rgbdtools Namespace Reference

Classes
class	FeatureDetector
	Base class for sparse feature extractors. More...
class	GftDetector
	GoodFeaturesToTrack detector. More...
struct	Header
class	KeyframeAssociation
	Class representing an association between two keyframes, used for graph-based pose alignement. More...
class	KeyframeGraphDetector
	Detects graph correspondences based on visual feature matching between keyframes. More...
class	KeyframeGraphSolver
	Base class for graph-based global alignment classes. More...
class	KeyframeGraphSolverG2O
	Graph-based global alignement using g2o (generalized graph optimizaiton) More...
class	KeyframeGraphSolverISAM
class	MotionEstimation
	Base class for visual odometry motion estimation methods. More...
class	MotionEstimationICPProbModel
	Motion estimation based on aligning sparse features against a persistent, dynamic model. More...
class	MotionEstimationPairwiseRANSAC
	Motion estimation based on aligning sparse features against a persistent, dynamic model. More...
class	OrbDetector
	ORB detector. More...
class	RGBDFrame
	Auxiliarry class that holds together rgb and depth images. More...
class	RGBDKeyframe
	Extension of an RGBDFrame, which has a pose, and a 3D point cloud. More...
class	StarDetector
	STAR detector. More...
class	SurfDetector
	SURF detector. More...
struct	Time
Typedefs
typedef Eigen::Affine3f	AffineTransform
typedef Eigen::aligned_allocator < AffineTransform >	AffineTransformAllocator
typedef std::vector < AffineTransform, AffineTransformAllocator >	AffineTransformVector
typedef std::vector< bool >	BoolVector
typedef std::vector< cv::DMatch >	DMatchVector
typedef boost::shared_ptr < FeatureDetector >	FeatureDetectorPtr
typedef std::vector< float >	FloatVector
typedef boost::shared_ptr < GftDetector >	GftDetectorPtr
typedef Eigen::Matrix< double, 6, 6 >	InformationMatrix
typedef std::vector< int >	IntVector
typedef pcl::KdTreeFLANN < PointFeature >	KdTree
typedef Eigen::aligned_allocator < RGBDKeyframe >	KeyframeAllocator
typedef Eigen::aligned_allocator < KeyframeAssociation >	KeyframeAssociationAllocator
typedef std::vector < KeyframeAssociation, KeyframeAssociationAllocator >	KeyframeAssociationVector
typedef std::vector < RGBDKeyframe, KeyframeAllocator >	KeyframeVector
typedef std::vector< cv::KeyPoint >	KeypointVector
typedef Eigen::Matrix3f	Matrix3f
typedef std::vector < Eigen::Matrix3f >	Matrix3fVector
typedef boost::shared_ptr < OrbDetector >	OrbDetectorPtr
typedef std::vector< cv::Point2f >	Point2fVector
typedef std::vector< cv::Point3f >	Point3fVector
typedef pcl::PointCloud < PointFeature >	PointCloudFeature
typedef pcl::PointCloud< PointT >	PointCloudT
typedef pcl::PointXYZ	PointFeature
typedef pcl::PointXYZRGB	PointT
typedef Eigen::Affine3f	Pose
typedef boost::shared_ptr < StarDetector >	StarDetectorPtr
typedef boost::shared_ptr < SurfDetector >	SurfDetectorPtr
typedef pcl::registration::TransformationEstimationSVD < PointFeature, PointFeature >	TransformationEstimationSVD
typedef Eigen::Vector3f	Vector3f
typedef std::vector < Eigen::Vector3f >	Vector3fVector
Enumerations
enum	DepthFitMode {   DEPTH_FIT_LINEAR, DEPTH_FIT_LINEAR_ZERO, DEPTH_FIT_QUADRATIC, DEPTH_FIT_QUADRATIC_ZERO,   DEPTH_FIT_LINEAR, DEPTH_FIT_LINEAR_ZERO, DEPTH_FIT_QUADRATIC, DEPTH_FIT_QUADRATIC_ZERO }
	Polynomial fit modes for depth unwarping. More...
enum	DepthFitMode {   DEPTH_FIT_LINEAR, DEPTH_FIT_LINEAR_ZERO, DEPTH_FIT_QUADRATIC, DEPTH_FIT_QUADRATIC_ZERO,   DEPTH_FIT_LINEAR, DEPTH_FIT_LINEAR_ZERO, DEPTH_FIT_QUADRATIC, DEPTH_FIT_QUADRATIC_ZERO }
	Polynomial fit modes for depth unwarping. More...
Functions
Pose	AffineFromTRPY (double xoffset, double yoffset, double zoffset, double roll, double pitch, double yaw)
bool	alignHistogram (const cv::Mat &hist, const cv::Mat &hist_exp, double hist_resolution, double &best_angle)
void	buildExpectedPhiHistorgtam (cv::Mat &histogram, double degrees_per_bin, double stdev)
void	buildPhiHistogram (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, cv::Mat &histogram, double degrees_per_bin)
void	buildPointCloud (const cv::Mat &depth_img_rect, const cv::Mat &intr_rect_ir, PointCloudT &cloud)
	Constructs a point cloud, a depth image and intrinsic matrix.
void	buildPointCloud (const cv::Mat &depth_img_rect_reg, const cv::Mat &rgb_img_rect, const cv::Mat &intr_rect_rgb, PointCloudT &cloud)
	Constructs a point cloud with color.
void	buildRegisteredDepthImage (const cv::Mat &intr_rect_ir, const cv::Mat &intr_rect_rgb, const cv::Mat &ir2rgb, const cv::Mat &depth_img_rect, cv::Mat &depth_img_rect_reg)
	reprojects a depth image to another depth image, registered in the rgb camera's frame.
void	compareAssociationMatrix (const cv::Mat &a, const cv::Mat &b, int &false_pos, int &false_neg, int &total)
void	concatenate_clouds (PointCloudT &map_cloud, KeyframeVector keyframes_)
void	create2DProjectionImage (const PointCloudT &cloud, cv::Mat &img, double min_z=-std::numeric_limits< double >::infinity(), double max_z=std::numeric_limits< double >::infinity())
void	create8bitHistogram (const cv::Mat &histogram, cv::Mat &histogram_norm)
void	createImageFromHistogram (const cv::Mat &histogram, cv::Mat &image)
void	depthImageFloatTo16bit (const cv::Mat &depth_image_in, cv::Mat &depth_image_out)
	converts a 32FC1 depth image (in meters) to a 16UC1 depth image (in mm).
double	distEuclideanSq (const PointFeature &a, const PointFeature &b)
void	eigenAffineToOpenCVRt (const AffineTransform &transform, cv::Mat &R, cv::Mat &t)
void	eigenAffineToXYZRPY (const AffineTransform &transform, float &x, float &y, float &z, float &roll, float &pitch, float &yaw)
void	filterCloudByHeight (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud_in, pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud_out, double min_z, double max_z)
void	floatMatrixToUintMatrix (const cv::Mat &mat_in, cv::Mat &mat_out, float scale)
void	get3RandomIndices (int n, std::set< int > &mask, IntVector &output)
void	getRandomIndices (int k, int n, IntVector &output)
void	getTfDifference (const AffineTransform &transform, double &dist, double &angle)
bool	loadKeyframes (KeyframeVector &keyframes, const std::string &path)
	Loads a vector of RGBD keyframes to disk.
Eigen::Matrix4d	m4dfromPose (Pose pose)
void	makeSymmetricOR (cv::Mat mat)
void	normalizeHistogram (cv::Mat &histogram)
void	openCVRtToEigenAffine (const cv::Mat &R, const cv::Mat &t, AffineTransform &eigen_affine)
void	pairwiseMatchingRANSAC (const RGBDFrame &frame_a, const RGBDFrame &frame_b, double max_eucl_dist_sq, double max_desc_dist, double sufficient_inlier_ratio, int max_ransac_iterations, std::vector< cv::DMatch > &all_matches, std::vector< cv::DMatch > &best_inlier_matches, Eigen::Matrix4f &best_transformation)
void	pointCloudFromMeans (const Vector3fVector &means, PointCloudFeature &cloud)
	Creates a pcl point cloud form a vector of eigen matrix means.
void	removeInvalidDistributions (const Vector3fVector &means, const Matrix3fVector &covariances, const BoolVector &valid, Vector3fVector &means_f, Matrix3fVector &covariances_f)
	Filters out a vector of means and a vector of covariances given a mask of valid entries.
void	removeInvalidMeans (const Vector3fVector &means, const BoolVector &valid, Vector3fVector &means_f)
	Filters out a vector of means given a mask of valid entries.
bool	saveKeyframes (const KeyframeVector &keyframes, const std::string &path)
	Saves a vector of RGBD keyframes to disk.
void	setRPY (float roll, float pitch, float yaw, Matrix3f &m)
void	shiftHistogram (const cv::Mat &hist_in, cv::Mat &hist_out, int bins)
Pose	tfFromMeans (const Eigen::Vector3f &t)
void	thresholdMatrix (const cv::Mat &mat_in, cv::Mat &mat_out, int threshold)
void	trainSURFMatcher (const KeyframeVector &keyframes, cv::FlannBasedMatcher &matcher)
void	trainSURFMatcher_Iterative (const KeyframeVector &keyframes, u_int min, u_int max, cv::FlannBasedMatcher &matcher)
void	transformDistributions (Vector3fVector &means, Matrix3fVector &covariances, const AffineTransform &transform)
	Transforms a vector of means and covariances.
void	transformMeans (Vector3fVector &means, const AffineTransform &transform)
	Transforms a vector of means.
void	unwarpDepthImage (cv::Mat &depth_img_in, const cv::Mat &coeff0, const cv::Mat &coeff1, const cv::Mat &coeff2, int fit_mode=DEPTH_FIT_QUADRATIC)
	Given a depth image, uwarps it according to a polynomial model.
Eigen::Matrix< double, 3, 1 >	XYZfromPose (const Pose &t)
void	XYZRPYToEigenAffine (float x, float y, float z, float roll, float pitch, float yaw, AffineTransform &t)
Variables
int	counter = 0
std::vector< std::string >	factors
bool	first = true
cv::FlannBasedMatcher	matcher
	Builds a matrix of nearest neighbor matches between keyframes using a kdtree.
aruco::MarkerDetector	MDetector
std::vector< std::string >	nodes

---

Typedef Documentation

typedef Eigen::Affine3f rgbdtools::AffineTransform

Definition at line 41 of file include/rgbdtools/types.h.

typedef Eigen::aligned_allocator< AffineTransform > rgbdtools::AffineTransformAllocator

Definition at line 56 of file include/rgbdtools/types.h.

typedef std::vector< AffineTransform, AffineTransformAllocator > rgbdtools::AffineTransformVector

Definition at line 57 of file include/rgbdtools/types.h.

typedef std::vector< bool > rgbdtools::BoolVector

Definition at line 48 of file include/rgbdtools/types.h.

typedef std::vector< cv::DMatch > rgbdtools::DMatchVector

Definition at line 54 of file include/rgbdtools/types.h.

typedef boost::shared_ptr< FeatureDetector > rgbdtools::FeatureDetectorPtr

Definition at line 119 of file include/rgbdtools/features/feature_detector.h.

typedef std::vector< float > rgbdtools::FloatVector

Definition at line 47 of file include/rgbdtools/types.h.

typedef boost::shared_ptr< GftDetector > rgbdtools::GftDetectorPtr

Definition at line 75 of file include/rgbdtools/features/gft_detector.h.

typedef Eigen::Matrix< double, 6, 6 > rgbdtools::InformationMatrix

Definition at line 42 of file include/rgbdtools/types.h.

typedef std::vector< int > rgbdtools::IntVector

Definition at line 46 of file include/rgbdtools/types.h.

typedef pcl::KdTreeFLANN< PointFeature > rgbdtools::KdTree

Definition at line 67 of file include/rgbdtools/types.h.

typedef Eigen::aligned_allocator< RGBDKeyframe > rgbdtools::KeyframeAllocator

Definition at line 95 of file include/rgbdtools/rgbd_keyframe.h.

typedef Eigen::aligned_allocator< KeyframeAssociation > rgbdtools::KeyframeAssociationAllocator

Definition at line 72 of file include/rgbdtools/graph/keyframe_association.h.

typedef std::vector< KeyframeAssociation, KeyframeAssociationAllocator > rgbdtools::KeyframeAssociationVector

Definition at line 73 of file include/rgbdtools/graph/keyframe_association.h.

typedef std::vector< RGBDKeyframe, KeyframeAllocator > rgbdtools::KeyframeVector

Definition at line 96 of file include/rgbdtools/rgbd_keyframe.h.

typedef std::vector< cv::KeyPoint > rgbdtools::KeypointVector

Definition at line 53 of file include/rgbdtools/types.h.

typedef Eigen::Matrix3f rgbdtools::Matrix3f

Definition at line 38 of file include/rgbdtools/types.h.

typedef std::vector< Eigen::Matrix3f > rgbdtools::Matrix3fVector

Definition at line 51 of file include/rgbdtools/types.h.

typedef boost::shared_ptr< OrbDetector > rgbdtools::OrbDetectorPtr

Definition at line 74 of file include/rgbdtools/features/orb_detector.h.

typedef std::vector< cv::Point2f > rgbdtools::Point2fVector

Definition at line 49 of file include/rgbdtools/types.h.

typedef std::vector< cv::Point3f > rgbdtools::Point3fVector

Definition at line 50 of file include/rgbdtools/types.h.

typedef pcl::PointCloud< PointFeature > rgbdtools::PointCloudFeature

Definition at line 65 of file include/rgbdtools/types.h.

typedef pcl::PointCloud< PointT > rgbdtools::PointCloudT

Definition at line 62 of file include/rgbdtools/types.h.

typedef pcl::PointXYZ rgbdtools::PointFeature

Definition at line 64 of file include/rgbdtools/types.h.

typedef pcl::PointXYZRGB rgbdtools::PointT

Definition at line 61 of file include/rgbdtools/types.h.

typedef Eigen::Affine3f rgbdtools::Pose

Definition at line 40 of file include/rgbdtools/types.h.

typedef boost::shared_ptr< StarDetector > rgbdtools::StarDetectorPtr

Definition at line 73 of file include/rgbdtools/features/star_detector.h.

typedef boost::shared_ptr< SurfDetector > rgbdtools::SurfDetectorPtr

Definition at line 70 of file include/rgbdtools/features/surf_detector.h.

typedef pcl::registration::TransformationEstimationSVD< PointFeature, PointFeature > rgbdtools::TransformationEstimationSVD

Definition at line 68 of file include/rgbdtools/types.h.

typedef Eigen::Vector3f rgbdtools::Vector3f

Definition at line 39 of file include/rgbdtools/types.h.

typedef std::vector< Eigen::Vector3f > rgbdtools::Vector3fVector

Definition at line 52 of file include/rgbdtools/types.h.

---

Enumeration Type Documentation

enum rgbdtools::DepthFitMode

Polynomial fit modes for depth unwarping.

The modes include:

• DEPTH_FIT_LINEAR (c0 + c1*d)
• DEPTH_FIT_LINEAR_ZERO (c1*d)
• DEPTH_FIT_QUADRATIC (c0 + c1*d + c2*d^2)
• DEPTH_FIT_QUADRATIC_ZERO (c1*d + c2*d^2)

The recommended mode is DEPTH_FIT_QUADRATIC

Enumerator:

DEPTH_FIT_LINEAR
DEPTH_FIT_LINEAR_ZERO
DEPTH_FIT_QUADRATIC
DEPTH_FIT_QUADRATIC_ZERO
DEPTH_FIT_LINEAR
DEPTH_FIT_LINEAR_ZERO
DEPTH_FIT_QUADRATIC
DEPTH_FIT_QUADRATIC_ZERO

Definition at line 46 of file include/rgbdtools/rgbd_util.h.

enum rgbdtools::DepthFitMode

Polynomial fit modes for depth unwarping.

The modes include:

• DEPTH_FIT_LINEAR (c0 + c1*d)
• DEPTH_FIT_LINEAR_ZERO (c1*d)
• DEPTH_FIT_QUADRATIC (c0 + c1*d + c2*d^2)
• DEPTH_FIT_QUADRATIC_ZERO (c1*d + c2*d^2)

The recommended mode is DEPTH_FIT_QUADRATIC

Enumerator:

DEPTH_FIT_LINEAR
DEPTH_FIT_LINEAR_ZERO
DEPTH_FIT_QUADRATIC
DEPTH_FIT_QUADRATIC_ZERO
DEPTH_FIT_LINEAR
DEPTH_FIT_LINEAR_ZERO
DEPTH_FIT_QUADRATIC
DEPTH_FIT_QUADRATIC_ZERO

Definition at line 46 of file rgbdtools_git/include/rgbdtools/rgbd_util.h.

---

Function Documentation

Pose rgbdtools::AffineFromTRPY	(	double	xoffset,
		double	yoffset,
		double	zoffset,
		double	roll,
		double	pitch,
		double	yaw
	)

Definition at line 52 of file rgbd_util.cpp.

bool rgbdtools::alignHistogram	(	const cv::Mat &	hist,
		const cv::Mat &	hist_exp,
		double	hist_resolution,
		double &	best_angle
	)

Definition at line 192 of file map_util.cpp.

void rgbdtools::buildExpectedPhiHistorgtam	(	cv::Mat &	histogram,
		double	degrees_per_bin,
		double	stdev
	)

Definition at line 86 of file map_util.cpp.

void rgbdtools::buildPhiHistogram	(	const pcl::PointCloud< pcl::PointXYZRGBNormal > &	cloud,
		cv::Mat &	histogram,
		double	degrees_per_bin
	)

Definition at line 127 of file map_util.cpp.

void rgbdtools::buildPointCloud	(	const cv::Mat &	depth_img_rect,
		const cv::Mat &	intr_rect_ir,
		PointCloudT &	cloud
	)

Constructs a point cloud, a depth image and intrinsic matrix.

Parameters:

depth_img_rect	rectified depth image (16UC1, in mm)
intr_rect_ir	intinsic matrix of the rectified depth image
cloud	reference to teh output point cloud

Definition at line 109 of file rgbd_util.cpp.

void rgbdtools::buildPointCloud	(	const cv::Mat &	depth_img_rect_reg,
		const cv::Mat &	rgb_img_rect,
		const cv::Mat &	intr_rect_rgb,
		PointCloudT &	cloud
	)

Constructs a point cloud with color.

Prior to calling this functions, both images need to be rectified, and the depth image has to be registered into the frame of the RGB image.

Parameters:

depth_img_rect_reg	rectified and registered depth image (16UC1, in mm)
rgb_img_rect	rectified rgb image (8UC3)
intr_rect_rgb	intrinsic matrix
cloud	reference to the output point cloud

Definition at line 149 of file rgbd_util.cpp.

void rgbdtools::buildRegisteredDepthImage	(	const cv::Mat &	intr_rect_ir,
		const cv::Mat &	intr_rect_rgb,
		const cv::Mat &	ir2rgb,
		const cv::Mat &	depth_img_rect,
		cv::Mat &	depth_img_rect_reg
	)

reprojects a depth image to another depth image, registered in the rgb camera's frame.

Both images need to be rectified first. ir2rgb is a matrix such that for any point P_IR in the depth camera frame P_RGB = ir2rgb * P_IR

Parameters:

intr_rect_ir	intrinsic matrix of the rectified depth image
intr_rect_rgb	intrinsic matrix of the rectified RGB image
ir2rgb	extrinsic matrix between the IR(depth) and RGB cameras
depth_img_rect	the input image: rectified depth image
depth_img_rect_reg	the output image: rectified and registered into the RGB frame

Definition at line 196 of file rgbd_util.cpp.

void rgbdtools::compareAssociationMatrix	(	const cv::Mat &	a,
		const cv::Mat &	b,
		int &	false_pos,
		int &	false_neg,
		int &	total
	)

Definition at line 576 of file map_util.cpp.

void rgbdtools::concatenate_clouds	(	PointCloudT &	map_cloud,
		KeyframeVector	keyframes_
	)

Definition at line 12 of file map_util.cpp.

void rgbdtools::create2DProjectionImage	(	const PointCloudT &	cloud,
		cv::Mat &	img,
		double	min_z = -std::numeric_limits<double>::infinity(),
		double	max_z = std::numeric_limits<double>::infinity()
	)

Definition at line 261 of file map_util.cpp.

void rgbdtools::create8bitHistogram	(	const cv::Mat &	histogram,
		cv::Mat &	histogram_norm
	)

Definition at line 226 of file map_util.cpp.

void rgbdtools::createImageFromHistogram	(	const cv::Mat &	histogram,
		cv::Mat &	image
	)

Definition at line 244 of file map_util.cpp.

void rgbdtools::depthImageFloatTo16bit	(	const cv::Mat &	depth_image_in,
		cv::Mat &	depth_image_out
	)

converts a 32FC1 depth image (in meters) to a 16UC1 depth image (in mm).

Parameters:

depth_image_in	the input 32FC1 image
depth_image_out	the output 16UC1 image

Definition at line 276 of file rgbd_util.cpp.

double rgbdtools::distEuclideanSq	(	const PointFeature &	a,
		const PointFeature &	b
	)

Definition at line 567 of file map_util.cpp.

void rgbdtools::eigenAffineToOpenCVRt	(	const AffineTransform &	transform,
		cv::Mat &	R,
		cv::Mat &	t
	)

Definition at line 283 of file rgbd_util.cpp.

void rgbdtools::eigenAffineToXYZRPY	(	const AffineTransform &	transform,
		float &	x,
		float &	y,
		float &	z,
		float &	roll,
		float &	pitch,
		float &	yaw
	)

Definition at line 323 of file rgbd_util.cpp.

void rgbdtools::filterCloudByHeight	(	const pcl::PointCloud< pcl::PointXYZRGBNormal > &	cloud_in,
		pcl::PointCloud< pcl::PointXYZRGBNormal > &	cloud_out,
		double	min_z,
		double	max_z
	)

Definition at line 291 of file map_util.cpp.

void rgbdtools::floatMatrixToUintMatrix	(	const cv::Mat &	mat_in,
		cv::Mat &	mat_out,
		float	scale
	)

Definition at line 38 of file map_util.cpp.

void rgbdtools::get3RandomIndices	(	int	n,
		std::set< int > &	mask,
		IntVector &	output
	)

Definition at line 543 of file map_util.cpp.

void rgbdtools::getRandomIndices	(	int	k,
		int	n,
		IntVector &	output
	)

Definition at line 521 of file map_util.cpp.

void rgbdtools::getTfDifference	(	const AffineTransform &	transform,
		double &	dist,
		double &	angle
	)

Definition at line 384 of file rgbd_util.cpp.

bool rgbdtools::loadKeyframes	(	KeyframeVector &	keyframes,
		const std::string &	path
	)

Loads a vector of RGBD keyframes to disk.

Parameters:

keyframes	Reference to the keyframe being saved
path	The path to the folder where everything will be stored

Return values:

true	Successfully saved the data
false	Saving failed - for example, cannot create directory

Definition at line 130 of file rgbd_keyframe.cpp.

Eigen::Matrix4d rgbdtools::m4dfromPose

(

Pose

pose

)

Definition at line 43 of file rgbd_util.cpp.

void rgbdtools::makeSymmetricOR

(

cv::Mat

mat

)

Definition at line 610 of file map_util.cpp.

void rgbdtools::normalizeHistogram

(

cv::Mat &

histogram

)

Definition at line 182 of file map_util.cpp.

void rgbdtools::openCVRtToEigenAffine	(	const cv::Mat &	R,
		const cv::Mat &	t,
		AffineTransform &	eigen_affine
	)

Definition at line 301 of file rgbd_util.cpp.

void rgbdtools::pairwiseMatchingRANSAC	(	const RGBDFrame &	frame_a,
		const RGBDFrame &	frame_b,
		double	max_eucl_dist_sq,
		double	max_desc_dist,
		double	sufficient_inlier_ratio,
		int	max_ransac_iterations,
		std::vector< cv::DMatch > &	all_matches,
		std::vector< cv::DMatch > &	best_inlier_matches,
		Eigen::Matrix4f &	best_transformation
	)

Definition at line 344 of file map_util.cpp.

void rgbdtools::pointCloudFromMeans	(	const Vector3fVector &	means,
		PointCloudFeature &	cloud
	)

Creates a pcl point cloud form a vector of eigen matrix means.

Parameters:

means	vector of 3x1 matrices of positions (3D means)
cloud	reference to the output cloud

Definition at line 87 of file rgbd_util.cpp.

void rgbdtools::removeInvalidDistributions	(	const Vector3fVector &	means,
		const Matrix3fVector &	covariances,
		const BoolVector &	valid,
		Vector3fVector &	means_f,
		Matrix3fVector &	covariances_f
	)

Filters out a vector of means and a vector of covariances given a mask of valid entries.

Parameters:

means	input vector of 3x1 matrices
covariances	input vector of 3x3 matrices
valid	vector mask of valid flags
means_f	output vector of 3x1 matrices
covariances_f	output vector of 3x1 matrices

Definition at line 66 of file rgbd_util.cpp.

void rgbdtools::removeInvalidMeans	(	const Vector3fVector &	means,
		const BoolVector &	valid,
		Vector3fVector &	means_f
	)

Filters out a vector of means given a mask of valid entries.

Parameters:

means	input vector of 3x1 matrices
valid	vector mask of valid flags
means_f	output vector of 3x1 matrices

Definition at line 28 of file rgbd_util.cpp.

bool rgbdtools::saveKeyframes	(	const KeyframeVector &	keyframes,
		const std::string &	path
	)

Saves a vector of RGBD keyframes to disk.

Parameters:

keyframes	Reference to the keyframe being saved
path	The path to the folder where everything will be stored

Return values:

true	Successfully saved the data
false	Saving failed - for example, cannot create directory

Definition at line 112 of file rgbd_keyframe.cpp.

void rgbdtools::setRPY	(	float	roll,
		float	pitch,
		float	yaw,
		Eigen::Matrix3f &	m
	)

Definition at line 465 of file rgbd_util.cpp.

void rgbdtools::shiftHistogram	(	const cv::Mat &	hist_in,
		cv::Mat &	hist_out,
		int	bins
	)

Definition at line 167 of file map_util.cpp.

Pose rgbdtools::tfFromMeans

(

const Eigen::Vector3f &

t

)

Definition at line 104 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::thresholdMatrix	(	const cv::Mat &	mat_in,
		cv::Mat &	mat_out,
		int	threshold
	)

Definition at line 69 of file map_util.cpp.

void rgbdtools::trainSURFMatcher	(	const KeyframeVector &	keyframes,
		cv::FlannBasedMatcher &	matcher
	)

Definition at line 627 of file map_util.cpp.

void rgbdtools::trainSURFMatcher_Iterative	(	const KeyframeVector &	keyframes,
		u_int	min,
		u_int	max,
		cv::FlannBasedMatcher &	matcher
	)

Definition at line 642 of file map_util.cpp.

void rgbdtools::transformDistributions	(	Vector3fVector &	means,
		Matrix3fVector &	covariances,
		const AffineTransform &	transform
	)

Transforms a vector of means and covariances.

Parameters:

means	vector of 3x1 matrices of positions (3D means)
covariances	vector of 3x3 covariance matrices
transform	the transformation to be applied to all the means and covariances

Definition at line 365 of file rgbd_util.cpp.

void rgbdtools::transformMeans	(	Vector3fVector &	means,
		const AffineTransform &	transform
	)

Transforms a vector of means.

Parameters:

means	vector of 3x1 matrices of positions (3D means)
transform	the tranformation to be applied to all the means

Definition at line 350 of file rgbd_util.cpp.

void rgbdtools::unwarpDepthImage	(	cv::Mat &	depth_img_in,
		const cv::Mat &	coeff0,
		const cv::Mat &	coeff1,
		const cv::Mat &	coeff2,
		int	fit_mode = DEPTH_FIT_QUADRATIC
	)

Given a depth image, uwarps it according to a polynomial model.

The size of the c matrices should be equal to the image size.

Parameters:

depth_img_in	depth image to be unwarped (16UC1, in mm)
coeff0	matrix of c0 coefficients
coeff1	matrix of c1 coefficients
coeff2	matrix of c2 coefficients
fit_mode	the polynomial fitting mode, see DepthFitMode. d = c0 + c1*d + c2*d^2

Definition at line 397 of file rgbd_util.cpp.

Eigen::Matrix<double,3,1> rgbdtools::XYZfromPose

(

const Pose &

t

)

Definition at line 109 of file keyframe_graph_solver_isam.cpp.

void rgbdtools::XYZRPYToEigenAffine	(	float	x,
		float	y,
		float	z,
		float	roll,
		float	pitch,
		float	yaw,
		AffineTransform &	t
	)

Definition at line 337 of file rgbd_util.cpp.

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Variable Documentation

int rgbdtools::counter = 0

Definition at line 339 of file keyframe_graph_solver_isam.cpp.

std::vector<std::string> rgbdtools::factors

Definition at line 215 of file keyframe_graph_solver_isam.cpp.

bool rgbdtools::first = true

Definition at line 182 of file keyframe_graph_detector.cpp.

cv::FlannBasedMatcher rgbdtools::matcher

Builds a matrix of nearest neighbor matches between keyframes using a kdtree.

match_matrix[query, train] = X correspondences

Definition at line 432 of file keyframe_graph_detector.cpp.

aruco::MarkerDetector rgbdtools::MDetector

Definition at line 29 of file keyframe_graph_detector.cpp.

std::vector<std::string> rgbdtools::nodes

Definition at line 216 of file keyframe_graph_solver_isam.cpp.