Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
rtabmap Namespace Reference

Namespaces

 graph
 
 util2d
 
 util3d
 

Classes

struct  AABB
 
class  AboutDialog
 
class  BayesFilter
 
class  BRISK
 
class  CalibrationDialog
 
class  Camera
 
class  CameraARCore
 
class  CameraAREngine
 
struct  CameraConfig
 
class  CameraEvent
 
class  CameraFreenect
 
class  CameraFreenect2
 
class  CameraImages
 
class  CameraInfo
 
class  CameraInfoEvent
 
class  CameraK4A
 
class  CameraK4W2
 
class  CameraMobile
 
class  CameraModel
 
class  CameraMyntEye
 
class  CameraOpenni
 
class  CameraOpenNI2
 
class  CameraOpenNICV
 
class  CameraRealSense
 
class  CameraRealSense2
 
class  CameraRGBDImages
 
class  CameraStereoDC1394
 
class  CameraStereoFlyCapture2
 
class  CameraStereoImages
 
class  CameraStereoTara
 
class  CameraStereoVideo
 
class  CameraStereoZed
 
class  CameraTango
 
class  CameraThread
 
class  CameraVideo
 
class  CameraViewer
 
class  CloudViewer
 
class  CloudViewerCellPicker
 
class  CloudViewerInteractorStyle
 
class  ComplementaryFilter
 
class  CompressionThread
 
class  ConsoleWidget
 
class  CreateSimpleCalibrationDialog
 
class  CV_ORB
 
class  DatabaseViewer
 
class  DataRecorder
 
class  DBDriver
 
class  DBDriverSqlite3
 
class  DBReader
 
class  DepthCalibrationDialog
 
class  DerivedValue
 
class  EdgeSBACamGravity
 EdgeSBACamGravity. More...
 
class  EdgeSE3Gravity
 g2o edge with gravity constraint More...
 
class  EdgeSE3XYZPrior
 Prior for a 3D pose with constraints only in xyz direction. More...
 
