Namespaces
	graph

	util2d

	util3d

Classes
struct	AABB

class	AboutDialog

class	BayesFilter

class	BRISK

class	CalibrationDialog

class	Camera

class	CameraARCore

class	CameraAREngine

struct	CameraConfig

class	CameraDepthAI

class	CameraFreenect

class	CameraFreenect2

class	CameraImages

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	CameraSeerSense

class	CameraStereoDC1394

class	CameraStereoFlyCapture2

class	CameraStereoImages

class	CameraStereoTara

class	CameraStereoVideo

class	CameraStereoZed

class	CameraStereoZedOC

class	CameraTango

class	CameraVideo

class	CameraViewer

class	CloudMap

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
	EdgeSBACamGravity. More...

class	EdgeSE3Gravity
	g2o edge with gravity constraint More...

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	GlobalDescriptorExtractor

class	GlobalMap

class	GPS

class	GraphViewer

class	GravityFactor

class	GridMap

class	ImageView

class	IMU

class	IMUEvent

class	IMUFilter

class	IMUThread

class	KAZE

struct	KeyPointCompare

class	KeypointItem

class	Landmark

class	LaserScan

class	Lidar

class	LidarVLP16

class	LineItem

class	Link

class	LinkItem

class	LinkRefiningDialog

class	LocalGrid

class	LocalGridCache

class	LocalGridMaker

class	LogHandler

class	LoopClosureViewer

class	MadgwickFilter

class	MainWindow

class	MapVisibilityWidget

class	MarkerDetector

class	MarkerInfo

class	Memory

class	Mesh

class	MultiSessionLocSubView

class	MultiSessionLocWidget

class	NearestPathKey

class	NodeGPSItem

class	NodeItem

class	OccupancyGrid

class	OctoMap

class	Odometry

class	OdometryDVO

class	OdometryEvent

class	OdometryF2F

class	OdometryF2M

class	OdometryFLOAM

class	OdometryFovis

class	OdometryInfo

class	OdometryLOAM

class	OdometryMono

class	OdometryMSCKF

class	OdometryOkvis

class	OdometryOpen3D

class	OdometryOpenVINS

class	OdometryORBSLAM2

class	OdometryORBSLAM3

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

struct	PointXYZIT

class	Pose3GravityFactor

class	PoseEvent

class	PostProcessingDialog

class	PreferencesDialog

class	PreUpdateThread

class	ProgressDialog

class	ProgressEvent

class	ProgressionStatus

class	ProgressState

class	PyDescriptor

class	PyDetector

class	PyMatcher

class	PythonInterface

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	SensorCapture

class	SensorCaptureInfo

class	SensorCaptureThread

class	SensorData

class	SensorEvent

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

class	XYFactor

class	XYZFactor

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

typedef std::map< int, Landmark >	Landmarks

typedef std::map< int, Transform >	MapIdPose

typedef std::map< std::string, std::string >	ParametersMap

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

Enumerations
enum	ScreenRotation { ROTATION_IGNORED = -1, ROTATION_0 = 0, ROTATION_90 = 1, ROTATION_180 = 2, ROTATION_270 = 3 }

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)

template<typename PointT >
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_CORE_EXPORT	compressData (const cv::Mat &data)

cv::Mat RTABMAP_CORE_EXPORT	compressData2 (const cv::Mat &data)

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

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

cv::Mat RTABMAP_CORE_EXPORT	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 void	computeOrientation (const Mat &image, std::vector< KeyPoint > &keypoints, int halfPatchSize, const std::vector< int > &umax)

static void	computeOrientation (const Mat &image, vector< KeyPoint > &keypoints, const vector< int > &umax, int halfPatchSize)

static bool	computeOrientation (Eigen::Vector3f A, Eigen::Quaternionf &orientation)

static bool	computeOrientation (Eigen::Vector3f A, Eigen::Vector3f E, Eigen::Quaternionf &orientation)

void	copyCameraConfig (const ArSession ar_session, const ArCameraConfigList all_configs, int index, int num_configs, CameraConfig *camera_config)

QIcon	createIcon (const QColor &color)

template<typename T >
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_CORE_EXPORT	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)

cv::Mat	drawChessboard (int squareSize, int boardWidth, int boardHeight, int borderSize)

void	drawDetectedCornersCharuco (cv::InputOutputArray image, cv::InputArray charucoCorners, cv::InputArray charucoIds=cv::noArray(), cv::Scalar cornerColor=cv::Scalar(255, 0, 0))

template<typename T >
PointMatcher< T >::TransformationParameters	eigenMatrixToDim (const typename PointMatcher< T >::TransformationParameters &matrix, int dimp1)

template<typename PointT >
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 (int display_rotation, int color_camera_rotation)

ScreenRotation	GetAndroidRotationFromColorCameraToDisplay (ScreenRotation 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)

std::string	getPDALSupportedWriters ()

std::string	getPythonTraceback ()

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

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, const int half_k, Point2f pt, const std::vector< int > &u_max)

static float	IC_Angle (const Mat &image, Point2f pt, const vector< int > &u_max, int halfPatchSize)

rtabmap::Transform	icpCC (const pcl::PointCloud< pcl::PointXYZI >::Ptr &fromCloud, pcl::PointCloud< pcl::PointXYZI >::Ptr &toCloud, int maxIterations=150, double minRMSDecrease=0.00001, bool force3DoF=false, bool force4DoF=false, int samplingLimit=50000, double finalOverlapRatio=0.85, bool filterOutFarthestPoints=false, double maxFinalRMS=0.2, float finalRMS=0, std::string errorMsg=0)

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)

rtabmap::LaserScan	laserScanFromDP (const DP &cloud, const rtabmap::Transform &localTransform=rtabmap::Transform::getIdentity())

DP	laserScanToDP (const rtabmap::LaserScan &scan, bool ignoreLocalTransform=false)

static void	makeRandomPattern (int patchSize, Point *pattern, int npoints)

int	NormalizedColorCameraRotation (int camera_rotation)

void	normalizeQuaternion (double &q0, double &q1, double &q2, double &q3)

template<typename T >
static void	normalizeQuaternion (T &q0, T &q1, T &q2, T &q3)

void	normalizeVector (double &x, double &y, double &z)

template<typename T >
static T	normalizeVector (T &vx, T &vy, T &vz)

template<typename T >
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)

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)

RTABMAP_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const CameraModel &model)

RTABMAP_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const StereoCameraModel &model)

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

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)

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)

void	pclFromDP (const DP &cloud, pcl::PointCloud< pcl::PointXYZI > &pclCloud)

void	pclFromDP (const DP &cloud, pcl::PointCloud< pcl::PointXYZINormal > &pclCloud)

DP	pclToDP (const pcl::PointCloud< pcl::PointXYZI >::Ptr &pclCloud, bool is2D)

DP	pclToDP (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &pclCloud, bool is2D)

template<typename PointRGBT >
chisel::PointCloudPtr	pointCloudRGBToChisel (const typename pcl::PointCloud< PointRGBT > &cloud, const Transform &transform=Transform::getIdentity())

template<typename PointT >
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)

void	readINIImpl (const CSimpleIniA &ini, const std::string &configFilePath, ParametersMap &parameters, bool modifiedOnly)

std::vector< double >	resample (const std::vector< double > &p, const std::vector< double > &w, bool normalizeWeights=false)

double	resolveHourAmbiguity (const double &stamp, const double &nominal_stamp)
	Function used to check that hour assigned to timestamp in conversion is correct. Velodyne only returns time since the top of the hour, so if the computer clock and the velodyne clock (gps-synchronized) are a little off, there is a chance the wrong hour may be associated with the timestamp. More...

double	rosTimeFromGpsTimestamp (const uint32_t data)

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.")

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)

int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)

int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZI > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)

int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)

int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())

int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())

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)

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)

bool	testAABBAABB (const AABB &a, const AABB &b)

cv::Mat RTABMAP_CORE_EXPORT	uncompressData (const cv::Mat &bytes)

cv::Mat RTABMAP_CORE_EXPORT	uncompressData (const std::vector< unsigned char > &bytes)

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

cv::Mat RTABMAP_CORE_EXPORT	uncompressImage (const cv::Mat &bytes)

cv::Mat RTABMAP_CORE_EXPORT	uncompressImage (const std::vector< unsigned char > &bytes)

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

	vtkStandardNewMacro (CloudViewerCellPicker)

	vtkStandardNewMacro (CloudViewerInteractorStyle)

	vtkStandardNewMacro (vtkImageMatSource)

Variables
static int	bit_pattern_31_ [256 *4]

static int	bit_pattern_31_ [256 *4]

const int	c1 = 64

const int	c2 = 64

const int	c3 = 128

const int	c4 = 128

const int	c5 = 256

RTABMAP_DEPRECATED typedef SensorEvent	CameraEvent

RTABMAP_DEPRECATED typedef SensorCaptureInfo	CameraInfo

RTABMAP_DEPRECATED typedef SensorCaptureThread	CameraThread

const int	d1 = 256

const float	factorPI = (float)(CV_PI/180.f)

static const int	frustum_indices []

static const float	frustum_vertices []

const float	HARRIS_K = 0.04f

const int	holeSize = 5

const float	kTextureCoords0 [] = {1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0}

const float	kTextureCoords180 [] = {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0}

const float	kTextureCoords270 [] = {1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0}

const float	kTextureCoords90 [] = {0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0}

const int	kVersionStringLength = 128

const float	maxDepthError = 0.10

const int	scanDownsampling = 1

Detailed Description

Contributed by e-consystemgit https://www.e-consystems.com/opensource-linux-webcam-software-application.asp

File from OpenCV (see License below), modified by Mathieu Labbe 2016

This code is a version of ORB from OpenCV but modified by ORB_SLAM2 project to use an OcTree on keypoint detection. This code is licensed under GPLv3 and BSD licenses. If you cannot comply to those licenses, please set WITH_ORB_OCTREE=OFF when building RTAB-Map so that it is not included in the compiled binary. This file is part of ORB-SLAM2.

ORB-SLAM2 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

ORB-SLAM2 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with ORB-SLAM2. If not, see http://www.gnu.org/licenses/.

Adapted from EdgeSE3Gravity

Adapted code from HDL graph slam: https://github.com/koide3/hdl_graph_slam/blob/master/include/g2o/edge_se3_priorvec.hpp

Author: Mathieu Labbe This file is a copy of GPSPose2Factor.h of gtsam examples A simple 2D 'GPS' like factor The factor contains a X-Y position measurement (mx, my) for a Pose, but no rotation information The error vector will be [x-mx, y-my]'

Author: Mathieu Labbe This file is a copy of GPSPose2Factor.h of gtsam examples for Pose3 A simple 3D 'GPS' like factor The factor contains a X-Y-Z position measurement (mx, my, mz) for a Pose, but no rotation information The error vector will be [x-mx, y-my, z-mz]'

Python interface for python descriptors like:

NetVLAD: https://github.com/uzh-rpg/netvlad_tf_open

Python interface for python local feature detectors like:

SuperPoint: https://github.com/magicleap/SuperPointPretrainedNetwork

Python interface for python matchers like:

SuperGlue: https://github.com/magicleap/SuperGluePretrainedNetwork
OANET https://github.com/zjhthu/OANet

Original code from https://github.com/KinglittleQ/SuperPoint_SLAM

Typedef Documentation

◆ EnvSensors

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

Definition at line 81 of file EnvSensor.h.

◆ Landmarks

typedef std::map<int, Landmark> rtabmap::Landmarks

Definition at line 79 of file Landmark.h.

◆ MapIdPose

typedef std::map<int, Transform> rtabmap::MapIdPose

Definition at line 41 of file MarkerDetector.h.

◆ ParametersMap

typedef std::map<std::string, std::string> rtabmap::ParametersMap

Definition at line 43 of file Parameters.h.

◆ ParametersPair

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

Definition at line 44 of file Parameters.h.

Enumeration Type Documentation

◆ ScreenRotation

enum rtabmap::ScreenRotation

Enumerator
ROTATION_IGNORED	Not apply any rotation.
ROTATION_0	0 degree rotation (natural orientation)
ROTATION_90	90 degree rotation.
ROTATION_180	180 degree rotation.
ROTATION_270	270 degree rotation.

Definition at line 194 of file util.h.

Function Documentation

◆ addGradientDescentStep()

static void rtabmap::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
	)

inlinestatic

Definition at line 97 of file MadgwickFilter.cpp.

◆ addNeighborProb()

float rtabmap::addNeighborProb	(	cv::Mat &	prediction,
		unsigned int	col,
		const std::map< int, int > &	neighbors,
		const std::vector< double > &	predictionLC,
		const std::map< int, int > &	idToIndex
	)

Definition at line 237 of file BayesFilter.cpp.

◆ applyFovModel()

void rtabmap::applyFovModel	(	double	xu,
		double	yu,
		double	w,
		double	w_inverse,
		double	two_tan_w_div_two,
		double *	xd,
		double *	yd
	)

Definition at line 139 of file CameraTango.cpp.

◆ applyImpl()

template<typename PointT >

void rtabmap::applyImpl	(	int	index,
		typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const cv::Mat_< double > &	gains,
		bool	rgb
	)

Definition at line 393 of file GainCompensator.cpp.

◆ cameraModelToChiselCamera()

chisel::PinholeCamera rtabmap::cameraModelToChiselCamera ( const CameraModel & camera )

Definition at line 35 of file chisel_conversions.h.

◆ chiselToPolygonMesh()

pcl::PolygonMesh::Ptr rtabmap::chiselToPolygonMesh	(	const chisel::MeshMap &	meshMap,
		unsigned char	r = `100`,
		unsigned char	g = `100`,
		unsigned char	b = `100`
	)

Definition at line 109 of file chisel_conversions.h.

◆ colorImageToChisel()

std::shared_ptr<chisel::ColorImage<unsigned char> > rtabmap::colorImageToChisel ( const cv::Mat & image )

Definition at line 19 of file chisel_conversions.h.

◆ compressData()

std::vector< unsigned char > rtabmap::compressData ( const cv::Mat & data )

Definition at line 170 of file Compression.cpp.

◆ compressData2()

cv::Mat rtabmap::compressData2 ( const cv::Mat & data )

Definition at line 201 of file Compression.cpp.

◆ compressImage()

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

Definition at line 100 of file Compression.cpp.

◆ compressImage2()

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

Definition at line 120 of file Compression.cpp.

◆ compressString()

cv::Mat rtabmap::compressString ( const std::string & str )

Definition at line 277 of file Compression.cpp.

◆ computeDescriptors() [1/2]

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.

◆ computeDescriptors() [2/2]

static void rtabmap::computeDescriptors	(	const Mat &	image,
		vector< KeyPoint > &	keypoints,
		Mat &	descriptors,
		const vector< Point > &	pattern
	)

static

Definition at line 1041 of file ORBextractor.cc.

◆ computeKeyPoints()

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.

◆ computeOrbDescriptor() [1/2]

static void rtabmap::computeOrbDescriptor	(	const KeyPoint &	kpt,
		const Mat &	img,
		const Point *	pattern,
		uchar *	desc
	)

static

Definition at line 114 of file ORBextractor.cc.

◆ computeOrbDescriptor() [2/2]

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.

◆ computeOrientation() [1/4]

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.

◆ computeOrientation() [2/4]

static void rtabmap::computeOrientation	(	const Mat &	image,
		vector< KeyPoint > &	keypoints,
		const vector< int > &	umax,
		int	halfPatchSize
	)

static

Definition at line 479 of file ORBextractor.cc.

◆ computeOrientation() [3/4]

static bool rtabmap::computeOrientation	(	Eigen::Vector3f	A,
		Eigen::Quaternionf &	orientation
	)

inlinestatic

Definition at line 211 of file MadgwickFilter.cpp.

