE   0
#define EPIPOLAR_DISTANCE   2
#define LOURAKIS_DISTANCE   3
#define MAPPER_ASSIGN_MODE   1
#define SAMPSON_DISTANCE   0

## Typedefs

typedef Eigen::Matrix< float,
3, 3, Eigen::RowMajor >
Matrix3frm
typedef Eigen::Quaternion< double > QuaternionDbl

## Functions

void assignPose (geometry_msgs::PoseStamped &pPose, cv::Mat &C, int idx, ros::Time timestamp, int mode=DEFAULT_ASSIGN_MODE)
double calcGeometryDistance (cv::Point2f &pt1, cv::Point2f &pt2, cv::Mat &mat, int distMethod=SAMPSON_DISTANCE)
double calculateGRIC (std::vector< cv::Point2f > &pts1, std::vector< cv::Point2f > &pts2, cv::Mat &rel, cv::Mat &mask, int d, double k, double r, double lambda_3, int distMethod)
double calculateRho (double e, double sig, double r, double lambda_3, int d)
void composeTransform (const cv::Mat &R, const cv::Mat &t, cv::Mat &c)
void convert3frmToRmat (const Matrix3frm &R_src, cv::Mat &R_dst)
void convertAndShiftPoseFormat (const geometry_msgs::Pose &pose, cv::Mat &t, Eigen::Quaternion< double > &Q)
void convertAndShiftPoseFormat (const cv::Mat &t, const Eigen::Quaternion< double > &Q, geometry_msgs::Pose &pose)
void convertEigenvecToTvec (const Eigen::Vector3f &T_src, cv::Mat &T_dst)
void convertPoseFormat (const geometry_msgs::Pose &pose, cv::Mat &t, Eigen::Quaternion< double > &Q)
void convertPoseFormat (const cv::Mat &t, const Eigen::Quaternion< double > &Q, geometry_msgs::Pose &pose)
void convertRmatTo3frm (const cv::Mat &R_src, Matrix3frm &R_dst)
void convertTvecToEigenvec (const cv::Mat &T_src, Eigen::Vector3f &T_dst)
void decomposeTransform (const cv::Mat &c, cv::Mat &R, cv::Mat &t)
double lourakisSampsonError (cv::Point2f &pt1, cv::Point2f &pt2, cv::Mat &H)
void matrixToQuaternion (const cv::Mat &mat, Eigen::Quaternion< double > &quat)
int minProjections (int pairs)
Minimum number of projections required to achieve the specified number of pairs.
double normalizedGRICdifference (std::vector< cv::Point2f > &pts1, std::vector< cv::Point2f > &pts2, cv::Mat &F, cv::Mat &H, cv::Mat &mask_F, cv::Mat &mask_H, double &F_GRIC, double &H_GRIC)
int possiblePairs (int projections)
Maximum possible number of pairs able to be achieved with specified number of projections.
void projectionToRotation (const cv::Mat &src, cv::Mat &dst)
void projectionToTransformation (const cv::Mat &proj, cv::Mat &trans)
void quaternionToMatrix (const Eigen::Quaternion< double > &quat, cv::Mat &mat, bool handedness=false)
void rotationToProjection (const cv::Mat &src, cv::Mat &dst)
void transformationToProjection (const cv::Mat &trans, cv::Mat &proj)
void transformPoints (cv::vector< cv::Point3d > &pts, unsigned int option=0)
void transformPoints (cv::vector< cv::Point3d > &pts, int *options)

## Detailed Description

Declarations for geometry-related calculations.

Definition in file geometry.hpp.

## Define Documentation

 #define ALGEBRAIC_DISTANCE   1

Definition at line 22 of file geometry.hpp.

 #define DEFAULT_ASSIGN_MODE   0

Definition at line 26 of file geometry.hpp.

 #define EPIPOLAR_DISTANCE   2

Definition at line 23 of file geometry.hpp.

 #define LOURAKIS_DISTANCE   3

Definition at line 24 of file geometry.hpp.

 #define MAPPER_ASSIGN_MODE   1

Definition at line 27 of file geometry.hpp.

 #define SAMPSON_DISTANCE   0

Definition at line 21 of file geometry.hpp.

## Typedef Documentation

 typedef Eigen::Matrix Matrix3frm

Definition at line 15 of file geometry.hpp.

 typedef Eigen::Quaternion QuaternionDbl

Definition at line 16 of file geometry.hpp.

