rtabmap Namespace Reference

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)
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)
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)
chisel::PointCloudPtr	pointCloudRGBToChisel (const typename pcl::PointCloud< PointRGBT > &cloud, const Transform &transform=Transform::getIdentity())
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 unsigned char *bytes, unsigned long size)
cv::Mat RTABMAP_EXP	uncompressData (const std::vector< unsigned char > &bytes)
cv::Mat RTABMAP_EXP	uncompressData (const cv::Mat &bytes)
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 (CloudViewerCellPicker)
	vtkStandardNewMacro (vtkImageMatSource)
	vtkStandardNewMacro (CloudViewerInteractorStyle)

Variables
static int	bit_pattern_31_ [256 *4]
static const int	frustum_indices []
static const float	frustum_vertices []
const float	HARRIS_K
const int	holeSize
const int	kVersionStringLength
const float	maxDepthError
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