Classes | Typedefs | Functions
rtabmap::util2d Namespace Reference

Classes

class  Array3D

Typedefs

typedef float acctype
typedef float itemtype

Functions

cv::Mat RTABMAP_EXP brightnessAndContrastAuto (const cv::Mat &src, const cv::Mat &mask, float clipLowHistPercent, float clipHighHistPercent)
 Automatic brightness and contrast optimization with optional histogram clipping.
void RTABMAP_EXP calcOpticalFlowPyrLKStereo (cv::InputArray _prevImg, cv::InputArray _nextImg, cv::InputArray _prevPts, cv::InputOutputArray _nextPts, cv::OutputArray _status, cv::OutputArray _err, cv::Size winSize=cv::Size(15, 3), int maxLevel=3, cv::TermCriteria criteria=cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), int flags=0, double minEigThreshold=1e-4)
std::vector< cv::Point2f >
RTABMAP_EXP 
calcStereoCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status, cv::Size winSize=cv::Size(6, 3), int maxLevel=3, int iterations=5, float minDisparity=0.0f, float maxDisparity=64.0f, bool ssdApproach=true)
cv::Rect RTABMAP_EXP computeRoi (const cv::Mat &image, const std::string &roiRatios)
cv::Rect RTABMAP_EXP computeRoi (const cv::Size &imageSize, const std::string &roiRatios)
cv::Rect RTABMAP_EXP computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
cv::Rect RTABMAP_EXP computeRoi (const cv::Size &imageSize, const std::vector< float > &roiRatios)
cv::Mat RTABMAP_EXP cvtDepthFromFloat (const cv::Mat &depth32F)
cv::Mat RTABMAP_EXP cvtDepthToFloat (const cv::Mat &depth16U)
cv::Mat RTABMAP_EXP decimate (const cv::Mat &image, int d)
cv::Mat RTABMAP_EXP depthFromDisparity (const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)
cv::Mat RTABMAP_EXP depthFromStereoCorrespondences (const cv::Mat &leftImage, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask, float fx, float baseline)
cv::Mat RTABMAP_EXP depthFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, float fx, float baseline, int flowWinSize=9, int flowMaxLevel=4, int flowIterations=20, double flowEps=0.02)
cv::Mat RTABMAP_EXP disparityFromStereoCorrespondences (const cv::Size &disparitySize, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask)
cv::Mat RTABMAP_EXP disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())
cv::Mat RTABMAP_EXP exposureFusion (const std::vector< cv::Mat > &images)
cv::Mat RTABMAP_EXP fastBilateralFiltering (const cv::Mat &depth, float sigmaS=15.0f, float sigmaR=0.05f, bool earlyDivision=false)
cv::Mat RTABMAP_EXP fillDepthHoles (const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)
void RTABMAP_EXP fillRegisteredDepthHoles (cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
float RTABMAP_EXP getDepth (const cv::Mat &depthImage, float x, float y, bool smoothing, float depthErrorRatio=0.02f, bool estWithNeighborsIfNull=false)
cv::Mat RTABMAP_EXP interpolate (const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
cv::Mat RTABMAP_EXP registerDepth (const cv::Mat &depth, const cv::Mat &depthK, const cv::Size &colorSize, const cv::Mat &colorK, const rtabmap::Transform &transform)
float RTABMAP_EXP sad (const cv::Mat &windowLeft, const cv::Mat &windowRight)
float RTABMAP_EXP ssd (const cv::Mat &windowLeft, const cv::Mat &windowRight)

Typedef Documentation

typedef float rtabmap::util2d::acctype

Definition at line 352 of file util2d.cpp.

Definition at line 353 of file util2d.cpp.


Function Documentation

cv::Mat rtabmap::util2d::brightnessAndContrastAuto ( const cv::Mat &  src,
const cv::Mat &  mask,
float  clipLowHistPercent,
float  clipHighHistPercent 
)

Automatic brightness and contrast optimization with optional histogram clipping.

Parameters:
[in]Input image GRAY or BGR or BGRA
[out]Destination image
clipHistPercentcut wings of histogram at given percent typical=>1, 0=>Disabled
Note:
In case of BGRA image, we won't touch the transparency See http://answers.opencv.org/question/75510/how-to-make-auto-adjustmentsbrightness-and-contrast-for-image-android-opencv-image-correction/

Definition at line 1937 of file util2d.cpp.

void rtabmap::util2d::calcOpticalFlowPyrLKStereo ( cv::InputArray  _prevImg,
cv::InputArray  _nextImg,
cv::InputArray  _prevPts,
cv::InputOutputArray  _nextPts,
cv::OutputArray  _status,
cv::OutputArray  _err,
cv::Size  winSize = cv::Size(15,3),
int  maxLevel = 3,
cv::TermCriteria  criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
int  flags = 0,
double  minEigThreshold = 1e-4 
)

Definition at line 367 of file util2d.cpp.