class  EditConstraintDialog
 
class  EditDepthArea
 
class  EditMapArea
 
class  EnvSensor
 
class  EpipolarGeometry
 
class  ExportBundlerDialog
 
class  ExportCloudsDialog
 
class  ExportDialog
 
class  ExtractorNode
 
class  FAST
 
class  FAST_BRIEF
 
class  FAST_FREAK
 
class  Feature2D
 
class  FeatureBA
 
class  FlannIndex
 
class  GainCompensator
 
class  GeodeticCoords
 
class  GFTT
 
class  GFTT_BRIEF
 
class  GFTT_DAISY
 
class  GFTT_FREAK
 
class  GFTT_ORB
 
class  GlobalDescriptor
 
class  GPS
 
class  GPSPose2XYFactor
 
class  GPSPose3XYZFactor
 
class  GraphViewer
 
class  GravityFactor
 
class  ImageView
 
class  IMU
 
class  IMUEvent
 
class  IMUFilter
 
class  IMUThread
 
class  KAZE
 
struct  KeyPointCompare
 
class  KeypointItem
 
class  Landmark
 
class  LaserScan
 
class  LineItem
 
class  Link
 
class  LinkItem
 
class  LogHandler
 
class  LoopClosureViewer
 
class  MadgwickFilter
 
class  MainWindow
 
class  MapVisibilityWidget
 
class  MarkerDetector
 
class  Memory
 
class  Mesh
 
class  NearestPathKey
 
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  OdometryVINS
 
class  OdometryViso2
 
class  Optimizer
 
class  OptimizerCeres
 
class  OptimizerCVSBA
 
class  OptimizerG2O
 
class  OptimizerGTSAM
 
class  OptimizerTORO
 
class  ORB
 
class  ORBextractor
 
class  ORBOctree
 
class  Parameters
 
class  ParametersToolBox
 
class  ParamEvent
 
class  ParticleFilter
 
class  PdfPlotCurve
 
class  PdfPlotItem
 
class  PointCloudColorHandlerIntensityField
 
class  Pose3GravityFactor
 
class  PoseEvent
 
class  PostProcessingDialog
 
class  PreferencesDialog
 
class  PreUpdateThread
 
class  ProgressDialog
 
class  ProgressEvent
 
class  ProgressionStatus
 
class  ProgressState
 
class  PyMatcher
 
class  PythonSingleTon
 
class  RecoveryState
 
class  Registration
 
class  RegistrationIcp
 
class  RegistrationInfo
 
class  RegistrationVis
 
class  Rot3GravityFactor
 
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  SPDetector
 
class  Statistics
 
class  StatItem
 
class  StatsToolBox
 
class  Stereo
 
class  StereoBM
 
class  StereoCameraModel
 
class  StereoDense
 
class  StereoOpticalFlow
 
class  StereoSGBM
 
struct  SuperPoint
 
class  SuperPointTorch
 
class  SURF
 
class  SURF_DAISY
 
class  SURF_FREAK
 
class  TexturingState
 
class  Transform
 
class  TransformStamped
 
class  UserDataEvent
 
class  VisualWord
 
class  vtkImageMatSource
 
class  VWDictionary
 
class  WeightAgeIdKey
 

Typedefs

typedef std::map< EnvSensor::Type, EnvSensorEnvSensors
 
typedef std::map< int, LandmarkLandmarks
 
typedef std::map< std::string, std::string > ParametersMap
 
typedef std::pair< std::string, std::string > ParametersPair
 

Enumerations

enum  ScreenRotation {
  ROTATION_IGNORED = -1, ROTATION_0 = 0, ROTATION_90 = 1, ROTATION_180 = 2,
  ROTATION_270 = 3
}
 

Functions

static void addGradientDescentStep (float q0, float q1, float q2, float q3, float _2dx, float _2dy, float _2dz, float mx, float my, float mz, float &s0, float &s1, float &s2, float &s3)
 
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 computeDescriptors (const Mat &image, vector< KeyPoint > &keypoints, Mat &descriptors, const vector< Point > &pattern)
 
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)
 
static void computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point *pattern, uchar *desc, int dsize, int WTA_K)
 
static bool computeOrientation (Eigen::Vector3f A, Eigen::Vector3f E, Eigen::Quaternionf &orientation)
 
static bool computeOrientation (Eigen::Vector3f A, Eigen::Quaternionf &orientation)
 
static void computeOrientation (const Mat &image, vector< KeyPoint > &keypoints, const vector< int > &umax, int halfPatchSize)
 
static void computeOrientation (const Mat &image, std::vector< KeyPoint > &keypoints, int halfPatchSize, const std::vector< int > &umax)
 
void copyCameraConfig (const ArSession *ar_session, const ArCameraConfigList *all_configs, int index, int num_configs, CameraConfig *camera_config)
 
QIcon createIcon (const QColor &color)
 
template<typename T >
static void crossProduct (T ax, T ay, T az, T bx, T by, T bz, T &rx, T &ry, T &rz)
 
std::vector< double > cumSum (const std::vector< double > &v)
 
void cvStereoRectifyFisheye (const CvMat *_cameraMatrix1, const CvMat *_cameraMatrix2, const CvMat *_distCoeffs1, const CvMat *_distCoeffs2, CvSize imageSize, const CvMat *matR, const CvMat *matT, CvMat *_R1, CvMat *_R2, CvMat *_P1, CvMat *_P2, CvMat *matQ, int flags, double alpha, CvSize newImgSize)
 
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)
 
void destroyCameraConfigs (std::vector< CameraConfig > &camera_configs)
 
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 (QRgb *bits, const cv::Mat &depthImage, int x, int y, float lastDepthValue, float error, int &iterations)
 
ScreenRotation GetAndroidRotationFromColorCameraToDisplay (ScreenRotation display_rotation, int color_camera_rotation)
 
ScreenRotation GetAndroidRotationFromColorCameraToDisplay (int display_rotation, int color_camera_rotation)
 
void getCameraConfigLowestAndHighestResolutions (std::vector< CameraConfig > &camera_configs, CameraConfig **lowest_resolution_config, CameraConfig **highest_resolution_config)
 