## Function Documentation

 void assignPose ( geometry_msgs::PoseStamped & pPose, cv::Mat & C, int idx, ros::Time timestamp, int mode = `DEFAULT_ASSIGN_MODE` )

Definition at line 113 of file geometry.cpp.

 double calcGeometryDistance ( cv::Point2f & pt1, cv::Point2f & pt2, cv::Mat & mat, int distMethod = `SAMPSON_DISTANCE` )

Definition at line 718 of file geometry.cpp.

 double calculateGRIC ( std::vector< cv::Point2f > & pts1, std::vector< cv::Point2f > & pts2, cv::Mat & rel, cv::Mat & mask, int d, double k, double r, double lambda_3, int distMethod )

Definition at line 666 of file geometry.cpp.

 double calculateRho ( double e, double sig, double r, double lambda_3, int d )

Definition at line 709 of file geometry.cpp.

 void composeTransform ( const cv::Mat & R, const cv::Mat & t, cv::Mat & c )

Definition at line 367 of file geometry.cpp.

 void convert3frmToRmat ( const Matrix3frm & R_src, cv::Mat & R_dst )

Definition at line 218 of file geometry.cpp.

 void convertAndShiftPoseFormat ( const geometry_msgs::Pose & pose, cv::Mat & t, Eigen::Quaternion< double > & Q )

Definition at line 342 of file geometry.cpp.

 void convertAndShiftPoseFormat ( const cv::Mat & t, const Eigen::Quaternion< double > & Q, geometry_msgs::Pose & pose )

Definition at line 354 of file geometry.cpp.

 void convertEigenvecToTvec ( const Eigen::Vector3f & T_src, cv::Mat & T_dst )

Definition at line 210 of file geometry.cpp.

 void convertPoseFormat ( const geometry_msgs::Pose & pose, cv::Mat & t, Eigen::Quaternion< double > & Q )

Definition at line 330 of file geometry.cpp.

 void convertPoseFormat ( const cv::Mat & t, const Eigen::Quaternion< double > & Q, geometry_msgs::Pose & pose )

Definition at line 317 of file geometry.cpp.

 void convertRmatTo3frm ( const cv::Mat & R_src, Matrix3frm & R_dst )

Definition at line 190 of file geometry.cpp.

 void convertTvecToEigenvec ( const cv::Mat & T_src, Eigen::Vector3f & T_dst )

Definition at line 204 of file geometry.cpp.

 void decomposeTransform ( const cv::Mat & c, cv::Mat & R, cv::Mat & t )

Definition at line 393 of file geometry.cpp.

 double lourakisSampsonError ( cv::Point2f & pt1, cv::Point2f & pt2, cv::Mat & H )

Definition at line 785 of file geometry.cpp.

 void matrixToQuaternion ( const cv::Mat & mat, Eigen::Quaternion< double > & quat )

Definition at line 418 of file geometry.cpp.

 int minProjections ( int pairs )

Minimum number of projections required to achieve the specified number of pairs.

Definition at line 8 of file geometry.cpp.

 double normalizedGRICdifference ( std::vector< cv::Point2f > & pts1, std::vector< cv::Point2f > & pts2, cv::Mat & F, cv::Mat & H, cv::Mat & mask_F, cv::Mat & mask_H, double & F_GRIC, double & H_GRIC )

Definition at line 641 of file geometry.cpp.

 int possiblePairs ( int projections )

Maximum possible number of pairs able to be achieved with specified number of projections.

Definition at line 15 of file geometry.cpp.

 void projectionToRotation ( const cv::Mat & src, cv::Mat & dst )

Definition at line 279 of file geometry.cpp.

 void projectionToTransformation ( const cv::Mat & proj, cv::Mat & trans )

Definition at line 234 of file geometry.cpp.

 void quaternionToMatrix ( const Eigen::Quaternion< double > & quat, cv::Mat & mat, bool handedness = `false` )

Definition at line 599 of file geometry.cpp.

 void rotationToProjection ( const cv::Mat & src, cv::Mat & dst )

Definition at line 296 of file geometry.cpp.

 void transformationToProjection ( const cv::Mat & trans, cv::Mat & proj )

Definition at line 259 of file geometry.cpp.

 void transformPoints ( cv::vector< cv::Point3d > & pts, unsigned int option = `0` )

Definition at line 77 of file geometry.cpp.

 void transformPoints ( cv::vector< cv::Point3d > & pts, int * options )

Definition at line 20 of file geometry.cpp.

thermalvis
Author(s): Stephen Vidas
autogenerated on Sun Jan 5 2014 11:38:45