std::vector< cv::Point2f > rtabmap::util2d::calcStereoCorrespondences ( const cv::Mat &  leftImage,
const cv::Mat &  rightImage,
const std::vector< cv::Point2f > &  leftCorners,
std::vector< unsigned char > &  status,
cv::Size  winSize = cv::Size(6,3),
int  maxLevel = 3,
int  iterations = 5,
float  minDisparity = 0.0f,
float  maxDisparity = 64.0f,
bool  ssdApproach = true 
)

Definition at line 122 of file util2d.cpp.

cv::Rect rtabmap::util2d::computeRoi ( const cv::Mat &  image,
const std::string &  roiRatios 
)

Definition at line 1108 of file util2d.cpp.

cv::Rect rtabmap::util2d::computeRoi ( const cv::Size &  imageSize,
const std::string &  roiRatios 
)

Definition at line 1113 of file util2d.cpp.

cv::Rect rtabmap::util2d::computeRoi ( const cv::Mat &  image,
const std::vector< float > &  roiRatios 
)

Definition at line 1145 of file util2d.cpp.

cv::Rect rtabmap::util2d::computeRoi ( const cv::Size &  imageSize,
const std::vector< float > &  roiRatios 
)

Definition at line 1150 of file util2d.cpp.

cv::Mat rtabmap::util2d::cvtDepthFromFloat ( const cv::Mat &  depth32F)

Definition at line 887 of file util2d.cpp.

cv::Mat rtabmap::util2d::cvtDepthToFloat ( const cv::Mat &  depth16U)

Definition at line 923 of file util2d.cpp.

cv::Mat rtabmap::util2d::decimate ( const cv::Mat &  image,
int  d 
)

Definition at line 1196 of file util2d.cpp.

cv::Mat rtabmap::util2d::depthFromDisparity ( const cv::Mat &  disparity,
float  fx,
float  baseline,
int  type = CV_32FC1 
)

Definition at line 758 of file util2d.cpp.

cv::Mat rtabmap::util2d::depthFromStereoCorrespondences ( const cv::Mat &  leftImage,
const std::vector< cv::Point2f > &  leftCorners,
const std::vector< cv::Point2f > &  rightCorners,
const std::vector< unsigned char > &  mask,
float  fx,
float  baseline 
)

Definition at line 862 of file util2d.cpp.

cv::Mat rtabmap::util2d::depthFromStereoImages ( const cv::Mat &  leftImage,
const cv::Mat &  rightImage,
const std::vector< cv::Point2f > &  leftCorners,
float  fx,
float  baseline,
int  flowWinSize = 9,
int  flowMaxLevel = 4,
int  flowIterations = 20,
double  flowEps = 0.02 
)

Definition at line 803 of file util2d.cpp.

cv::Mat rtabmap::util2d::disparityFromStereoCorrespondences ( const cv::Size &  disparitySize,
const std::vector< cv::Point2f > &  leftCorners,
const std::vector< cv::Point2f > &  rightCorners,
const std::vector< unsigned char > &  mask 
)

Definition at line 840 of file util2d.cpp.

cv::Mat rtabmap::util2d::disparityFromStereoImages ( const cv::Mat &  leftImage,
const cv::Mat &  rightImage,
const ParametersMap &  parameters = ParametersMap() 
)

Definition at line 734 of file util2d.cpp.

cv::Mat rtabmap::util2d::exposureFusion ( const std::vector< cv::Mat > &  images)

Definition at line 2012 of file util2d.cpp.

cv::Mat rtabmap::util2d::fastBilateralFiltering ( const cv::Mat &  depth,
float  sigmaS,
float  sigmaR,
bool  earlyDivision 
)

Converted pcl::FastBilateralFiltering class to 2d depth image

Definition at line 1809 of file util2d.cpp.

cv::Mat rtabmap::util2d::fillDepthHoles ( const cv::Mat &  depth,
int  maximumHoleSize = 1,
float  errorRatio = 0.02f 
)

Definition at line 1434 of file util2d.cpp.

void rtabmap::util2d::fillRegisteredDepthHoles ( cv::Mat &  depthRegistered,
bool  vertical,
bool  horizontal,
bool  fillDoubleHoles = false 
)

Definition at line 1593 of file util2d.cpp.

float rtabmap::util2d::getDepth ( const cv::Mat &  depthImage,
float  x,
float  y,
bool  smoothing,
float  depthErrorRatio = 0.02f,
bool  estWithNeighborsIfNull = false 
)

Definition at line 942 of file util2d.cpp.

cv::Mat rtabmap::util2d::interpolate ( const cv::Mat &  image,
int  factor,
float  depthErrorRatio = 0.02f 
)

Definition at line 1245 of file util2d.cpp.

cv::Mat rtabmap::util2d::registerDepth ( const cv::Mat &  depth,
const cv::Mat &  depthK,
const cv::Size &  colorSize,
const cv::Mat &  colorK,
const rtabmap::Transform transform 
)

Definition at line 1357 of file util2d.cpp.

float rtabmap::util2d::sad ( const cv::Mat &  windowLeft,
const cv::Mat &  windowRight 
)

Definition at line 91 of file util2d.cpp.

float rtabmap::util2d::ssd ( const cv::Mat &  windowLeft,
const cv::Mat &  windowRight 
)

Definition at line 56 of file util2d.cpp.



rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:42