rtabmap_ros: 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	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	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	EdgeSE3XYZPrior

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	GPSPose2XYFactor

class	GPSPose3XYZFactor

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	Memory

class	Mesh

class	NearestPathKey

class	NodeGPSItem

class	NodeItem

class	OccupancyGrid

class	OctoMap

class	Odometry

class	OdometryDVO

class	OdometryEvent

class	OdometryF2F

class	OdometryF2M

class	OdometryFovis

class	OdometryInfo

class	OdometryLOAM

class	OdometryMono

class	OdometryMSCKF

class	OdometryOkvis

class	OdometryORBSLAM2

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	PyMatcher

class	PythonSingleTon

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

Typedefs
typedef std::map< EnvSensor::Type, EnvSensor >	EnvSensors

typedef std::map< int, Landmark >	Landmarks

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)

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)

static float	getScale (int level, int firstLevel, double scaleFactor)

std::string	getTraceback ()

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)

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)

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 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)

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.")

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 std::vector< unsigned char > &bytes)

cv::Mat RTABMAP_EXP	uncompressData (const cv::Mat &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)

std::string RTABMAP_EXP	uncompressString (const cv::Mat &bytes)

	vtkStandardNewMacro (vtkImageMatSource)

	vtkStandardNewMacro (CloudViewerInteractorStyle)

	vtkStandardNewMacro (CloudViewerCellPicker)

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 []

static PythonSingleTon	g_python

const float	HARRIS_K

const int	holeSize

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)

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables