opencv_utils.h File Reference

opencv_utils contains functions to handle frame transformation with opencv according with the Pose3D message definition More...

#include <ros/ros.h>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <ucl_drone/PointXYZRGBSIFT.h>

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Functions
void	debugRTMatrix (cv::Mat Rt)
	Debug for the transformation (rotation and transltation) matrix.
std::vector< cv::Point2f >	Points (const std::vector< cv::KeyPoint > &keypoints)
	This method converts opencv keypoint coordinates to opencv point format.
cv::Mat	rollPitchYawToRotationMatrix (const double roll, const double pitch, const double yaw)
	Rotation matrix given RPY angles.
cv::Mat	rotationMatrixX (const double angle)
	Rotation matrix about the X axis.
cv::Mat	rotationMatrixY (const double angle)
	Rotation matrix about the Y axis.
cv::Mat	rotationMatrixZ (const double angle)
	Rotation matrix about the Z axis.
cv::Mat	rTMatrix (const cv::Mat rot, const double tx, const double ty, const double tz)
	Transofmation (rotation and translation) matrix given RPY angles and translation lengths.

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Detailed Description

opencv_utils contains functions to handle frame transformation with opencv according with the Pose3D message definition

Author:

Arnaud Jacques & Alexandre Leclere

Date:

2016

Part of ucl_drone.

Definition in file opencv_utils.h.

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Function Documentation

void debugRTMatrix

(

cv::Mat

Rt

)

Debug for the transformation (rotation and transltation) matrix.

Definition at line 56 of file opencv_utils.cpp.

std::vector< cv::Point2f > Points

(

const std::vector< cv::KeyPoint > &

keypoints

)

This method converts opencv keypoint coordinates to opencv point format.

Definition at line 66 of file opencv_utils.cpp.

cv::Mat rollPitchYawToRotationMatrix	(	const double	roll,
		const double	pitch,
		const double	yaw
	)

Rotation matrix given RPY angles.

Returns:

the rotation matrix given the roll,pitch,yaw angles

Definition at line 37 of file opencv_utils.cpp.

cv::Mat rotationMatrixX

(

const double

angle

)

Rotation matrix about the X axis.

Returns:

the rotation matrix given the roll angle (around x axis)

Definition at line 13 of file opencv_utils.cpp.

cv::Mat rotationMatrixY

(

const double

angle

)

Rotation matrix about the Y axis.

Returns:

the rotation matrix given the pitch angle (around y axis)

Definition at line 21 of file opencv_utils.cpp.

cv::Mat rotationMatrixZ

(

const double

angle

)

Rotation matrix about the Z axis.

Returns:

the rotation matrix given the yaw angle (around z axis)

Definition at line 29 of file opencv_utils.cpp.

cv::Mat rTMatrix	(	const cv::Mat	rot,
		const double	tx,
		const double	ty,
		const double	tz
	)

Transofmation (rotation and translation) matrix given RPY angles and translation lengths.

Returns:

the transformation (rotation and transltation) matrix

Definition at line 47 of file opencv_utils.cpp.