Transform getMeanVelocity (const std::list< std::pair< std::vector< float >, double > > &transforms)
 
static float getScale (int level, int firstLevel, double scaleFactor)
 
std::string getTraceback ()
 
glm::mat4 glmFromTransform (const rtabmap::Transform &transform)
 
rtabmap::Transform glmToTransform (const glm::mat4 &mat)
 
static void HarrisResponses (const Mat &img, std::vector< KeyPoint > &pts, int blockSize, float harris_k)
 
static float IC_Angle (const Mat &image, Point2f pt, const vector< int > &u_max, int halfPatchSize)
 
static float IC_Angle (const Mat &image, const int half_k, Point2f pt, const std::vector< int > &u_max)
 
void icvGetRectanglesFisheye (const CvMat *cameraMatrix, const CvMat *distCoeffs, const CvMat *R, const CvMat *newCameraMatrix, CvSize imgSize, cv::Rect_< float > &inner, cv::Rect_< float > &outer)
 
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)
 
void invertQuaternion (double q0, double q1, double q2, double q3, double &q0_inv, double &q1_inv, double &q2_inv, double &q3_inv)
 
static float invSqrt (float x)
 
static void makeRandomPattern (int patchSize, Point *pattern, int npoints)
 
void NMS (const std::vector< cv::KeyPoint > &ptsIn, const cv::Mat &conf, const cv::Mat &descriptorsIn, std::vector< cv::KeyPoint > &ptsOut, cv::Mat &descriptorsOut, int border, int dist_thresh, int img_width, int img_height)
 
int NormalizedColorCameraRotation (int camera_rotation)
 
template<typename T >
static void normalizeQuaternion (T &q0, T &q1, T &q2, T &q3)
 
void normalizeQuaternion (double &q0, double &q1, double &q2, double &q3)
 
template<typename T >
static T normalizeVector (T &vx, T &vy, T &vz)
 
void normalizeVector (double &x, double &y, double &z)
 
template<typename T >
static void normalizeVectorOpt (T &vx, T &vy, T &vz)
 
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)
 
static const rtabmap::Transform opengl_world_T_rtabmap_world (0.0f,-1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,-1.0f, 0.0f, 0.0f, 0.0f)
 
static const rtabmap::Transform opengl_world_T_tango_world (1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f)
 
RTABMAP_EXP std::ostream & operator<< (std::ostream &os, const CameraModel &model)
 
RTABMAP_EXP std::ostream & operator<< (std::ostream &os, const Transform &s)
 
static const rtabmap::Transform optical_T_opengl (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 void orientationChangeFromGyro (float q0, float q1, float q2, float q3, float gx, float gy, float gz, float &qDot1, float &qDot2, float &qDot3, float &qDot4)
 
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())
 
void quaternionMultiplication (double p0, double p1, double p2, double p3, double q0, double q1, double q2, double q3, double &r0, double &r1, double &r2, double &r3)
 
double RAD2DEG (const double x)
 
std::vector< double > resample (const std::vector< double > &p, const std::vector< double > &w, bool normalizeWeights=false)
 
static void rotateAndScaleVector (float q0, float q1, float q2, float q3, float _2dx, float _2dy, float _2dz, float &rx, float &ry, float &rz)
 
Eigen::Vector3f rotatePointAroundAxe (const Eigen::Vector3f &point, const Eigen::Vector3f &axis, float angle)
 
void rotateVectorByQuaternion (double x, double y, double z, double q0, double q1, double q2, double q3, double &vx, double &vy, double &vz)
 