◆ computeOrientation() [4/4]

static bool rtabmap::computeOrientation	(	Eigen::Vector3f	A,
		Eigen::Vector3f	E,
		Eigen::Quaternionf &	orientation
	)

inlinestatic

Definition at line 151 of file MadgwickFilter.cpp.

◆ copyCameraConfig()

void rtabmap::copyCameraConfig	(	const ArSession *	ar_session,
		const ArCameraConfigList *	all_configs,
		int	index,
		int	num_configs,
		CameraConfig *	camera_config
	)

Definition at line 95 of file CameraARCore.cpp.

◆ createIcon()

QIcon rtabmap::createIcon ( const QColor & color )

Definition at line 1838 of file GraphViewer.cpp.

◆ crossProduct()

template<typename T >

static void rtabmap::crossProduct	(	T	ax,
		T	ay,
		T	az,
		T	bx,
		T	by,
		T	bz,
		T &	rx,
		T &	ry,
		T &	rz
	)

inlinestatic

Definition at line 131 of file MadgwickFilter.cpp.

◆ cumSum()

std::vector<double> rtabmap::cumSum ( const std::vector< double > & v )

Definition at line 53 of file ParticleFilter.h.

◆ cvStereoRectifyFisheye()

void rtabmap::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
	)

Definition at line 971 of file stereoRectifyFisheye.h.

◆ databaseRecovery()

bool rtabmap::databaseRecovery	(	const std::string &	corruptedDatabase,
		bool	keepCorruptedDatabase = `true`,
		std::string *	errorMsg = `0`,
		ProgressState *	progressState = `0`
	)

Return true on success. The database is renamed to "*.backup.db" before recovering.

Parameters

corruptedDatabase	database to recover
keepCorruptedDatabase	if false and on recovery success, the backup database is removed
errorMsg	error message if the function returns false
progressState	A ProgressState object used to get status of the recovery process

Definition at line 39 of file Recovery.cpp.

◆ DEG2RAD()

double rtabmap::DEG2RAD ( const double x )

inline

Definition at line 53 of file GeodeticCoords.cpp.

◆ depthImageToChisel()

std::shared_ptr<chisel::DepthImage<float> > rtabmap::depthImageToChisel ( const cv::Mat & image )

Definition at line 27 of file chisel_conversions.h.

◆ destroyCameraConfigs()

void rtabmap::destroyCameraConfigs ( std::vector< CameraConfig > & camera_configs )

Definition at line 111 of file CameraARCore.cpp.

◆ drawChessboard()

cv::Mat rtabmap::drawChessboard	(	int	squareSize,
		int	boardWidth,
		int	boardHeight,
		int	borderSize
	)

Definition at line 249 of file CalibrationDialog.cpp.

◆ drawDetectedCornersCharuco()

void rtabmap::drawDetectedCornersCharuco	(	cv::InputOutputArray	image,
		cv::InputArray	charucoCorners,
		cv::InputArray	charucoIds = `cv::noArray()`,
		cv::Scalar	cornerColor = `cv::Scalar(255, 0, 0)`
	)

Definition at line 606 of file CalibrationDialog.cpp.

◆ eigenMatrixToDim()

template<typename T >

PointMatcher<T>::TransformationParameters rtabmap::eigenMatrixToDim	(	const typename PointMatcher< T >::TransformationParameters &	matrix,
		int	dimp1
	)

Definition at line 410 of file libpointmatcher.h.

◆ feedImpl()

template<typename PointT >

void rtabmap::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
	)

See also: https://github.com/opencv/opencv/blob/master/modules/stitching/src/exposure_compensate.cpp

Definition at line 124 of file GainCompensator.cpp.

◆ floodfill()

void rtabmap::floodfill	(	QRgb *	bits,
		const cv::Mat &	depthImage,
		int	x,
		int	y,
		float	lastDepthValue,
		float	error,
		int &	iterations
	)

Definition at line 289 of file EditDepthArea.cpp.

◆ GetAndroidRotationFromColorCameraToDisplay() [1/2]

ScreenRotation rtabmap::GetAndroidRotationFromColorCameraToDisplay	(	int	display_rotation,
		int	color_camera_rotation
	)

inline

Definition at line 261 of file util.h.

◆ GetAndroidRotationFromColorCameraToDisplay() [2/2]

ScreenRotation rtabmap::GetAndroidRotationFromColorCameraToDisplay	(	ScreenRotation	display_rotation,
		int	color_camera_rotation
	)

inline

Definition at line 239 of file util.h.

◆ getCameraConfigLowestAndHighestResolutions()

void rtabmap::getCameraConfigLowestAndHighestResolutions	(	std::vector< CameraConfig > &	camera_configs,
		CameraConfig **	lowest_resolution_config,
		CameraConfig **	highest_resolution_config
	)

Definition at line 63 of file CameraARCore.cpp.

◆ getMeanVelocity()

Transform rtabmap::getMeanVelocity ( const std::list< std::pair< std::vector< float >, double > > & transforms )

Definition at line 272 of file Odometry.cpp.

◆ getPDALSupportedWriters()

std::string rtabmap::getPDALSupportedWriters ( )

Definition at line 45 of file PDALWriter.cpp.

◆ getPythonTraceback()

std::string rtabmap::getPythonTraceback ( )

Definition at line 30 of file PythonInterface.cpp.

◆ getScale()

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

inlinestatic

Definition at line 561 of file Orb.cpp.

