rtabmap::util2d Namespace Reference

Typedefs
typedef float	acctype
typedef float	itemtype
Functions
void RTABMAP_EXP	calcOpticalFlowPyrLKStereo (cv::InputArray _prevImg, cv::InputArray _nextImg, cv::InputArray _prevPts, cv::InputOutputArray _nextPts, cv::OutputArray _status, cv::OutputArray _err, cv::Size winSize=cv::Size(15, 3), int maxLevel=3, cv::TermCriteria criteria=cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), int flags=0, double minEigThreshold=1e-4)
std::vector< cv::Point2f > RTABMAP_EXP	calcStereoCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status, cv::Size winSize=cv::Size(6, 3), int maxLevel=3, int iterations=5, int minDisparity=0, int maxDisparity=64, bool ssdApproach=true)
cv::Mat RTABMAP_EXP	cvtDepthFromFloat (const cv::Mat &depth32F)
cv::Mat RTABMAP_EXP	cvtDepthToFloat (const cv::Mat &depth16U)
cv::Mat RTABMAP_EXP	decimate (const cv::Mat &image, int d)
cv::Mat RTABMAP_EXP	depthFromDisparity (const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)
cv::Mat RTABMAP_EXP	depthFromStereoCorrespondences (const cv::Mat &leftImage, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask, float fx, float baseline)
cv::Mat RTABMAP_EXP	depthFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, float fx, float baseline, int flowWinSize=9, int flowMaxLevel=4, int flowIterations=20, double flowEps=0.02)
cv::Mat RTABMAP_EXP	disparityFromStereoCorrespondences (const cv::Size &disparitySize, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask)
cv::Mat RTABMAP_EXP	disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())
cv::Mat RTABMAP_EXP	fillDepthHoles (const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)
void RTABMAP_EXP	fillRegisteredDepthHoles (cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
float RTABMAP_EXP	getDepth (const cv::Mat &depthImage, float x, float y, bool smoothing, float maxZError=0.02f, bool estWithNeighborsIfNull=false)
cv::Mat RTABMAP_EXP	interpolate (const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
cv::Mat RTABMAP_EXP	registerDepth (const cv::Mat &depth, const cv::Mat &depthK, const cv::Mat &colorK, const rtabmap::Transform &transform)
float RTABMAP_EXP	sad (const cv::Mat &windowLeft, const cv::Mat &windowRight)
float RTABMAP_EXP	ssd (const cv::Mat &windowLeft, const cv::Mat &windowRight)

---

Typedef Documentation

typedef float rtabmap::util2d::acctype

Definition at line 343 of file util2d.cpp.

typedef float rtabmap::util2d::itemtype

Definition at line 344 of file util2d.cpp.

---

Function Documentation

void rtabmap::util2d::calcOpticalFlowPyrLKStereo	(	cv::InputArray	_prevImg,
		cv::InputArray	_nextImg,
		cv::InputArray	_prevPts,
		cv::InputOutputArray	_nextPts,
		cv::OutputArray	_status,
		cv::OutputArray	_err,
		cv::Size	winSize = cv::Size(15,3),
		int	maxLevel = 3,
		cv::TermCriteria	criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
		int	flags = 0,
		double	minEigThreshold = 1e-4
	)

Definition at line 358 of file util2d.cpp.

std::vector< cv::Point2f > rtabmap::util2d::calcStereoCorrespondences	(	const cv::Mat &	leftImage,
		const cv::Mat &	rightImage,
		const std::vector< cv::Point2f > &	leftCorners,
		std::vector< unsigned char > &	status,
		cv::Size	winSize = cv::Size(6,3),
		int	maxLevel = 3,
		int	iterations = 5,
		int	minDisparity = 0,
		int	maxDisparity = 64,
		bool	ssdApproach = true
	)

Definition at line 116 of file util2d.cpp.

cv::Mat rtabmap::util2d::cvtDepthFromFloat

(

const cv::Mat &

depth32F

)

Definition at line 878 of file util2d.cpp.

cv::Mat rtabmap::util2d::cvtDepthToFloat

(

const cv::Mat &

depth16U

)

Definition at line 914 of file util2d.cpp.

cv::Mat rtabmap::util2d::decimate	(	const cv::Mat &	image,
		int	d
	)

Definition at line 1092 of file util2d.cpp.

cv::Mat rtabmap::util2d::depthFromDisparity	(	const cv::Mat &	disparity,
		float	fx,
		float	baseline,
		int	type = CV_32FC1
	)

Definition at line 749 of file util2d.cpp.

cv::Mat rtabmap::util2d::depthFromStereoCorrespondences	(	const cv::Mat &	leftImage,
		const std::vector< cv::Point2f > &	leftCorners,
		const std::vector< cv::Point2f > &	rightCorners,
		const std::vector< unsigned char > &	mask,
		float	fx,
		float	baseline
	)

Definition at line 853 of file util2d.cpp.

cv::Mat rtabmap::util2d::depthFromStereoImages	(	const cv::Mat &	leftImage,
		const cv::Mat &	rightImage,
		const std::vector< cv::Point2f > &	leftCorners,
		float	fx,
		float	baseline,
		int	flowWinSize = 9,
		int	flowMaxLevel = 4,
		int	flowIterations = 20,
		double	flowEps = 0.02
	)

Definition at line 794 of file util2d.cpp.

cv::Mat rtabmap::util2d::disparityFromStereoCorrespondences	(	const cv::Size &	disparitySize,
		const std::vector< cv::Point2f > &	leftCorners,
		const std::vector< cv::Point2f > &	rightCorners,
		const std::vector< unsigned char > &	mask
	)

Definition at line 831 of file util2d.cpp.

cv::Mat rtabmap::util2d::disparityFromStereoImages	(	const cv::Mat &	leftImage,
		const cv::Mat &	rightImage,
		const ParametersMap &	parameters = ParametersMap()
	)

Definition at line 725 of file util2d.cpp.

cv::Mat rtabmap::util2d::fillDepthHoles	(	const cv::Mat &	depth,
		int	maximumHoleSize = 1,
		float	errorRatio = 0.02f
	)

Definition at line 1324 of file util2d.cpp.

void rtabmap::util2d::fillRegisteredDepthHoles	(	cv::Mat &	depthRegistered,
		bool	vertical,
		bool	horizontal,
		bool	fillDoubleHoles = false
	)

Definition at line 1432 of file util2d.cpp.

float rtabmap::util2d::getDepth	(	const cv::Mat &	depthImage,
		float	x,
		float	y,
		bool	smoothing,
		float	maxZError = 0.02f,
		bool	estWithNeighborsIfNull = false
	)

Definition at line 933 of file util2d.cpp.

cv::Mat rtabmap::util2d::interpolate	(	const cv::Mat &	image,
		int	factor,
		float	depthErrorRatio = 0.02f
	)

Definition at line 1139 of file util2d.cpp.

cv::Mat rtabmap::util2d::registerDepth	(	const cv::Mat &	depth,
		const cv::Mat &	depthK,
		const cv::Mat &	colorK,
		const rtabmap::Transform &	transform
	)

Definition at line 1251 of file util2d.cpp.

float rtabmap::util2d::sad	(	const cv::Mat &	windowLeft,
		const cv::Mat &	windowRight
	)

Definition at line 85 of file util2d.cpp.

float rtabmap::util2d::ssd	(	const cv::Mat &	windowLeft,
		const cv::Mat &	windowRight
	)

Definition at line 50 of file util2d.cpp.