 RTABMAP_DEPRECATED (typedef SensorData Image,"rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
 
static const rtabmap::Transform rtabmap_world_T_opengl_world (0.0f, 0.0f,-1.0f, 0.0f,-1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f)
 
static const rtabmap::Transform rtabmap_world_T_tango_world (0.0f, 1.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f)
 
void scaleQuaternion (double gain, double &dq0, double &dq1, double &dq2, double &dq3)
 
bool sortCallback (const std::string &a, const std::string &b)
 
double sqr (uchar v)
 
double square (const double &value)
 
void stereoRectifyFisheye (cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1, cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2, cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat, cv::OutputArray _Rmat1, cv::OutputArray _Rmat2, cv::OutputArray _Pmat1, cv::OutputArray _Pmat2, cv::OutputArray _Qmat, int flags, double alpha, cv::Size newImageSize)
 
static const rtabmap::Transform tango_device_T_rtabmap_world (0.0f,-1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,-1.0f, 0.0f, 0.0f, 0.0f)
 
static const rtabmap::Transform tango_world_T_rtabmap_world (0.0f,-1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f)
 
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 int bit_pattern_31_ [256 *4]
 
const int c1 = 64
 
const int c2 = 64
 
const int c3 = 128
 
const int c4 = 128
 
const int c5 = 256
 
const int d1 = 256
 
const float factorPI = (float)(CV_PI/180.f)
 
static const int frustum_indices []
 
static const float frustum_vertices []
 
static PythonSingleTon g_python
 
const float HARRIS_K = 0.04f
 
const int holeSize = 5
 
const int kVersionStringLength = 128
 
const float maxDepthError = 0.10
 
const int scanDownsampling = 1
 

Detailed Description

Contributed by e-consystemgit https://www.e-consystems.com/opensource-linux-webcam-software-application.asp

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

This code is a version of ORB from OpenCV but modified by ORB_SLAM2 project to use an OcTree on keypoint detection. This code is licensed under GPLv3 and BSD licenses. If you cannot comply to those licenses, please set WITH_ORB_OCTREE=OFF when building RTAB-Map so that it is not included in the compiled binary. This file is part of ORB-SLAM2.

Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at="" unizar="" dot="" es>=""> (University of Zaragoza) For more information see https://github.com/raulmur/ORB_SLAM2

ORB-SLAM2 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

ORB-SLAM2 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with ORB-SLAM2. If not, see http://www.gnu.org/licenses/.

Adapted from EdgeSE3Gravity

Adapted code from HDL graph slam: https://github.com/koide3/hdl_graph_slam/blob/master/include/g2o/edge_se3_priorvec.hpp

Author: Mathieu Labbe This file is a copy of GPSPose2Factor.h of gtsam examples A simple 2D 'GPS' like factor The factor contains a X-Y position measurement (mx, my) for a Pose, but no rotation information The error vector will be [x-mx, y-my]'

Author: Mathieu Labbe This file is a copy of GPSPose2Factor.h of gtsam examples for Pose3 A simple 3D 'GPS' like factor The factor contains a X-Y-Z position measurement (mx, my, mz) for a Pose, but no rotation information The error vector will be [x-mx, y-my, z-mz]'

Python interface for python matchers like:

Original code from https://github.com/KinglittleQ/SuperPoint_SLAM

Typedef Documentation

Definition at line 81 of file EnvSensor.h.

typedef std::map<int, Landmark> rtabmap::Landmarks

Definition at line 72 of file Landmark.h.

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

Definition at line 43 of file Parameters.h.

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

Definition at line 44 of file Parameters.h.

Enumeration Type Documentation

Enumerator
ROTATION_IGNORED 

Not apply any rotation.

ROTATION_0 

0 degree rotation (natural orientation)

ROTATION_90 

90 degree rotation.

ROTATION_180 

180 degree rotation.

ROTATION_270 

270 degree rotation.

Definition at line 192 of file util.h.

Function Documentation

static void rtabmap::addGradientDescentStep ( float  q0,
float  q1,
float  q2,
float  q3,
float  _2dx,
float  _2dy,
float  _2dz,
float  mx,
float  my,
float  mz,
float &  s0,
float &  s1,
float &  s2,
float &  s3 
)
inlinestatic

Definition at line 97 of file MadgwickFilter.cpp.

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 237 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 130 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
imagethe image to compute the features and descriptors on
integral_imagethe integral image of the image (can be empty, but the computation will be slower)
levelthe scale at which we compute the orientation
keypointsthe keypoints to use
descriptorsthe resulting descriptors

Definition at line 716 of file Orb.cpp.

static void rtabmap::computeDescriptors ( const Mat &  image,
vector< KeyPoint > &  keypoints,
Mat &  descriptors,
const vector< Point > &  pattern 
)
static

Definition at line 1041 of file ORBextractor.cc.

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_pyramidthe image pyramid to compute the features and descriptors on
mask_pyramidthe masks to apply at every level
keypointsthe 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 
)
static

Definition at line 114 of file ORBextractor.cc.

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 bool rtabmap::computeOrientation ( Eigen::Vector3f  A,
Eigen::Vector3f  E,
Eigen::Quaternionf &  orientation 
)
inlinestatic

Definition at line 151 of file MadgwickFilter.cpp.

static bool rtabmap::computeOrientation ( Eigen::Vector3f  A,
Eigen::Quaternionf &  orientation 
)
inlinestatic

Definition at line 211 of file MadgwickFilter.cpp.

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

Definition at line 479 of file ORBextractor.cc.

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

Definition at line 604 of file Orb.cpp.

void rtabmap::copyCameraConfig ( const ArSession *  ar_session,
const ArCameraConfigList *  all_configs,
int  index,
int  num_configs,
CameraConfig camera_config 
)

Definition at line 104 of file CameraARCore.cpp.

QIcon rtabmap::createIcon ( const QColor &  color)

Definition at line 1540 of file GraphViewer.cpp.

template<typename T >
static void rtabmap::crossProduct ( ax,
ay,
az,
bx,
by,
bz,
T &  rx,
T &  ry,
T &  rz 
)
inlinestatic

Definition at line 131 of file MadgwickFilter.cpp.

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

Definition at line 53 of file ParticleFilter.h.

void rtabmap::cvStereoRectifyFisheye ( const CvMat *  _cameraMatrix1,
const CvMat *  _cameraMatrix2,
const CvMat *  _distCoeffs1,
const CvMat *  _distCoeffs2,
CvSize  imageSize,
const CvMat *  matR,
const CvMat *  matT,
CvMat *  _R1,
CvMat *  _R2,
CvMat *  _P1,
CvMat *  _P2,
CvMat *  matQ,
int  flags,
double  alpha,
CvSize  newImgSize 
)

Definition at line 971 of file stereoRectifyFisheye.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
corruptedDatabasedatabase to recover
keepCorruptedDatabaseif false and on recovery success, the backup database is removed
errorMsgerror message if the function returns false
progressStateA 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.

void rtabmap::destroyCameraConfigs ( std::vector< CameraConfig > &  camera_configs)

Definition at line 120 of file CameraARCore.cpp.

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 
)
void rtabmap::floodfill ( QRgb *  bits,
const cv::Mat &  depthImage,
int  x,
int  y,
float  lastDepthValue,
float  error,
int &  iterations 
)

Definition at line 288 of file EditDepthArea.cpp.

ScreenRotation rtabmap::GetAndroidRotationFromColorCameraToDisplay ( ScreenRotation  display_rotation,
int  color_camera_rotation 
)
inline

Definition at line 237 of file util.h.

ScreenRotation rtabmap::GetAndroidRotationFromColorCameraToDisplay ( int  display_rotation,
int  color_camera_rotation 
)
inline

Definition at line 259 of file util.h.

void rtabmap::getCameraConfigLowestAndHighestResolutions ( std::vector< CameraConfig > &  camera_configs,
CameraConfig **  lowest_resolution_config,
CameraConfig **  highest_resolution_config 
)

Definition at line 72 of file CameraARCore.cpp.

Transform rtabmap::getMeanVelocity ( const std::list< std::pair< std::vector< float >, double > > &  transforms)

Definition at line 252 of file Odometry.cpp.

static float rtabmap::getScale ( int  level,
int  firstLevel,
double  scaleFactor 
)
inlinestatic

Definition at line 561 of file Orb.cpp.

std::string rtabmap::getTraceback ( )

Definition at line 33 of file PyMatcher.cpp.

glm::mat4 rtabmap::glmFromTransform ( const rtabmap::Transform transform)
inline

Definition at line 122 of file util.h.

rtabmap::Transform rtabmap::glmToTransform ( const glm::mat4 mat)
inline

Definition at line 142 of file util.h.

