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, EnvSensor >	EnvSensors
typedef std::map< int, Landmark >	Landmarks
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:

• SuperGlue: https://github.com/magicleap/SuperGluePretrainedNetwork
• OANET https://github.com/zjhthu/OANet

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

Typedef Documentation

typedef std::map<EnvSensor::Type, EnvSensor> rtabmap::EnvSensors

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

enum rtabmap::ScreenRotation

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

image	the image to compute the features and descriptors on
integral_image	the integral image of the image (can be empty, but the computation will be slower)
level	the scale at which we compute the orientation
keypoints	the keypoints to use
descriptors	the 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_pyramid	the image pyramid to compute the features and descriptors on
mask_pyramid	the masks to apply at every level
keypoints	the 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

image	the image to compute the features and descriptors on
integral_image	the integral image of the iamge (can be empty, but the computation will be slower)
scale	the scale at which we compute the orientation
keypoints	the 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 ( T  ax, T  ay, T  az, T  bx, T  by, T  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

corruptedDatabase	database to recover
keepCorruptedDatabase	if false and on recovery success, the backup database is removed
errorMsg	error message if the function returns false
progressState	A 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
	)

See also

https://github.com/opencv/opencv/blob/master/modules/stitching/src/exposure_compensate.cpp

Definition at line 124 of file GainCompensator.cpp.

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.