Namespaces
	graph

	util2d

	util3d

Classes
struct	AABB

class	AboutDialog

class	BayesFilter

class	BRISK

class	CalibrationDialog

class	Camera

class	CameraEvent

class	CameraFreenect

class	CameraFreenect2

class	CameraImages

class	CameraInfo

class	CameraK4W2

class	CameraModel

class	CameraOpenni

class	CameraOpenNI2

class	CameraOpenNICV

class	CameraRealSense

class	CameraRealSense2

class	CameraRGBDImages

class	CameraStereoDC1394

class	CameraStereoFlyCapture2

class	CameraStereoImages

class	CameraStereoVideo

class	CameraStereoZed

class	CameraTango

class	CameraTangoEvent

class	CameraThread

class	CameraVideo

class	CameraViewer

class	CloudViewer

class	CloudViewerCellPicker

class	CloudViewerInteractorStyle

class	CompressionThread

class	ConsoleWidget

class	CreateSimpleCalibrationDialog

class	CV_ORB

class	DatabaseViewer

class	DataRecorder

class	DBDriver

class	DBDriverSqlite3

class	DBReader

class	DepthCalibrationDialog

class	EditDepthArea

class	EpipolarGeometry

class	ExportBundlerDialog

class	ExportCloudsDialog

class	ExportDialog

class	FAST

class	FAST_BRIEF

class	FAST_FREAK

class	Feature2D

class	FlannIndex

class	GainCompensator

class	GeodeticCoords

class	GFTT

class	GFTT_BRIEF

class	GFTT_FREAK

class	GFTT_ORB

class	GPS

class	GraphViewer

class	ImageView

class	IMU

class	IMUEvent

class	IMUThread

class	KAZE

class	KeypointItem

class	LaserScan

class	LineItem

class	Link

class	LinkItem

class	LoopClosureViewer

class	MainWindow

class	MapVisibilityWidget

class	Memory

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	OdometryViso2

class	Optimizer

class	OptimizerCVSBA

class	OptimizerG2O

class	OptimizerGTSAM

class	OptimizerTORO

class	ORB

class	Parameters

class	ParametersToolBox

class	ParamEvent

class	ParticleFilter

class	PdfPlotCurve

class	PdfPlotItem

class	PoseEvent

class	PostProcessingDialog

class	PreferencesDialog

class	PreUpdateThread

class	ProgressDialog

class	ProgressEvent

class	ProgressionStatus

class	ProgressState

class	RecoveryState

class	Registration

class	RegistrationIcp

class	RegistrationInfo

class	RegistrationVis

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	Statistics

class	StatItem

class	StatsToolBox

class	Stereo

class	StereoBM

class	StereoCameraModel

class	StereoDense

class	StereoOpticalFlow

class	SURF

class	TexturingState

class	Transform

class	UserDataEvent

class	VisualWord

class	vtkImageMatSource

class	VWDictionary

class	WeightAgeIdKey

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

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

Functions
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	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, int dsize, int WTA_K)

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

QIcon	createIcon (const QColor &color)

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

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)

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 (QImage &image, const cv::Mat &depthImage, int x, int y, float lastDepthValue, float error)

static float	getScale (int level, int firstLevel, double scaleFactor)

static void	HarrisResponses (const Mat &img, std::vector< KeyPoint > &pts, int blockSize, float harris_k)

static float	IC_Angle (const Mat &image, const int half_k, Point2f pt, const std::vector< int > &u_max)

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)

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

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)

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

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())

double	RAD2DEG (const double x)

std::vector< double >	resample (const std::vector< double > &p, const std::vector< double > &w, bool normalizeWeights=false)

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

	RTABMAP_DEPRECATED (typedef SensorData Image,"rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")

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

double	sqr (uchar v)

double	square (const double &value)

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 const int	frustum_indices []

static const float	frustum_vertices []

const float	HARRIS_K = 0.04f

const int	holeSize = 5

const int	kVersionStringLength = 128

const float	maxDepthError = 0.10

static rtabmap::Transform	opticalRotation (1.0f, 0.0f, 0.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f, 0.0f, 0.0f,-1.0f, 0.0f)

const int	scanDownsampling = 1

Detailed Description

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

Typedef Documentation

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

Definition at line 41 of file Parameters.h.

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

Definition at line 42 of file Parameters.h.

Function Documentation

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 228 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 138 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::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,
		int	dsize,
		int	WTA_K
	)

static

Definition at line 138 of file Orb.cpp.

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.

QIcon rtabmap::createIcon ( const QColor & color )

Definition at line 1474 of file GraphViewer.cpp.

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

Definition at line 53 of file ParticleFilter.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.

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	(	QImage &	image,
		const cv::Mat &	depthImage,
		int	x,
		int	y,
		float	lastDepthValue,
		float	error
	)

Definition at line 228 of file EditDepthArea.cpp.

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

inlinestatic

Definition at line 561 of file Orb.cpp.

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,
		const int	half_k,
		Point2f	pt,
		const std::vector< int > &	u_max
	)

static

Definition at line 106 of file Orb.cpp.

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

Definition at line 132 of file EpipolarGeometry.cpp.

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

Definition at line 159 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.

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

static

Definition at line 549 of file Orb.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.

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

Definition at line 312 of file Transform.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.

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.

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

Definition at line 2807 of file CloudViewer.cpp.

rtabmap::RTABMAP_DEPRECATED	(	typedef SensorData	Image,
		"rtabmap::Image class is renamed to rtabmap::SensorData	,
		use the last one instead."
	)

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

Definition at line 3308 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.

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 288 of file Orb.cpp.

const int rtabmap::frustum_indices[]

static

Initial value:

= {

1, 2, 3, 4, 1, 0, 2, 0, 3, 0, 4}

Definition at line 1674 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 1667 of file CloudViewer.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.

rtabmap::Transform rtabmap::opticalRotation(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

const int rtabmap::scanDownsampling = 1

Definition at line 43 of file CameraTango.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation