Namespaces
namespace	graph
namespace	util2d
namespace	util3d
Classes
struct	AABB
class	AboutDialog
class	BayesFilter
class	BRISK
class	CalibrationDialog
class	Camera
class	CameraEvent
class	CameraFreenect
class	CameraFreenect2
class	CameraImages
class	CameraInfo
class	CameraK4W2
class	CameraModel
class	CameraOpenni
class	CameraOpenNI2
class	CameraOpenNICV
class	CameraRealSense
class	CameraRealSense2
class	CameraRGBDImages
class	CameraStereoDC1394
class	CameraStereoFlyCapture2
class	CameraStereoImages
class	CameraStereoVideo
class	CameraStereoZed
class	CameraTango
class	CameraTangoEvent
class	CameraThread
class	CameraVideo
class	CameraViewer
class	CloudViewer
class	CloudViewerCellPicker
class	CloudViewerInteractorStyle
class	CompressionThread
class	ConsoleWidget
class	CreateSimpleCalibrationDialog
class	CV_ORB
class	DatabaseViewer
class	DataRecorder
class	DBDriver
class	DBDriverSqlite3
class	DBReader
class	DepthCalibrationDialog
class	EditDepthArea
class	EpipolarGeometry
class	ExportBundlerDialog
class	ExportCloudsDialog
class	ExportDialog
class	FAST
class	FAST_BRIEF
class	FAST_FREAK
class	Feature2D
class	FlannIndex
class	GainCompensator
class	GeodeticCoords
class	GFTT
class	GFTT_BRIEF
class	GFTT_FREAK
class	GFTT_ORB
class	GPS
class	GraphViewer
class	ImageView
class	IMU
class	IMUEvent
class	IMUThread
class	KAZE
class	KeypointItem
class	LaserScan
class	LineItem
class	Link
class	LinkItem
class	LoopClosureViewer
class	MainWindow
class	MapVisibilityWidget
class	Memory
class	NodeGPSItem
class	NodeItem
class	OccupancyGrid
class	OctoMap
class	Odometry
class	OdometryDVO
class	OdometryEvent
class	OdometryF2F
class	OdometryF2M
class	OdometryFovis
class	OdometryInfo
class	OdometryLOAM
class	OdometryMono
class	OdometryMSCKF
class	OdometryOkvis
class	OdometryORBSLAM2
class	OdometryResetEvent
class	OdometryThread
class	OdometryViewer
class	OdometryViso2
class	Optimizer
class	OptimizerCVSBA
class	OptimizerG2O
class	OptimizerGTSAM
class	OptimizerTORO
class	ORB
class	Parameters
class	ParametersToolBox
class	ParamEvent
class	ParticleFilter
class	PdfPlotCurve
class	PdfPlotItem
class	PoseEvent
class	PostProcessingDialog
class	PreferencesDialog
class	PreUpdateThread
class	ProgressDialog
class	ProgressEvent
class	ProgressionStatus
class	ProgressState
class	RecoveryState
class	Registration
class	RegistrationIcp
class	RegistrationInfo
class	RegistrationVis
class	Rtabmap
class	RtabmapColorOcTree
class	RtabmapColorOcTreeNode
class	RtabmapEvent
class	RtabmapEvent3DMap
class	RtabmapEventCmd
class	RtabmapEventInit
class	RtabmapGlobalPathEvent
class	RtabmapGoalStatusEvent
class	RtabmapLabelErrorEvent
class	RtabmapThread
class	SensorData
class	SIFT
class	Signature
class	Statistics
class	StatItem
class	StatsToolBox
class	Stereo
class	StereoBM
class	StereoCameraModel
class	StereoDense
class	StereoOpticalFlow
class	SURF
class	TexturingState
class	Transform
class	UserDataEvent
class	VisualWord
class	vtkImageMatSource
class	VWDictionary
class	WeightAgeIdKey
Typedefs
typedef std::map< std::string, std::string >	ParametersMap
typedef std::pair< std::string, std::string >	ParametersPair
Functions
float	addNeighborProb (cv::Mat &prediction, unsigned int col, const std::map< int, int > &neighbors, const std::vector< double > &predictionLC, const std::map< int, int > &idToIndex)
void	applyFovModel (double xu, double yu, double w, double w_inverse, double two_tan_w_div_two, double xd, double yd)
template<typename PointT >
void	applyImpl (int index, typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const cv::Mat_< double > &gains, bool rgb)
chisel::PinholeCamera	cameraModelToChiselCamera (const CameraModel &camera)
pcl::PolygonMesh::Ptr	chiselToPolygonMesh (const chisel::MeshMap &meshMap, unsigned char r=100, unsigned char g=100, unsigned char b=100)
std::shared_ptr < chisel::ColorImage< unsigned char > >	colorImageToChisel (const cv::Mat &image)
std::vector< unsigned char > RTABMAP_EXP	compressData (const cv::Mat &data)
cv::Mat RTABMAP_EXP	compressData2 (const cv::Mat &data)
std::vector< unsigned char > RTABMAP_EXP	compressImage (const cv::Mat &image, const std::string &format=".png")
cv::Mat RTABMAP_EXP	compressImage2 (const cv::Mat &image, const std::string &format=".png")
cv::Mat RTABMAP_EXP	compressString (const std::string &str)
static void	computeDescriptors (const Mat &image, std::vector< KeyPoint > &keypoints, Mat &descriptors, const std::vector< Point > &pattern, int dsize, int WTA_K)
