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	CameraDepthAI
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	CameraStereoZedOC
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
class	EdgeSE3Gravity
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	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	MarkerInfo
class	Memory
class	Mesh
class	MultiSessionLocSubView
class	MultiSessionLocWidget
class	NearestPathKey
class	NodeGPSItem
class	NodeItem
class	OccupancyGrid
class	OctoMap
class	Odometry
class	OdometryDVO
class	OdometryEvent
class	OdometryF2F
class	OdometryF2M
class	OdometryFLOAM
class	OdometryFovis
class	OdometryInfo
class	OdometryLOAM
class	OdometryMono
class	OdometryMSCKF
class	OdometryOkvis
class	OdometryOpen3D
class	OdometryOpenVINS
class	OdometryORBSLAM
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	PyDetector
class	PyMatcher
class	PythonInterface
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
class	XYFactor
class	XYZFactor

Typedefs
typedef std::map< EnvSensor::Type, EnvSensor >	EnvSensors
typedef std::map< int, Landmark >	Landmarks
typedef std::map< int, Transform >	MapIdPose
typedef std::map< std::string, std::string >	ParametersMap
typedef std::pair< std::string, std::string >	ParametersPair

Enumerations
enum	ScreenRotation

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)
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)
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)
PointMatcher< T >::TransformationParameters	eigenMatrixToDim (const typename PointMatcher< T >::TransformationParameters &matrix, int dimp1)
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)
std::string	getPDALSupportedWriters ()
static float	getScale (int level, int firstLevel, double scaleFactor)
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)
rtabmap::Transform	icpCC (const pcl::PointCloud< pcl::PointXYZI >::Ptr &fromCloud, pcl::PointCloud< pcl::PointXYZI >::Ptr &toCloud, int maxIterations=150, double minRMSDecrease=0.00001, bool force3DoF=false, bool force4DoF=false, int samplingLimit=50000, double finalOverlapRatio=0.85, bool filterOutFarthestPoints=false, double maxFinalRMS=0.2, float *finalRMS=0, std::string *errorMsg=0)
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)
rtabmap::LaserScan	laserScanFromDP (const DP &cloud, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity())
DP	laserScanToDP (const rtabmap::LaserScan &scan, bool ignoreLocalTransform=false)
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)
static void	normalizeQuaternion (T &q0, T &q1, T &q2, T &q3)
void	normalizeQuaternion (double &q0, double &q1, double &q2, double &q3)
static T	normalizeVector (T &vx, T &vy, T &vz)
void	normalizeVector (double &x, double &y, double &z)
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)
RTABMAP_EXP std::ostream &	operator<< (std::ostream &os, const StereoCameraModel &model)
RTABMAP_EXP std::ostream &	operator<< (std::ostream &os, const Transform &s)
RTABMAP_EXP std::ostream &	operator<< (std::ostream &os, const CameraModel &model)
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)
void	pclFromDP (const DP &cloud, pcl::PointCloud< pcl::PointXYZINormal > &pclCloud)
void	pclFromDP (const DP &cloud, pcl::PointCloud< pcl::PointXYZI > &pclCloud)
DP	pclToDP (const pcl::PointCloud< pcl::PointXYZI >::Ptr &pclCloud, bool is2D)
DP	pclToDP (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &pclCloud, bool is2D)
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())
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.")
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZI > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
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)
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 std::vector< unsigned char > &bytes)
cv::Mat RTABMAP_EXP	uncompressImage (const cv::Mat &bytes)
std::string RTABMAP_EXP	uncompressString (const cv::Mat &bytes)
	vtkStandardNewMacro (vtkImageMatSource)
	vtkStandardNewMacro (CloudViewerCellPicker)
	vtkStandardNewMacro (CloudViewerInteractorStyle)

Variables
static int	bit_pattern_31_ [256 *4]
static int	bit_pattern_31_ [256 *4]
const int	c1
const int	c2
const int	c3
const int	c4
const int	c5
const int	d1
const float	factorPI
static const int	frustum_indices []
static const float	frustum_vertices []
const float	HARRIS_K
const int	holeSize
const float	kTextureCoords0 []
const float	kTextureCoords180 []
const float	kTextureCoords270 []
const float	kTextureCoords90 []
const int	kVersionStringLength
const float	maxDepthError
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)
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)
	ROTATION_0
	ROTATION_180
	ROTATION_270
	ROTATION_90
	ROTATION_IGNORED
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)
const int	scanDownsampling
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)