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,
Point2f  pt,
const vector< int > &  u_max,
int  halfPatchSize 
)
static

Definition at line 83 of file ORBextractor.cc.

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.

void rtabmap::icvGetRectanglesFisheye ( const CvMat *  cameraMatrix,
const CvMat *  distCoeffs,
const CvMat *  R,
const CvMat *  newCameraMatrix,
CvSize  imgSize,
cv::Rect_< float > &  inner,
cv::Rect_< float > &  outer 
)

Definition at line 926 of file stereoRectifyFisheye.h.

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

Definition at line 138 of file EpipolarGeometry.cpp.

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

Definition at line 151 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.

void rtabmap::invertQuaternion ( double  q0,
double  q1,
double  q2,
double  q3,
double &  q0_inv,
double &  q1_inv,
double &  q2_inv,
double &  q3_inv 
)

Definition at line 420 of file ComplementaryFilter.cpp.

static float rtabmap::invSqrt ( float  x)
inlinestatic

Definition at line 33 of file MadgwickFilter.cpp.

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

Definition at line 549 of file Orb.cpp.

void rtabmap::NMS ( const std::vector< cv::KeyPoint > &  ptsIn,
const cv::Mat &  conf,
const cv::Mat &  descriptorsIn,
std::vector< cv::KeyPoint > &  ptsOut,
cv::Mat &  descriptorsOut,
int  border,
int  dist_thresh,
int  img_width,
int  img_height 
)

Definition at line 264 of file SuperPoint.cc.

int rtabmap::NormalizedColorCameraRotation ( int  camera_rotation)
inline

Definition at line 209 of file util.h.

template<typename T >
static void rtabmap::normalizeQuaternion ( T &  q0,
T &  q1,
T &  q2,
T &  q3 
)
inlinestatic

Definition at line 58 of file MadgwickFilter.cpp.

void rtabmap::normalizeQuaternion ( double &  q0,
double &  q1,
double &  q2,
double &  q3 
)

Definition at line 411 of file ComplementaryFilter.cpp.

template<typename T >
static T rtabmap::normalizeVector ( T &  vx,
T &  vy,
T &  vz 
)
inlinestatic

Definition at line 141 of file MadgwickFilter.cpp.

void rtabmap::normalizeVector ( double &  x,
double &  y,
double &  z 
)

Definition at line 402 of file ComplementaryFilter.cpp.

template<typename T >
static void rtabmap::normalizeVectorOpt ( T &  vx,
T &  vy,
T &  vz 
)
inlinestatic

Definition at line 49 of file MadgwickFilter.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.

static const rtabmap::Transform rtabmap::opengl_world_T_rtabmap_world ( 0.  0f,
-1.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
1.  0f,
0.  0f,
-1.  0f,
0.  0f,
0.  0f,
0.  0f 
)
static
static const rtabmap::Transform rtabmap::opengl_world_T_tango_world ( 1.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
1.  0f,
0.  0f,
0.  0f,
-1.  0f,
0.  0f,
0.  0f 
)
static
std::ostream & rtabmap::operator<< ( std::ostream &  os,
const CameraModel model 
)

Definition at line 768 of file CameraModel.cpp.

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

Definition at line 333 of file Transform.cpp.

static const rtabmap::Transform rtabmap::optical_T_opengl ( 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
static void rtabmap::orientationChangeFromGyro ( float  q0,
float  q1,
float  q2,
float  q3,
float  gx,
float  gy,
float  gz,
float &  qDot1,
float &  qDot2,
float &  qDot3,
float &  qDot4 
)
inlinestatic

Definition at line 84 of file MadgwickFilter.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.

void rtabmap::quaternionMultiplication ( double  p0,
double  p1,
double  p2,
double  p3,
double  q0,
double  q1,
double  q2,
double  q3,
double &  r0,
double &  r1,
double &  r2,
double &  r3 
)

Definition at line 458 of file ComplementaryFilter.cpp.

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.

static void rtabmap::rotateAndScaleVector ( float  q0,
float  q1,
float  q2,
float  q3,
float  _2dx,
float  _2dy,
float  _2dz,
float &  rx,
float &  ry,
float &  rz 
)
inlinestatic

Definition at line 67 of file MadgwickFilter.cpp.

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

Definition at line 3383 of file CloudViewer.cpp.

void rtabmap::rotateVectorByQuaternion ( double  x,
double  y,
double  z,
double  q0,
double  q1,
double  q2,
double  q3,
double &  vx,
double &  vy,
double &  vz 
)

Definition at line 470 of file ComplementaryFilter.cpp.

rtabmap::RTABMAP_DEPRECATED ( typedef SensorData  Image,
"rtabmap::Image class is renamed to rtabmap::SensorData  ,
use the last one instead."   
)
static const rtabmap::Transform rtabmap::rtabmap_world_T_opengl_world ( 0.  0f,
0.  0f,
-1.  0f,
0.  0f,
-1.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
1.  0f,
0.  0f,
0.  0f 
)
static
static const rtabmap::Transform rtabmap::rtabmap_world_T_tango_world ( 0.  0f,
1.  0f,
0.  0f,
0.  0f,
-1.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
1.  0f,
0.  0f 
)
static
void rtabmap::scaleQuaternion ( double  gain,
double &  dq0,
double &  dq1,
double &  dq2,
double &  dq3 
)

Definition at line 431 of file ComplementaryFilter.cpp.

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

Definition at line 3758 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.

void rtabmap::stereoRectifyFisheye ( cv::InputArray  _cameraMatrix1,
cv::InputArray  _distCoeffs1,
cv::InputArray  _cameraMatrix2,
cv::InputArray  _distCoeffs2,
cv::Size  imageSize,
cv::InputArray  _Rmat,
cv::InputArray  _Tmat,
cv::OutputArray  _Rmat1,
cv::OutputArray  _Rmat2,
cv::OutputArray  _Pmat1,
cv::OutputArray  _Pmat2,
cv::OutputArray  _Qmat,
int  flags,
double  alpha,
cv::Size  newImageSize 
)

Definition at line 1181 of file stereoRectifyFisheye.h.

static const rtabmap::Transform rtabmap::tango_device_T_rtabmap_world ( 0.  0f,
-1.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
1.  0f,
0.  0f,
-1.  0f,
0.  0f,
0.  0f,
0.  0f 
)
static
static const rtabmap::Transform rtabmap::tango_world_T_rtabmap_world ( 0.  0f,
-1.  0f,
0.  0f,
0.  0f,
1.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
0.  0f,
1.  0f,
0.  0f 
)
static
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 156 of file ORBextractor.cc.

int rtabmap::bit_pattern_31_[256 *4]
static

Definition at line 288 of file Orb.cpp.

const int rtabmap::c1 = 64

Definition at line 15 of file SuperPoint.cc.

const int rtabmap::c2 = 64

Definition at line 16 of file SuperPoint.cc.

const int rtabmap::c3 = 128

Definition at line 17 of file SuperPoint.cc.

const int rtabmap::c4 = 128

Definition at line 18 of file SuperPoint.cc.

const int rtabmap::c5 = 256

Definition at line 19 of file SuperPoint.cc.

const int rtabmap::d1 = 256

Definition at line 20 of file SuperPoint.cc.

const float rtabmap::factorPI = (float)(CV_PI/180.f)

Definition at line 113 of file ORBextractor.cc.

const int rtabmap::frustum_indices[]
static
Initial value:
= {
1, 2, 3, 4, 1, 0, 2, 0, 3, 0, 4}

Definition at line 1967 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 1960 of file CloudViewer.cpp.

PythonSingleTon rtabmap::g_python
static

Definition at line 31 of file PyMatcher.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.

const int rtabmap::scanDownsampling = 1

Definition at line 43 of file CameraTango.cpp.



rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08