static void	computeKeyPoints (const std::vector< Mat > &imagePyramid, const std::vector< Mat > &maskPyramid, std::vector< std::vector< KeyPoint > > &allKeypoints, int nfeatures, int firstLevel, double scaleFactor, int edgeThreshold, int patchSize, int scoreType, ParametersMap fastParameters)
static void	computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point pattern, uchar desc, int dsize, int WTA_K)
static void	computeOrientation (const Mat &image, std::vector< KeyPoint > &keypoints, int halfPatchSize, const std::vector< int > &umax)
QIcon	createIcon (const QColor &color)
std::vector< double >	cumSum (const std::vector< double > &v)
bool RTABMAP_EXP	databaseRecovery (const std::string &corruptedDatabase, bool keepCorruptedDatabase=true, std::string errorMsg=0, ProgressState progressState=0)
double	DEG2RAD (const double x)
std::shared_ptr < chisel::DepthImage< float > >	depthImageToChisel (const cv::Mat &image)
template<typename PointT >
void	feedImpl (const std::map< int, typename pcl::PointCloud< PointT >::Ptr > &clouds, const std::map< int, pcl::IndicesPtr > &indices, const std::multimap< int, Link > &links, float maxCorrespondenceDistance, double minOverlap, double alpha, double beta, cv::Mat_< double > &gains, std::map< int, int > &idToIndex)
void	floodfill (QImage &image, const cv::Mat &depthImage, int x, int y, float lastDepthValue, float error)
static float	getScale (int level, int firstLevel, double scaleFactor)
static void	HarrisResponses (const Mat &img, std::vector< KeyPoint > &pts, int blockSize, float harris_k)
static float	IC_Angle (const Mat &image, const int half_k, Point2f pt, const std::vector< int > &u_max)
int	inFrontOfBothCameras (const cv::Mat &x, const cv::Mat &xp, const cv::Mat &R, const cv::Mat &T)
void	initFisheyeRectificationMap (const CameraModel &fisheyeModel, cv::Mat &mapX, cv::Mat &mapY)
static void	initializeOrbPattern (const Point *pattern0, std::vector< Point > &pattern, int ntuples, int tupleSize, int poolSize)
static void	makeRandomPattern (int patchSize, Point *pattern, int npoints)
void	onFrameAvailableRouter (void context, TangoCameraId id, const TangoImageBuffer color)
void	onPointCloudAvailableRouter (void context, const TangoPointCloud point_cloud)
void	onPoseAvailableRouter (void context, const TangoPoseData pose)
void	onTangoEventAvailableRouter (void context, const TangoEvent event)
RTABMAP_EXP std::ostream &	operator<< (std::ostream &os, const Transform &s)
template<typename PointRGBT >
chisel::PointCloudPtr	pointCloudRGBToChisel (const typename pcl::PointCloud< PointRGBT > &cloud, const Transform &transform=Transform::getIdentity())
template<typename PointT >
chisel::PointCloudPtr	pointCloudToChisel (const typename pcl::PointCloud< PointT > &cloud, const Transform &transform=Transform::getIdentity())
double	RAD2DEG (const double x)
std::vector< double >	resample (const std::vector< double > &p, const std::vector< double > &w, bool normalizeWeights=false)
Eigen::Vector3f	rotatePointAroundAxe (const Eigen::Vector3f &point, const Eigen::Vector3f &axis, float angle)
	RTABMAP_DEPRECATED (typedef SensorData Image,"rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
bool	sortCallback (const std::string &a, const std::string &b)
double	sqr (uchar v)
double	square (const double &value)
bool	testAABBAABB (const AABB &a, const AABB &b)
cv::Mat RTABMAP_EXP	uncompressData (const cv::Mat &bytes)
cv::Mat RTABMAP_EXP	uncompressData (const std::vector< unsigned char > &bytes)
cv::Mat RTABMAP_EXP	uncompressData (const unsigned char *bytes, unsigned long size)
cv::Mat RTABMAP_EXP	uncompressImage (const cv::Mat &bytes)
cv::Mat RTABMAP_EXP	uncompressImage (const std::vector< unsigned char > &bytes)
std::string RTABMAP_EXP	uncompressString (const cv::Mat &bytes)
	vtkStandardNewMacro (CloudViewerInteractorStyle)
	vtkStandardNewMacro (CloudViewerCellPicker)
	vtkStandardNewMacro (vtkImageMatSource)
Variables
static int	bit_pattern_31_ [256 *4]
static const int	frustum_indices []
static const float	frustum_vertices []
const float	HARRIS_K = 0.04f
const int	holeSize = 5
const int	kVersionStringLength = 128
const float	maxDepthError = 0.10
static rtabmap::Transform	opticalRotation (1.0f, 0.0f, 0.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f, 0.0f, 0.0f,-1.0f, 0.0f)
const int	scanDownsampling = 1

Detailed Description

File from OpenCV (see License below), modified by Mathieu Labbe 2016

Typedef Documentation

typedef std::map<std::string, std::string> rtabmap::ParametersMap

Definition at line 41 of file Parameters.h.

typedef std::pair<std::string, std::string> rtabmap::ParametersPair

Definition at line 42 of file Parameters.h.

Function Documentation

float rtabmap::addNeighborProb	(	cv::Mat &	prediction,
		unsigned int	col,
		const std::map< int, int > &	neighbors,
		const std::vector< double > &	predictionLC,
		const std::map< int, int > &	idToIndex
	)

Definition at line 228 of file BayesFilter.cpp.

void rtabmap::applyFovModel	(	double	xu,
		double	yu,
		double	w,
		double	w_inverse,
		double	two_tan_w_div_two,
		double *	xd,
		double *	yd
	)

Definition at line 138 of file CameraTango.cpp.

template<typename PointT >

void rtabmap::applyImpl	(	int	index,
		typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const cv::Mat_< double > &	gains,
		bool	rgb
	)

Definition at line 393 of file GainCompensator.cpp.

chisel::PinholeCamera rtabmap::cameraModelToChiselCamera ( const CameraModel & camera )

Definition at line 35 of file chisel_conversions.h.

pcl::PolygonMesh::Ptr rtabmap::chiselToPolygonMesh	(	const chisel::MeshMap &	meshMap,
		unsigned char	r = `100`,
		unsigned char	g = `100`,
		unsigned char	b = `100`
	)

