rtabmap Namespace Reference

Namespaces
namespace	graph
namespace	util2d
namespace	util3d
Classes
class	AboutDialog
class	BayesFilter
class	BRISK
class	CalibrationDialog
class	Camera
class	CameraEvent
class	CameraFreenect
class	CameraFreenect2
class	CameraImages
class	CameraInfo
class	CameraModel
class	CameraOpenni
class	CameraOpenNI2
class	CameraOpenNICV
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	CompressionThread
class	ConsoleWidget
class	CreateSimpleCalibrationDialog
class	CV_ORB
class	DatabaseViewer
class	DataRecorder
class	DBDriver
class	DBDriverSqlite3
class	DBReader
class	EpipolarGeometry
class	ExportCloudsDialog
class	ExportDialog
class	ExportScansDialog
class	FAST
class	FAST_BRIEF
class	FAST_FREAK
class	Feature2D
class	FlannIndex
class	GeodeticCoords
class	GFTT
class	GFTT_BRIEF
class	GFTT_FREAK
class	GFTT_ORB
class	GraphViewer
class	ImageView
class	KeypointItem
class	LineItem
class	Link
class	LinkItem
class	LoopClosureViewer
class	MainWindow
class	MapVisibilityWidget
class	Memory
class	MyInteractorStyle
class	NodeItem
class	OctoMap
class	OcTreeNodeInfo
class	Odometry
class	OdometryEvent
class	OdometryF2F
class	OdometryF2M
class	OdometryInfo
class	OdometryMono
class	OdometryResetEvent
class	OdometryThread
class	OdometryViewer
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	Registration
class	RegistrationIcp
class	RegistrationInfo
class	RegistrationVis
class	Rtabmap
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	Transform
class	UserDataEvent
class	VisualWord
class	VWDictionary
class	WeightAgeIdKey
Typedefs
typedef std::map< std::string, std::string >	ParametersMap
typedef std::pair< std::string, std::string >	ParametersPair
Functions
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")
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)
double	DEG2RAD (const double x)
static float	getScale (int level, int firstLevel, double scaleFactor)
static void	HarrisResponses (const Mat &img, std::vector< KeyPoint > &pts, int blockSize, float harris_k)
void	HSVtoRGB (float *r, float *g, float *b, float h, float s, float v)
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)
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 TangoXYZij *xyz_ij)
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)
bool	removeDirRecursively (const QString &dirName)
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.")
double	square (const double &value)
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)
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 = 10
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)

---

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 40 of file Parameters.h.

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

Definition at line 41 of file Parameters.h.

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Function Documentation

std::vector< unsigned char > rtabmap::compressData

(

const cv::Mat &

data

)

Definition at line 152 of file Compression.cpp.

cv::Mat rtabmap::compressData2

(

const cv::Mat &

data

)

Definition at line 183 of file Compression.cpp.

std::vector< unsigned char > rtabmap::compressImage	(	const cv::Mat &	image,
		const std::string &	format = ".png"
	)

Definition at line 86 of file Compression.cpp.

cv::Mat rtabmap::compressImage2	(	const cv::Mat &	image,
		const std::string &	format = ".png"
	)

Definition at line 106 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 1220 of file GraphViewer.cpp.

std::vector<double> rtabmap::cumSum

(

const std::vector< double > &

v

)

Definition at line 53 of file ParticleFilter.h.

double rtabmap::DEG2RAD

(

const double

x

)

[inline]

Definition at line 53 of file GeodeticCoords.cpp.

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

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.

void rtabmap::HSVtoRGB	(	float *	r,
		float *	g,
		float *	b,
		float	h,
		float	s,
		float	v
	)

Definition at line 303 of file OctoMap.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.

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 50 of file CameraTango.cpp.

void rtabmap::onPointCloudAvailableRouter	(	void *	context,
		const TangoXYZij *	xyz_ij
	)

Definition at line 44 of file CameraTango.cpp.

void rtabmap::onPoseAvailableRouter	(	void *	context,
		const TangoPoseData *	pose
	)

Definition at line 77 of file CameraTango.cpp.

void rtabmap::onTangoEventAvailableRouter	(	void *	context,
		const TangoEvent *	event
	)

Definition at line 83 of file CameraTango.cpp.

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

Definition at line 279 of file Transform.cpp.

bool rtabmap::removeDirRecursively

(

const QString &

dirName

)

Definition at line 497 of file ExportCloudsDialog.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 1769 of file CloudViewer.cpp.

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

double rtabmap::square

(

const double &

value

)

[inline]

Definition at line 54 of file GeodeticCoords.cpp.

cv::Mat rtabmap::uncompressData

(

const cv::Mat &

bytes

)

Definition at line 213 of file Compression.cpp.

cv::Mat rtabmap::uncompressData

(

const std::vector< unsigned char > &

bytes

)

Definition at line 219 of file Compression.cpp.

cv::Mat rtabmap::uncompressData	(	const unsigned char *	bytes,
		unsigned long	size
	)

Definition at line 224 of file Compression.cpp.

cv::Mat rtabmap::uncompressImage

(

const cv::Mat &

bytes

)

Definition at line 116 of file Compression.cpp.

cv::Mat rtabmap::uncompressImage

(

const std::vector< unsigned char > &

bytes

)

Definition at line 134 of file Compression.cpp.

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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 982 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 975 of file CloudViewer.cpp.

const float rtabmap::HARRIS_K = 0.04f

Definition at line 55 of file Orb.cpp.

const int rtabmap::holeSize = 10

Definition at line 40 of file CameraTango.cpp.

const int rtabmap::kVersionStringLength = 128

Definition at line 39 of file CameraTango.cpp.

const float rtabmap::maxDepthError = 0.10

Definition at line 41 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]