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00012 #ifndef UCL_DRONE_OPENCV_UTILS_H
00013 #define UCL_DRONE_OPENCV_UTILS_H
00014
00015 #include <ros/ros.h>
00016
00017 #include <opencv2/core/core.hpp>
00018 #include <opencv2/imgproc/imgproc.hpp>
00019 #include <opencv2/nonfree/features2d.hpp>
00020
00021 #include <ucl_drone/PointXYZRGBSIFT.h>
00022
00024 cv::Mat rotationMatrixX(const double angle);
00025
00027 cv::Mat rotationMatrixY(const double angle);
00028
00030 cv::Mat rotationMatrixZ(const double angle);
00031
00033 cv::Mat rollPitchYawToRotationMatrix(const double roll, const double pitch, const double yaw);
00034
00036 cv::Mat rTMatrix(const cv::Mat rot, const double tx, const double ty, const double tz);
00037
00039 void debugRTMatrix(cv::Mat Rt);
00040
00042 std::vector< cv::Point2f > Points(const std::vector< cv::KeyPoint >& keypoints);
00043
00044 #endif