Definition at line 109 of file chisel_conversions.h.

std::shared_ptr<chisel::ColorImage<unsigned char> > rtabmap::colorImageToChisel ( const cv::Mat & image )

Definition at line 19 of file chisel_conversions.h.

std::vector< unsigned char > rtabmap::compressData ( const cv::Mat & data )

Definition at line 170 of file Compression.cpp.

cv::Mat rtabmap::compressData2 ( const cv::Mat & data )

Definition at line 201 of file Compression.cpp.

std::vector< unsigned char > rtabmap::compressImage	(	const cv::Mat &	image,
		const std::string &	format = `".png"`
	)

Definition at line 100 of file Compression.cpp.

cv::Mat rtabmap::compressImage2	(	const cv::Mat &	image,
		const std::string &	format = `".png"`
	)

Definition at line 120 of file Compression.cpp.

cv::Mat rtabmap::compressString ( const std::string & str )

Definition at line 277 of file Compression.cpp.

static void rtabmap::computeDescriptors	(	const Mat &	image,
		std::vector< KeyPoint > &	keypoints,
		Mat &	descriptors,
		const std::vector< Point > &	pattern,
		int	dsize,
		int	WTA_K
	)		`[static]`

Compute the ORB decriptors

Parameters:

image	the image to compute the features and descriptors on
integral_image	the integral image of the image (can be empty, but the computation will be slower)
level	the scale at which we compute the orientation
keypoints	the keypoints to use
descriptors	the resulting descriptors

Definition at line 716 of file Orb.cpp.

static void rtabmap::computeKeyPoints	(	const std::vector< Mat > &	imagePyramid,
		const std::vector< Mat > &	maskPyramid,
		std::vector< std::vector< KeyPoint > > &	allKeypoints,
		int	nfeatures,
		int	firstLevel,
		double	scaleFactor,
		int	edgeThreshold,
		int	patchSize,
		int	scoreType,
		ParametersMap	fastParameters
	)		`[static]`

Compute the ORB keypoints on an image

Parameters:

image_pyramid	the image pyramid to compute the features and descriptors on
mask_pyramid	the masks to apply at every level
keypoints	the resulting keypoints, clustered per level

Definition at line 621 of file Orb.cpp.

static void rtabmap::computeOrbDescriptor	(	const KeyPoint &	kpt,
		const Mat &	img,
		const Point *	pattern,
		uchar *	desc,
		int	dsize,
		int	WTA_K
	)		`[static]`

Definition at line 138 of file Orb.cpp.

static void rtabmap::computeOrientation	(	const Mat &	image,
		std::vector< KeyPoint > &	keypoints,
		int	halfPatchSize,
		const std::vector< int > &	umax
	)		`[static]`

Compute the ORB keypoint orientations

Parameters:

image	the image to compute the features and descriptors on
integral_image	the integral image of the iamge (can be empty, but the computation will be slower)
scale	the scale at which we compute the orientation
keypoints	the resulting keypoints

Definition at line 604 of file Orb.cpp.

QIcon rtabmap::createIcon ( const QColor & color )

Definition at line 1474 of file GraphViewer.cpp.

std::vector<double> rtabmap::cumSum ( const std::vector< double > & v )

Definition at line 53 of file ParticleFilter.h.

bool rtabmap::databaseRecovery	(	const std::string &	corruptedDatabase,
		bool	keepCorruptedDatabase = `true`,
		std::string *	errorMsg = `0`,
		ProgressState *	progressState = `0`
	)

Return true on success. The database is renamed to "*.backup.db" before recovering.

