haloc::Utils Class Reference

#include <utils.h>

List of all members.

Static Public Member Functions
static tf::Transform	buildTransformation (Mat rvec, Mat tvec)
	compose the transformation matrix using 2 Mat as inputs: one for rotation and one for translation
static bool	calculate3DPoint (const image_geometry::StereoCameraModel stereo_camera_model, const Point2d &left_point, const Point2d &right_point, double max_proj_err, Point3d &world_point)
	Compute the 3D point projecting the disparity.
static void	crossCheckFilter (const vector< DMatch > &matches1to2, const vector< DMatch > &matches2to1, vector< DMatch > &checked_matches)
	filter matches of cross check matching
static void	crossCheckThresholdMatching (const Mat &descriptors1, const Mat &descriptors2, double threshold, const Mat &match_mask, vector< DMatch > &matches)
	match descriptors of 2 images by threshold
static void	descriptorExtraction (const Mat &image, vector< KeyPoint > &key_points, Mat &descriptors, string type)
	extract descriptors of some image
static void	keypointDetector (const Mat &image, vector< KeyPoint > &key_points, string type)
	extract the keypoints of some image
static void	ratioMatching (const Mat &descriptors1, const Mat &descriptors2, double ratio, const Mat &match_mask, vector< DMatch > &matches)
	match descriptors of 2 images by ratio
static bool	sortByLikelihood (const pair< int, float > p1, const pair< int, float > p2)
	Sort 2 matchings by likelihood.
static bool	sortByMatching (const pair< int, float > d1, const pair< int, float > d2)
	Sort 2 matchings by value.
static bool	sortByResponse (const KeyPoint kp1, const KeyPoint kp2)
	Sort 2 keypoints by its response.
static bool	sortDescByDistance (const DMatch &d1, const DMatch &d2)
	Sort 2 descriptors matchings by distance.
static void	thresholdMatching (const Mat &descriptors1, const Mat &descriptors2, double threshold, const Mat &match_mask, vector< DMatch > &matches)
	match descriptors of 2 images by threshold

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Detailed Description

Definition at line 17 of file utils.h.

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Member Function Documentation

static tf::Transform haloc::Utils::buildTransformation	(	Mat	rvec,
		Mat	tvec
	)		[inline, static]

compose the transformation matrix using 2 Mat as inputs: one for rotation and one for translation

Returns:

the transformation matrix

Parameters:

rvec	cv matrix with the rotation angles
tvec	cv matrix with the transformation x y z

Definition at line 323 of file utils.h.

static bool haloc::Utils::calculate3DPoint	(	const image_geometry::StereoCameraModel	stereo_camera_model,
		const Point2d &	left_point,
		const Point2d &	right_point,
		double	max_proj_err,
		Point3d &	world_point
	)		[inline, static]

Compute the 3D point projecting the disparity.

Returns:

Parameters:

stereo_camera_model	is the camera model
left_point	on the left image
right_point	on the right image
world_point	pointer to the corresponding 3d point

Definition at line 216 of file utils.h.

static void haloc::Utils::crossCheckFilter	(	const vector< DMatch > &	matches1to2,
		const vector< DMatch > &	matches2to1,
		vector< DMatch > &	checked_matches
	)		[inline, static]

filter matches of cross check matching

Returns:

Parameters:

matches1to2	matches from image 1 to 2
matches2to1	matches from image 2 to 1
matches	output vector with filtered matches

Definition at line 163 of file utils.h.

static void haloc::Utils::crossCheckThresholdMatching	(	const Mat &	descriptors1,
		const Mat &	descriptors2,
		double	threshold,
		const Mat &	match_mask,
		vector< DMatch > &	matches
	)		[inline, static]

match descriptors of 2 images by threshold

Returns:

Parameters:

descriptors1	descriptors of image 1
descriptors2	descriptors of image 2
threshold	to determine correct matchings
match_mask	mask for matchings
matches	output vector with the matches

Definition at line 194 of file utils.h.

static void haloc::Utils::descriptorExtraction	(	const Mat &	image,
		vector< KeyPoint > &	key_points,
		Mat &	descriptors,
		string	type
	)		[inline, static]

extract descriptors of some image

Returns:

Parameters:

image	the source image
key_points	keypoints of the source image
descriptors	is the pointer for the resulting image descriptors

Definition at line 59 of file utils.h.

static void haloc::Utils::keypointDetector	(	const Mat &	image,
		vector< KeyPoint > &	key_points,
		string	type
	)		[inline, static]

extract the keypoints of some image

Returns:

Parameters:

image	the source image
key_points	is the pointer for the resulting image key_points
type	descriptor type (see opencv docs)

Definition at line 28 of file utils.h.

static void haloc::Utils::ratioMatching	(	const Mat &	descriptors1,
		const Mat &	descriptors2,
		double	ratio,
		const Mat &	match_mask,
		vector< DMatch > &	matches
	)		[inline, static]

match descriptors of 2 images by ratio

Returns:

Parameters:

descriptors1	descriptors of image1
descriptors2	descriptors of image2
ratio	to determine correct matchings
matches	output vector with the matches

Definition at line 81 of file utils.h.

static bool haloc::Utils::sortByLikelihood	(	const pair< int, float >	p1,
		const pair< int, float >	p2
	)		[inline, static]

Sort 2 matchings by likelihood.

Returns:

true if likelihood 1 is greater than likelihood 2

Parameters:

likelihood	1
likelihood	2

Definition at line 312 of file utils.h.

static bool haloc::Utils::sortByMatching	(	const pair< int, float >	d1,
		const pair< int, float >	d2
	)		[inline, static]

Sort 2 matchings by value.

Returns:

true if matching 1 is smaller than matching 2

Parameters:

matching	1
matching	2

Definition at line 282 of file utils.h.

static bool haloc::Utils::sortByResponse	(	const KeyPoint	kp1,
		const KeyPoint	kp2
	)		[inline, static]

Sort 2 keypoints by its response.

Returns:

true if response of kp 1 is greater than response of kp 2

Parameters:

likelihood	1
likelihood	2

Definition at line 302 of file utils.h.

static bool haloc::Utils::sortDescByDistance	(	const DMatch &	d1,
		const DMatch &	d2
	)		[inline, static]

Sort 2 descriptors matchings by distance.

Returns:

true if vector 1 is smaller than vector 2

Parameters:

descriptor	matching 1
descriptor	matching 2

Definition at line 292 of file utils.h.

static void haloc::Utils::thresholdMatching	(	const Mat &	descriptors1,
		const Mat &	descriptors2,
		double	threshold,
		const Mat &	match_mask,
		vector< DMatch > &	matches
	)		[inline, static]

match descriptors of 2 images by threshold

Returns:

Parameters:

descriptors1	descriptors of image1
descriptors2	descriptors of image2
threshold	to determine correct matchings
match_mask	mask for matchings
matches	output vector with the matches

Definition at line 121 of file utils.h.

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

• utils.h