tools::Tools Class Reference

#include <tools.h>

List of all members.

Public Types
typedef pcl::PointXYZRGB	Point
typedef pcl::PointCloud< Point >	PointCloud
Static Public Member Functions
static tf::Transform	buildTransformation (cv::Mat rvec, cv::Mat tvec)
	compose the transformation matrix using 2 cv::Mat as inputs: one for rotation and one for translation
static string	convertTo5digits (int in)
static void	getCameraModel (sensor_msgs::CameraInfo l_info_msg, sensor_msgs::CameraInfo r_info_msg, image_geometry::StereoCameraModel &stereo_camera_model, cv::Mat &camera_matrix)
	Get the stereo camera model from info messages.
static tf::Transform	getVertexPose (g2o::VertexSE3 *v)
	get the pose of vertex in format tf::Transform
static bool	imgMsgToMat (sensor_msgs::Image l_img_msg, sensor_msgs::Image r_img_msg, cv::Mat &l_img, cv::Mat &r_img)
	Convert image messages to cv cv::Mat.
static tf::Transform	isometryToTf (Eigen::Isometry3d in)
	convert a Eigen::Isometry3d to tf::transform
static tf::Transform	odomTotf (nav_msgs::Odometry odom_msg)
	Convert odometry message to tf::Transform.
static double	poseDiff2D (tf::Transform pose_1, tf::Transform pose_2)
	compute the absolute diference between 2 poses (omitting z)
static double	poseDiff3D (tf::Transform pose_1, tf::Transform pose_2)
	compute the absolute diference between 2 poses (omitting z)
static void	ratioMatching (cv::Mat desc_1, cv::Mat desc_2, double ratio, vector< cv::DMatch > &matches)
	Ration matching between descriptors.
static bool	sortByDistance (const pair< int, double > d1, const pair< int, double > d2)
	Sort 2 pairs by size.
static bool	sortByMatching (const pair< int, float > d1, const pair< int, float > d2)
	Sort 2 matchings by value.
static Eigen::Isometry3d	tfToIsometry (tf::Transform in)
	convert a tf::transform to Eigen::Isometry3d
static cv::Point3f	transformPoint (cv::Point3f point, tf::Transform base)
static tf::Transform	transformVector4f (Eigen::Vector4f in, tf::Transform transform)
	Transform vector4f.
static tf::Transform	vector4fToTransform (Eigen::Vector4f in)
	convert a Eigen::Vector4f to tf::Transform

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Detailed Description

Definition at line 24 of file tools.h.

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Member Typedef Documentation

typedef pcl::PointXYZRGB tools::Tools::Point

Definition at line 30 of file tools.h.

typedef pcl::PointCloud<Point> tools::Tools::PointCloud

Definition at line 31 of file tools.h.

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Member Function Documentation

static tf::Transform tools::Tools::buildTransformation	(	cv::Mat	rvec,
		cv::Mat	tvec
	)		[inline, static]

compose the transformation matrix using 2 cv::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 245 of file tools.h.

static string tools::Tools::convertTo5digits

(

int

in

)

[inline, static]

Definition at line 295 of file tools.h.

static void tools::Tools::getCameraModel	(	sensor_msgs::CameraInfo	l_info_msg,
		sensor_msgs::CameraInfo	r_info_msg,
		image_geometry::StereoCameraModel &	stereo_camera_model,
		cv::Mat &	camera_matrix
	)		[inline, static]

Get the stereo camera model from info messages.

Parameters:

left	image info message.
right	image info message.
will	contain the output camera model.
will	contain the output camera matrix.

Definition at line 160 of file tools.h.

static tf::Transform tools::Tools::getVertexPose

(

g2o::VertexSE3 *

v

)

[inline, static]

get the pose of vertex in format tf::Transform

Returns:

tf::Transform pose matrix

Parameters:

vertex

Definition at line 190 of file tools.h.

static bool tools::Tools::imgMsgToMat	(	sensor_msgs::Image	l_img_msg,
		sensor_msgs::Image	r_img_msg,
		cv::Mat &	l_img,
		cv::Mat &	r_img
	)		[inline, static]

Convert image messages to cv cv::Mat.

Parameters:

left	image message.
right	image message.
will	contain the output left cv::Mat.
will	contain the output right cv::Mat.

Definition at line 131 of file tools.h.

static tf::Transform tools::Tools::isometryToTf

(

Eigen::Isometry3d

in

)

[inline, static]

convert a Eigen::Isometry3d to tf::transform

Returns:

tf::transform matrix

Parameters:

in	of type Eigen::Isometry3d

Definition at line 82 of file tools.h.

static tf::Transform tools::Tools::odomTotf

(

nav_msgs::Odometry

odom_msg

)

[inline, static]

Convert odometry message to tf::Transform.

Returns:

the trasnformation matrix

Parameters:

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

Definition at line 97 of file tools.h.

static double tools::Tools::poseDiff2D	(	tf::Transform	pose_1,
		tf::Transform	pose_2
	)		[inline, static]

compute the absolute diference between 2 poses (omitting z)

Returns:

the norm between two poses

Parameters:

pose_1	transformation matrix of pose 1
pose_2	transformation matrix of pose 2

Definition at line 213 of file tools.h.

static double tools::Tools::poseDiff3D	(	tf::Transform	pose_1,
		tf::Transform	pose_2
	)		[inline, static]

compute the absolute diference between 2 poses (omitting z)

Returns:

the norm between two poses

Parameters:

pose_1	transformation matrix of pose 1
pose_2	transformation matrix of pose 2

Definition at line 202 of file tools.h.

static void tools::Tools::ratioMatching	(	cv::Mat	desc_1,
		cv::Mat	desc_2,
		double	ratio,
		vector< cv::DMatch > &	matches
	)		[inline, static]

Ration matching between descriptors.

Parameters:

Descriptors	of image 1
Descriptors	of image 2
ratio	value (0.6/0.9)
output	matching

Definition at line 276 of file tools.h.

static bool tools::Tools::sortByDistance	(	const pair< int, double >	d1,
		const pair< int, double >	d2
	)		[inline, static]

Sort 2 pairs by size.

Returns:

true if pair 1 is smaller than pair 2

Parameters:

pair	1
pair	2

Definition at line 234 of file tools.h.

static bool tools::Tools::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 224 of file tools.h.

static Eigen::Isometry3d tools::Tools::tfToIsometry

(

tf::Transform

in

)

[inline, static]

convert a tf::transform to Eigen::Isometry3d

Returns:

Eigen::Isometry3d matrix

Parameters:

in	of type tf::transform

Definition at line 62 of file tools.h.

static cv::Point3f tools::Tools::transformPoint	(	cv::Point3f	point,
		tf::Transform	base
	)		[inline, static]

Definition at line 262 of file tools.h.

static tf::Transform tools::Tools::transformVector4f	(	Eigen::Vector4f	in,
		tf::Transform	transform
	)		[inline, static]

Transform vector4f.

Returns:

transformed Eigen::Vector4f

Parameters:

input	Eigen::Vector4f
input	transformation

Definition at line 52 of file tools.h.

static tf::Transform tools::Tools::vector4fToTransform

(

Eigen::Vector4f

in

)

[inline, static]

convert a Eigen::Vector4f to tf::Transform

Returns:

tf::Transform matrix

Parameters:

in	of type Eigen::Vector4f

Definition at line 38 of file tools.h.

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

• tools.h