Parameters:

corruptedDatabase	database to recover
keepCorruptedDatabase	if false and on recovery success, the backup database is removed
errorMsg	error message if the function returns false
progressState	A ProgressState object used to get status of the recovery process

Definition at line 39 of file Recovery.cpp.

double rtabmap::DEG2RAD ( const double x ) [inline]

Definition at line 53 of file GeodeticCoords.cpp.

std::shared_ptr<chisel::DepthImage<float> > rtabmap::depthImageToChisel ( const cv::Mat & image )

Definition at line 27 of file chisel_conversions.h.

template<typename PointT >

void rtabmap::feedImpl	(	const std::map< int, typename pcl::PointCloud< PointT >::Ptr > &	clouds,
		const std::map< int, pcl::IndicesPtr > &	indices,
		const std::multimap< int, Link > &	links,
		float	maxCorrespondenceDistance,
		double	minOverlap,
		double	alpha,
		double	beta,
		cv::Mat_< double > &	gains,
		std::map< int, int > &	idToIndex
	)

See also:: https://github.com/opencv/opencv/blob/master/modules/stitching/src/exposure_compensate.cpp

Definition at line 124 of file GainCompensator.cpp.

void rtabmap::floodfill	(	QImage &	image,
		const cv::Mat &	depthImage,
		int	x,
		int	y,
		float	lastDepthValue,
		float	error
	)

Definition at line 228 of file EditDepthArea.cpp.

static float rtabmap::getScale	(	int	level,
		int	firstLevel,
		double	scaleFactor
	)		`[inline, static]`

Definition at line 561 of file Orb.cpp.

static void rtabmap::HarrisResponses	(	const Mat &	img,
		std::vector< KeyPoint > &	pts,
		int	blockSize,
		float	harris_k
	)		`[static]`

Function that computes the Harris responses in a blockSize x blockSize patch at given points in an image

Definition at line 62 of file Orb.cpp.

static float rtabmap::IC_Angle	(	const Mat &	image,
		const int	half_k,
		Point2f	pt,
		const std::vector< int > &	u_max
	)		`[static]`

Definition at line 106 of file Orb.cpp.

int rtabmap::inFrontOfBothCameras	(	const cv::Mat &	x,
		const cv::Mat &	xp,
		const cv::Mat &	R,
		const cv::Mat &	T
	)

Definition at line 132 of file EpipolarGeometry.cpp.

void rtabmap::initFisheyeRectificationMap	(	const CameraModel &	fisheyeModel,
		cv::Mat &	mapX,
		cv::Mat &	mapY
	)

Definition at line 159 of file CameraTango.cpp.

static void rtabmap::initializeOrbPattern	(	const Point *	pattern0,
		std::vector< Point > &	pattern,
		int	ntuples,
		int	tupleSize,
		int	poolSize
	)		`[static]`

Definition at line 261 of file Orb.cpp.

static void rtabmap::makeRandomPattern	(	int	patchSize,
		Point *	pattern,
		int	npoints
	)		`[static]`

Definition at line 549 of file Orb.cpp.

void rtabmap::onFrameAvailableRouter	(	void *	context,
		TangoCameraId	id,
		const TangoImageBuffer *	color
	)

Definition at line 55 of file CameraTango.cpp.

void rtabmap::onPointCloudAvailableRouter	(	void *	context,
		const TangoPointCloud *	point_cloud
	)

Definition at line 46 of file CameraTango.cpp.

void rtabmap::onPoseAvailableRouter	(	void *	context,
		const TangoPoseData *	pose
	)

Definition at line 89 of file CameraTango.cpp.

void rtabmap::onTangoEventAvailableRouter	(	void *	context,
		const TangoEvent *	event
	)

Definition at line 98 of file CameraTango.cpp.

std::ostream & rtabmap::operator<<	(	std::ostream &	os,
		const Transform &	s
	)

Definition at line 312 of file Transform.cpp.

template<typename PointRGBT >

chisel::PointCloudPtr rtabmap::pointCloudRGBToChisel	(	const typename pcl::PointCloud< PointRGBT > &	cloud,
		const Transform &	transform = `Transform::getIdentity()`
	)

Definition at line 50 of file chisel_conversions.h.

template<typename PointT >

chisel::PointCloudPtr rtabmap::pointCloudToChisel	(	const typename pcl::PointCloud< PointT > &	cloud,
		const Transform &	transform = `Transform::getIdentity()`
	)

Definition at line 84 of file chisel_conversions.h.

double rtabmap::RAD2DEG ( const double x ) [inline]

Definition at line 54 of file GeodeticCoords.cpp.

std::vector<double> rtabmap::resample	(	const std::vector< double > &	p,
		const std::vector< double > &	w,
		bool	normalizeWeights = `false`
	)

Definition at line 65 of file ParticleFilter.h.

Eigen::Vector3f rtabmap::rotatePointAroundAxe	(	const Eigen::Vector3f &	point,
		const Eigen::Vector3f &	axis,
		float	angle
	)

Definition at line 2807 of file CloudViewer.cpp.

rtabmap::RTABMAP_DEPRECATED	(	typedef SensorData	Image,
		"rtabmap::Image class is renamed to rtabmap::SensorData	,
		use the last one instead."
	)

bool rtabmap::sortCallback	(	const std::string &	a,
		const std::string &	b
	)

Definition at line 3308 of file PreferencesDialog.cpp.

double rtabmap::sqr ( uchar v )

Definition at line 41 of file GainCompensator.cpp.

double rtabmap::square ( const double & value ) [inline]

Definition at line 55 of file GeodeticCoords.cpp.

bool rtabmap::testAABBAABB	(	const AABB &	a,
		const AABB &	b
	)

Definition at line 110 of file GainCompensator.cpp.

cv::Mat rtabmap::uncompressData ( const cv::Mat & bytes )

Definition at line 231 of file Compression.cpp.

cv::Mat rtabmap::uncompressData ( const std::vector< unsigned char > & bytes )

Definition at line 237 of file Compression.cpp.

cv::Mat rtabmap::uncompressData	(	const unsigned char *	bytes,
		unsigned long	size
	)

Definition at line 242 of file Compression.cpp.

cv::Mat rtabmap::uncompressImage ( const cv::Mat & bytes )

Definition at line 130 of file Compression.cpp.

cv::Mat rtabmap::uncompressImage ( const std::vector< unsigned char > & bytes )

Definition at line 152 of file Compression.cpp.

std::string rtabmap::uncompressString ( const cv::Mat & bytes )

Definition at line 283 of file Compression.cpp.

rtabmap::vtkStandardNewMacro ( CloudViewerInteractorStyle )

rtabmap::vtkStandardNewMacro ( CloudViewerCellPicker )

rtabmap::vtkStandardNewMacro ( vtkImageMatSource )

Variable Documentation

int rtabmap::bit_pattern_31_[256 *4] [static]

Definition at line 288 of file Orb.cpp.

const int rtabmap::frustum_indices[] [static]

Initial value:

 {
    1, 2, 3, 4, 1, 0, 2, 0, 3, 0, 4}

Definition at line 1674 of file CloudViewer.cpp.

const float rtabmap::frustum_vertices[] [static]

Initial value:

 {
    0.0f,  0.0f, 0.0f,
        1.0f, 1.0f, 1.0f,
        1.0f, -1.0f, 1.0f,
        1.0f, -1.0f, -1.0f,
        1.0f, 1.0f, -1.0f}

Definition at line 1667 of file CloudViewer.cpp.

const float rtabmap::HARRIS_K = 0.04f

Definition at line 55 of file Orb.cpp.

const int rtabmap::holeSize = 5

Definition at line 41 of file CameraTango.cpp.

const int rtabmap::kVersionStringLength = 128

Definition at line 40 of file CameraTango.cpp.

const float rtabmap::maxDepthError = 0.10

Definition at line 42 of file CameraTango.cpp.

rtabmap::Transform rtabmap::opticalRotation(1.0f, 0.0f, 0.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f, 0.0f, 0.0f,-1.0f, 0.0f) [static]

const int rtabmap::scanDownsampling = 1

Definition at line 43 of file CameraTango.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation