Declarations for geometry-related calculations. More...

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "pcl_resources.hpp"
#include "ros_resources.hpp"
#include <Eigen/Geometry>

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Defines
#define	ALGEBRAIC_DISTANCE 1
#define	DEFAULT_ASSIGN_MODE 0
#define	EPIPOLAR_DISTANCE 2
#define	LOURAKIS_DISTANCE 3
#define	MAPPER_ASSIGN_MODE 1
#define	SAMPSON_DISTANCE 0
Typedefs
typedef Eigen::Matrix< float, 3, 3, Eigen::RowMajor >	Matrix3frm
typedef Eigen::Quaternion< double >	QuaternionDbl
Functions
void	assignPose (geometry_msgs::PoseStamped &pPose, cv::Mat &C, int idx, ros::Time timestamp, int mode=DEFAULT_ASSIGN_MODE)
double	calcGeometryDistance (cv::Point2f &pt1, cv::Point2f &pt2, cv::Mat &mat, int distMethod=SAMPSON_DISTANCE)
double	calculateGRIC (std::vector< cv::Point2f > &pts1, std::vector< cv::Point2f > &pts2, cv::Mat &rel, cv::Mat &mask, int d, double k, double r, double lambda_3, int distMethod)
double	calculateRho (double e, double sig, double r, double lambda_3, int d)
void	composeTransform (const cv::Mat &R, const cv::Mat &t, cv::Mat &c)
void	convert3frmToRmat (const Matrix3frm &R_src, cv::Mat &R_dst)
void	convertAndShiftPoseFormat (const geometry_msgs::Pose &pose, cv::Mat &t, Eigen::Quaternion< double > &Q)
void	convertAndShiftPoseFormat (const cv::Mat &t, const Eigen::Quaternion< double > &Q, geometry_msgs::Pose &pose)
void	convertEigenvecToTvec (const Eigen::Vector3f &T_src, cv::Mat &T_dst)
void	convertPoseFormat (const geometry_msgs::Pose &pose, cv::Mat &t, Eigen::Quaternion< double > &Q)
void	convertPoseFormat (const cv::Mat &t, const Eigen::Quaternion< double > &Q, geometry_msgs::Pose &pose)
void	convertRmatTo3frm (const cv::Mat &R_src, Matrix3frm &R_dst)
void	convertTvecToEigenvec (const cv::Mat &T_src, Eigen::Vector3f &T_dst)
void	decomposeTransform (const cv::Mat &c, cv::Mat &R, cv::Mat &t)
double	lourakisSampsonError (cv::Point2f &pt1, cv::Point2f &pt2, cv::Mat &H)
void	matrixToQuaternion (const cv::Mat &mat, Eigen::Quaternion< double > &quat)
int	minProjections (int pairs)
	Minimum number of projections required to achieve the specified number of pairs.
double	normalizedGRICdifference (std::vector< cv::Point2f > &pts1, std::vector< cv::Point2f > &pts2, cv::Mat &F, cv::Mat &H, cv::Mat &mask_F, cv::Mat &mask_H, double &F_GRIC, double &H_GRIC)
int	possiblePairs (int projections)
	Maximum possible number of pairs able to be achieved with specified number of projections.
void	projectionToRotation (const cv::Mat &src, cv::Mat &dst)
void	projectionToTransformation (const cv::Mat &proj, cv::Mat &trans)
void	quaternionToMatrix (const Eigen::Quaternion< double > &quat, cv::Mat &mat, bool handedness=false)
void	rotationToProjection (const cv::Mat &src, cv::Mat &dst)
void	transformationToProjection (const cv::Mat &trans, cv::Mat &proj)
void	transformPoints (cv::vector< cv::Point3d > &pts, unsigned int option=0)
void	transformPoints (cv::vector< cv::Point3d > &pts, int *options)

Detailed Description

Declarations for geometry-related calculations.

Definition in file geometry.hpp.

Define Documentation

#define ALGEBRAIC_DISTANCE 1

Definition at line 22 of file geometry.hpp.

#define DEFAULT_ASSIGN_MODE 0

Definition at line 26 of file geometry.hpp.

#define EPIPOLAR_DISTANCE 2

Definition at line 23 of file geometry.hpp.

#define LOURAKIS_DISTANCE 3

Definition at line 24 of file geometry.hpp.

#define MAPPER_ASSIGN_MODE 1

Definition at line 27 of file geometry.hpp.

#define SAMPSON_DISTANCE 0

Definition at line 21 of file geometry.hpp.

Typedef Documentation

typedef Eigen::Matrix<float, 3, 3, Eigen::RowMajor> Matrix3frm

Definition at line 15 of file geometry.hpp.

typedef Eigen::Quaternion<double> QuaternionDbl

Definition at line 16 of file geometry.hpp.

Function Documentation

void assignPose	(	geometry_msgs::PoseStamped &	pPose,
		cv::Mat &	C,
		int	idx,
		ros::Time	timestamp,
		int	mode = `DEFAULT_ASSIGN_MODE`
	)

Definition at line 113 of file geometry.cpp.

double calcGeometryDistance	(	cv::Point2f &	pt1,
		cv::Point2f &	pt2,
		cv::Mat &	mat,
		int	distMethod = `SAMPSON_DISTANCE`
	)

Definition at line 718 of file geometry.cpp.

double calculateGRIC	(	std::vector< cv::Point2f > &	pts1,
		std::vector< cv::Point2f > &	pts2,
		cv::Mat &	rel,
		cv::Mat &	mask,
		int	d,
		double	k,
		double	r,
		double	lambda_3,
		int	distMethod
	)

Definition at line 666 of file geometry.cpp.

double calculateRho	(	double	e,
		double	sig,
		double	r,
		double	lambda_3,
		int	d
	)

Definition at line 709 of file geometry.cpp.

void composeTransform	(	const cv::Mat &	R,
		const cv::Mat &	t,
		cv::Mat &	c
	)

Definition at line 367 of file geometry.cpp.

void convert3frmToRmat	(	const Matrix3frm &	R_src,
		cv::Mat &	R_dst
	)

Definition at line 218 of file geometry.cpp.

void convertAndShiftPoseFormat	(	const geometry_msgs::Pose &	pose,
		cv::Mat &	t,
		Eigen::Quaternion< double > &	Q
	)

Definition at line 342 of file geometry.cpp.

void convertAndShiftPoseFormat	(	const cv::Mat &	t,
		const Eigen::Quaternion< double > &	Q,
		geometry_msgs::Pose &	pose
	)

Definition at line 354 of file geometry.cpp.

void convertEigenvecToTvec	(	const Eigen::Vector3f &	T_src,
		cv::Mat &	T_dst
	)

Definition at line 210 of file geometry.cpp.

void convertPoseFormat	(	const geometry_msgs::Pose &	pose,
		cv::Mat &	t,
		Eigen::Quaternion< double > &	Q
	)

Definition at line 330 of file geometry.cpp.

void convertPoseFormat	(	const cv::Mat &	t,
		const Eigen::Quaternion< double > &	Q,
		geometry_msgs::Pose &	pose
	)

Definition at line 317 of file geometry.cpp.

void convertRmatTo3frm	(	const cv::Mat &	R_src,
		Matrix3frm &	R_dst
	)

Definition at line 190 of file geometry.cpp.

void convertTvecToEigenvec	(	const cv::Mat &	T_src,
		Eigen::Vector3f &	T_dst
	)

Definition at line 204 of file geometry.cpp.

void decomposeTransform	(	const cv::Mat &	c,
		cv::Mat &	R,
		cv::Mat &	t
	)

Definition at line 393 of file geometry.cpp.

double lourakisSampsonError	(	cv::Point2f &	pt1,
		cv::Point2f &	pt2,
		cv::Mat &	H
	)

Definition at line 785 of file geometry.cpp.

void matrixToQuaternion	(	const cv::Mat &	mat,
		Eigen::Quaternion< double > &	quat
	)

Definition at line 418 of file geometry.cpp.

int minProjections ( int pairs )

Minimum number of projections required to achieve the specified number of pairs.

Definition at line 8 of file geometry.cpp.

double normalizedGRICdifference	(	std::vector< cv::Point2f > &	pts1,
		std::vector< cv::Point2f > &	pts2,
		cv::Mat &	F,
		cv::Mat &	H,
		cv::Mat &	mask_F,
		cv::Mat &	mask_H,
		double &	F_GRIC,
		double &	H_GRIC
	)

Definition at line 641 of file geometry.cpp.

int possiblePairs ( int projections )

Maximum possible number of pairs able to be achieved with specified number of projections.

Definition at line 15 of file geometry.cpp.

void projectionToRotation	(	const cv::Mat &	src,
		cv::Mat &	dst
	)

Definition at line 279 of file geometry.cpp.

void projectionToTransformation	(	const cv::Mat &	proj,
		cv::Mat &	trans
	)

Definition at line 234 of file geometry.cpp.

void quaternionToMatrix	(	const Eigen::Quaternion< double > &	quat,
		cv::Mat &	mat,
		bool	handedness = `false`
	)

Definition at line 599 of file geometry.cpp.

void rotationToProjection	(	const cv::Mat &	src,
		cv::Mat &	dst
	)

Definition at line 296 of file geometry.cpp.

void transformationToProjection	(	const cv::Mat &	trans,
		cv::Mat &	proj
	)

Definition at line 259 of file geometry.cpp.

void transformPoints	(	cv::vector< cv::Point3d > &	pts,
		unsigned int	option = `0`
	)

Definition at line 77 of file geometry.cpp.

void transformPoints	(	cv::vector< cv::Point3d > &	pts,
		int *	options
	)

Definition at line 20 of file geometry.cpp.

Defines

Typedefs

Functions

Detailed Description

Define Documentation

Typedef Documentation

Function Documentation