◆ glmFromTransform()

glm::mat4 rtabmap::glmFromTransform ( const rtabmap::Transform & transform )

inline

Definition at line 124 of file util.h.

◆ glmToTransform()

rtabmap::Transform rtabmap::glmToTransform ( const glm::mat4 & mat )

inline

Definition at line 144 of file util.h.

◆ HarrisResponses()

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.

◆ IC_Angle() [1/2]

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.

◆ IC_Angle() [2/2]

static float rtabmap::IC_Angle	(	const Mat &	image,
		Point2f	pt,
		const vector< int > &	u_max,
		int	halfPatchSize
	)

static

Definition at line 83 of file ORBextractor.cc.

◆ icpCC()

rtabmap::Transform rtabmap::icpCC	(	const pcl::PointCloud< pcl::PointXYZI >::Ptr &	fromCloud,
		pcl::PointCloud< pcl::PointXYZI >::Ptr &	toCloud,
		int	maxIterations = `150`,
		double	minRMSDecrease = `0.00001`,
		bool	force3DoF = `false`,
		bool	force4DoF = `false`,
		int	samplingLimit = `50000`,
		double	finalOverlapRatio = `0.85`,
		bool	filterOutFarthestPoints = `false`,
		double	maxFinalRMS = `0.2`,
		float *	finalRMS = `0`,
		std::string *	errorMsg = `0`
	)

The minimum error (RMS) reduction between two consecutive steps to continue process (ignored if convType is not MAX_ERROR_CONVERGENCE)

The maximum number of iteration (ignored if convType is not MAX_ITER_CONVERGENCE)

Whether to release the scale parameter during the registration procedure or not

If true, the algorithm will automatically ignore farthest points from the reference, for better convergence

Maximum number of points per cloud (they are randomly resampled below this limit otherwise)

Theoretical overlap ratio (at each iteration, only this percentage (between 0 and 1) will be used for registration

Weights for model points (i.e. only if the model entity is a cloud) (optional)

Weights for data points (optional)

Filters to be applied on the resulting transformation at each step (experimental) - see RegistrationTools::TRANSFORMATION_FILTERS flags

Maximum number of threads to use (0 = max)

Definition at line 35 of file cccorelib.h.

◆ icvGetRectanglesFisheye()

void rtabmap::icvGetRectanglesFisheye	(	const CvMat *	cameraMatrix,
		const CvMat *	distCoeffs,
		const CvMat *	R,
		const CvMat *	newCameraMatrix,
		CvSize	imgSize,
		cv::Rect_< float > &	inner,
		cv::Rect_< float > &	outer
	)

Definition at line 926 of file stereoRectifyFisheye.h.

◆ inFrontOfBothCameras()

int rtabmap::inFrontOfBothCameras	(	const cv::Mat &	x,
		const cv::Mat &	xp,
		const cv::Mat &	R,
		const cv::Mat &	T
	)

Definition at line 138 of file EpipolarGeometry.cpp.

◆ initFisheyeRectificationMap()

void rtabmap::initFisheyeRectificationMap	(	const CameraModel &	fisheyeModel,
		cv::Mat &	mapX,
		cv::Mat &	mapY
	)

Definition at line 160 of file CameraTango.cpp.

◆ initializeOrbPattern()

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.

◆ invertQuaternion()

void rtabmap::invertQuaternion	(	double	q0,
		double	q1,
		double	q2,
		double	q3,
		double &	q0_inv,
		double &	q1_inv,
		double &	q2_inv,
		double &	q3_inv
	)

Definition at line 420 of file ComplementaryFilter.cpp.

◆ invSqrt()

static float rtabmap::invSqrt ( float x )

inlinestatic

Definition at line 33 of file MadgwickFilter.cpp.

◆ laserScanFromDP()

rtabmap::LaserScan rtabmap::laserScanFromDP	(	const DP &	cloud,
		const rtabmap::Transform &	localTransform = `rtabmap::Transform::getIdentity()`
	)

Definition at line 341 of file libpointmatcher.h.

◆ laserScanToDP()

DP rtabmap::laserScanToDP	(	const rtabmap::LaserScan &	scan,
		bool	ignoreLocalTransform = `false`
	)

Definition at line 137 of file libpointmatcher.h.

◆ makeRandomPattern()

static void rtabmap::makeRandomPattern	(	int	patchSize,
		Point *	pattern,
		int	npoints
	)

static

Definition at line 549 of file Orb.cpp.

◆ NormalizedColorCameraRotation()

int rtabmap::NormalizedColorCameraRotation ( int camera_rotation )

inline

Definition at line 211 of file util.h.

◆ normalizeQuaternion() [1/2]

void rtabmap::normalizeQuaternion	(	double &	q0,
		double &	q1,
		double &	q2,
		double &	q3
	)

Definition at line 411 of file ComplementaryFilter.cpp.

◆ normalizeQuaternion() [2/2]

template<typename T >

static void rtabmap::normalizeQuaternion	(	T &	q0,
		T &	q1,
		T &	q2,
		T &	q3
	)

inlinestatic

Definition at line 58 of file MadgwickFilter.cpp.

◆ normalizeVector() [1/2]

void rtabmap::normalizeVector	(	double &	x,
		double &	y,
		double &	z
	)

Definition at line 402 of file ComplementaryFilter.cpp.

◆ normalizeVector() [2/2]

template<typename T >

static T rtabmap::normalizeVector	(	T &	vx,
		T &	vy,
		T &	vz
	)

inlinestatic

Definition at line 141 of file MadgwickFilter.cpp.

◆ normalizeVectorOpt()

template<typename T >

static void rtabmap::normalizeVectorOpt	(	T &	vx,
		T &	vy,
		T &	vz
	)

inlinestatic

Definition at line 49 of file MadgwickFilter.cpp.

◆ onFrameAvailableRouter()

void rtabmap::onFrameAvailableRouter	(	void *	context,
		TangoCameraId	id,
		const TangoImageBuffer *	color
	)

Definition at line 67 of file CameraTango.cpp.

◆ onPointCloudAvailableRouter()

void rtabmap::onPointCloudAvailableRouter	(	void *	context,
		const TangoPointCloud *	point_cloud
	)

Definition at line 58 of file CameraTango.cpp.

◆ onPoseAvailableRouter()

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

Definition at line 99 of file CameraTango.cpp.

◆ onTangoEventAvailableRouter()

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

Definition at line 108 of file CameraTango.cpp.

◆ opengl_world_T_rtabmap_world()

static const rtabmap::Transform rtabmap::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

◆ opengl_world_T_tango_world()

static const rtabmap::Transform rtabmap::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

◆ operator<<() [1/3]

std::ostream & rtabmap::operator<<	(	std::ostream &	os,
		const CameraModel &	model
	)

Definition at line 801 of file CameraModel.cpp.

◆ operator<<() [2/3]

std::ostream & rtabmap::operator<<	(	std::ostream &	os,
		const StereoCameraModel &	model
	)

Definition at line 605 of file StereoCameraModel.cpp.

◆ operator<<() [3/3]

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

Definition at line 364 of file Transform.cpp.

◆ optical_T_opengl()

static const rtabmap::Transform rtabmap::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
	)

static

◆ orientationChangeFromGyro()

static void rtabmap::orientationChangeFromGyro	(	float	q0,
		float	q1,
		float	q2,
		float	q3,
		float	gx,
		float	gy,
		float	gz,
		float &	qDot1,
		float &	qDot2,
		float &	qDot3,
		float &	qDot4
	)

inlinestatic

Definition at line 84 of file MadgwickFilter.cpp.

◆ pclFromDP() [1/2]

void rtabmap::pclFromDP	(	const DP &	cloud,
		pcl::PointCloud< pcl::PointXYZI > &	pclCloud
	)

Definition at line 281 of file libpointmatcher.h.

◆ pclFromDP() [2/2]

void rtabmap::pclFromDP	(	const DP &	cloud,
		pcl::PointCloud< pcl::PointXYZINormal > &	pclCloud
	)

Definition at line 308 of file libpointmatcher.h.

◆ pclToDP() [1/2]

DP rtabmap::pclToDP	(	const pcl::PointCloud< pcl::PointXYZI >::Ptr &	pclCloud,
		bool	is2D
	)

Definition at line 38 of file libpointmatcher.h.

◆ pclToDP() [2/2]

DP rtabmap::pclToDP	(	const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &	pclCloud,
		bool	is2D
	)

Definition at line 84 of file libpointmatcher.h.

◆ pointCloudRGBToChisel()

template<typename PointRGBT >

chisel::PointCloudPtr rtabmap::pointCloudRGBToChisel	(	const typename pcl::PointCloud< PointRGBT > &	cloud,
		const Transform &	transform = `Transform::getIdentity()`
	)

Definition at line 50 of file chisel_conversions.h.

◆ pointCloudToChisel()

template<typename PointT >

chisel::PointCloudPtr rtabmap::pointCloudToChisel	(	const typename pcl::PointCloud< PointT > &	cloud,
		const Transform &	transform = `Transform::getIdentity()`
	)

Definition at line 84 of file chisel_conversions.h.

◆ quaternionMultiplication()

void rtabmap::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
	)

Definition at line 458 of file ComplementaryFilter.cpp.

◆ RAD2DEG()

double rtabmap::RAD2DEG ( const double x )

inline

Definition at line 54 of file GeodeticCoords.cpp.

◆ readINIImpl()

void rtabmap::readINIImpl	(	const CSimpleIniA &	ini,
		const std::string &	configFilePath,
		ParametersMap &	parameters,
		bool	modifiedOnly
	)

Definition at line 1187 of file Parameters.cpp.

◆ resample()

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.

◆ resolveHourAmbiguity()

double rtabmap::resolveHourAmbiguity	(	const double &	stamp,
		const double &	nominal_stamp
	)

Function used to check that hour assigned to timestamp in conversion is correct. Velodyne only returns time since the top of the hour, so if the computer clock and the velodyne clock (gps-synchronized) are a little off, there is a chance the wrong hour may be associated with the timestamp.

Original author: Copyright (C) 2019 Matthew Pitropov, Joshua Whitley Original license: BSD License 2.0 Original code: https://github.com/ros-drivers/velodyne/blob/master/velodyne_driver/include/velodyne_driver/time_conversion.hpp

Parameters

stamp	timestamp recovered from velodyne
nominal_stamp	time coming from computer's clock

Returns: timestamp from velodyne, possibly shifted by 1 hour if the function arguments disagree by more than a half-hour.

Definition at line 53 of file LidarVLP16.cpp.

◆ rosTimeFromGpsTimestamp()

double rtabmap::rosTimeFromGpsTimestamp ( const uint32_t data )

Definition at line 71 of file LidarVLP16.cpp.

◆ rotateAndScaleVector()

static void rtabmap::rotateAndScaleVector	(	float	q0,
		float	q1,
		float	q2,
		float	q3,
		float	_2dx,
		float	_2dy,
		float	_2dz,
		float &	rx,
		float &	ry,
		float &	rz
	)

inlinestatic

Definition at line 67 of file MadgwickFilter.cpp.

◆ rotatePointAroundAxe()

Eigen::Vector3f rtabmap::rotatePointAroundAxe	(	const Eigen::Vector3f &	point,
		const Eigen::Vector3f &	axis,
		float	angle
	)

Definition at line 3576 of file CloudViewer.cpp.

◆ rotateVectorByQuaternion()

void rtabmap::rotateVectorByQuaternion	(	double	x,
		double	y,
		double	z,
		double	q0,
		double	q1,
		double	q2,
		double	q3,
		double &	vx,
		double &	vy,
		double &	vz
	)

Definition at line 470 of file ComplementaryFilter.cpp.

◆ RTABMAP_DEPRECATED()

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

◆ rtabmap_world_T_opengl_world()

static const rtabmap::Transform rtabmap::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

◆ rtabmap_world_T_tango_world()

static const rtabmap::Transform rtabmap::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
	)

static

◆ savePDALFile() [1/5]

int rtabmap::savePDALFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const std::vector< int > &	cameraIds = `std::vector<int>()`,
		bool	binary = `false`
	)

Definition at line 76 of file PDALWriter.cpp.

◆ savePDALFile() [2/5]

int rtabmap::savePDALFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZI > &	cloud,
		const std::vector< int > &	cameraIds = `std::vector<int>()`,
		bool	binary = `false`
	)

Definition at line 370 of file PDALWriter.cpp.

◆ savePDALFile() [3/5]

int rtabmap::savePDALFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZINormal > &	cloud,
		const std::vector< int > &	cameraIds = `std::vector<int>()`,
		bool	binary = `false`
	)

Definition at line 440 of file PDALWriter.cpp.

◆ savePDALFile() [4/5]

int rtabmap::savePDALFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		const std::vector< int > &	cameraIds = `std::vector<int>()`,
		bool	binary = `false`,
		const std::vector< float > &	intensities = `std::vector<float>()`
	)

Definition at line 143 of file PDALWriter.cpp.

◆ savePDALFile() [5/5]

int rtabmap::savePDALFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZRGBNormal > &	cloud,
		const std::vector< int > &	cameraIds = `std::vector<int>()`,
		bool	binary = `false`,
		const std::vector< float > &	intensities = `std::vector<float>()`
	)

Definition at line 249 of file PDALWriter.cpp.

◆ scaleQuaternion()

void rtabmap::scaleQuaternion	(	double	gain,
		double &	dq0,
		double &	dq1,
		double &	dq2,
		double &	dq3
	)

Definition at line 431 of file ComplementaryFilter.cpp.

◆ sortCallback()

bool rtabmap::sortCallback	(	const std::string &	a,
		const std::string &	b
	)

Definition at line 4301 of file PreferencesDialog.cpp.

◆ sqr()

double rtabmap::sqr ( uchar v )

Definition at line 41 of file GainCompensator.cpp.

◆ square()

double rtabmap::square ( const double & value )

inline

Definition at line 55 of file GeodeticCoords.cpp.

◆ stereoRectifyFisheye()

void rtabmap::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
	)

Definition at line 1181 of file stereoRectifyFisheye.h.

◆ tango_device_T_rtabmap_world()

static const rtabmap::Transform rtabmap::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

◆ tango_world_T_rtabmap_world()

static const rtabmap::Transform rtabmap::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
	)

static

◆ testAABBAABB()

bool rtabmap::testAABBAABB	(	const AABB &	a,
		const AABB &	b
	)

Definition at line 110 of file GainCompensator.cpp.

◆ uncompressData() [1/3]

cv::Mat rtabmap::uncompressData ( const cv::Mat & bytes )

Definition at line 231 of file Compression.cpp.

◆ uncompressData() [2/3]

cv::Mat rtabmap::uncompressData ( const std::vector< unsigned char > & bytes )

Definition at line 237 of file Compression.cpp.

◆ uncompressData() [3/3]

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

Definition at line 242 of file Compression.cpp.

◆ uncompressImage() [1/2]

cv::Mat rtabmap::uncompressImage ( const cv::Mat & bytes )

Definition at line 130 of file Compression.cpp.

◆ uncompressImage() [2/2]

cv::Mat rtabmap::uncompressImage ( const std::vector< unsigned char > & bytes )

Definition at line 152 of file Compression.cpp.

◆ uncompressString()

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

Definition at line 283 of file Compression.cpp.

◆ vtkStandardNewMacro() [1/3]

rtabmap::vtkStandardNewMacro ( CloudViewerCellPicker )

◆ vtkStandardNewMacro() [2/3]

rtabmap::vtkStandardNewMacro ( CloudViewerInteractorStyle )

◆ vtkStandardNewMacro() [3/3]

rtabmap::vtkStandardNewMacro ( vtkImageMatSource )

Variable Documentation

◆ bit_pattern_31_ [1/2]

int rtabmap::bit_pattern_31_[256 *4]

static

Definition at line 156 of file ORBextractor.cc.

◆ bit_pattern_31_ [2/2]

int rtabmap::bit_pattern_31_[256 *4]

static

Definition at line 288 of file Orb.cpp.

◆ c1

const int rtabmap::c1 = 64

Definition at line 15 of file SuperPoint.cc.

◆ c2

const int rtabmap::c2 = 64

Definition at line 16 of file SuperPoint.cc.

◆ c3

const int rtabmap::c3 = 128

Definition at line 17 of file SuperPoint.cc.

◆ c4

const int rtabmap::c4 = 128

Definition at line 18 of file SuperPoint.cc.

◆ c5

const int rtabmap::c5 = 256

Definition at line 19 of file SuperPoint.cc.

◆ CameraEvent

RTABMAP_DEPRECATED typedef SensorEvent rtabmap::CameraEvent

Definition at line 92 of file SensorEvent.h.

◆ CameraInfo

RTABMAP_DEPRECATED typedef SensorCaptureInfo rtabmap::CameraInfo

Definition at line 80 of file SensorCaptureInfo.h.

◆ CameraThread

RTABMAP_DEPRECATED typedef SensorCaptureThread rtabmap::CameraThread

Definition at line 214 of file SensorCaptureThread.h.

◆ d1

const int rtabmap::d1 = 256

Definition at line 20 of file SuperPoint.cc.

◆ factorPI

const float rtabmap::factorPI = (float)(CV_PI/180.f)

Definition at line 113 of file ORBextractor.cc.

◆ frustum_indices

const int rtabmap::frustum_indices[]

static

Initial value:

= {

1, 2, 3, 4, 1, 0, 2, 0, 3, 0, 4}

Definition at line 2143 of file CloudViewer.cpp.

◆ frustum_vertices

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 2136 of file CloudViewer.cpp.

◆ HARRIS_K

const float rtabmap::HARRIS_K = 0.04f

Definition at line 55 of file Orb.cpp.

◆ holeSize

const int rtabmap::holeSize = 5

Definition at line 42 of file CameraTango.cpp.

◆ kTextureCoords0

const float rtabmap::kTextureCoords0[] = {1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0}

Definition at line 52 of file CameraTango.cpp.

◆ kTextureCoords180

const float rtabmap::kTextureCoords180[] = {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0}

Definition at line 54 of file CameraTango.cpp.

◆ kTextureCoords270

const float rtabmap::kTextureCoords270[] = {1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0}

Definition at line 55 of file CameraTango.cpp.

◆ kTextureCoords90

const float rtabmap::kTextureCoords90[] = {0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0}

Definition at line 53 of file CameraTango.cpp.

◆ kVersionStringLength

const int rtabmap::kVersionStringLength = 128

Definition at line 41 of file CameraTango.cpp.

◆ maxDepthError

const float rtabmap::maxDepthError = 0.10

Definition at line 43 of file CameraTango.cpp.

◆ scanDownsampling

const int rtabmap::scanDownsampling = 1

Definition at line 44 of file CameraTango.cpp.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ EnvSensors

◆ Landmarks

◆ MapIdPose

◆ ParametersMap

◆ ParametersPair

Enumeration Type Documentation

◆ ScreenRotation

Function Documentation

◆ addGradientDescentStep()

◆ addNeighborProb()

◆ applyFovModel()

◆ applyImpl()

◆ cameraModelToChiselCamera()

◆ chiselToPolygonMesh()

◆ colorImageToChisel()

◆ compressData()

◆ compressData2()

◆ compressImage()

◆ compressImage2()

◆ compressString()

◆ computeDescriptors() [1/2]

◆ computeDescriptors() [2/2]

◆ computeKeyPoints()

◆ computeOrbDescriptor() [1/2]

◆ computeOrbDescriptor() [2/2]

◆ computeOrientation() [1/4]

◆ computeOrientation() [2/4]

◆ computeOrientation() [3/4]

◆ computeOrientation() [4/4]

◆ copyCameraConfig()

◆ createIcon()

◆ crossProduct()

◆ cumSum()

◆ cvStereoRectifyFisheye()

◆ databaseRecovery()

◆ DEG2RAD()

◆ depthImageToChisel()

◆ destroyCameraConfigs()

◆ drawChessboard()

◆ drawDetectedCornersCharuco()

◆ eigenMatrixToDim()

◆ feedImpl()

◆ floodfill()

◆ GetAndroidRotationFromColorCameraToDisplay() [1/2]

◆ GetAndroidRotationFromColorCameraToDisplay() [2/2]

◆ getCameraConfigLowestAndHighestResolutions()

◆ getMeanVelocity()

◆ getPDALSupportedWriters()

◆ getPythonTraceback()

◆ getScale()

◆ glmFromTransform()

◆ glmToTransform()

◆ HarrisResponses()

◆ IC_Angle() [1/2]

◆ IC_Angle() [2/2]

◆ icpCC()

◆ icvGetRectanglesFisheye()

◆ inFrontOfBothCameras()

◆ initFisheyeRectificationMap()

◆ initializeOrbPattern()

◆ invertQuaternion()

◆ invSqrt()

◆ laserScanFromDP()

◆ laserScanToDP()

◆ makeRandomPattern()

◆ NormalizedColorCameraRotation()

◆ normalizeQuaternion() [1/2]

◆ normalizeQuaternion() [2/2]

◆ normalizeVector() [1/2]

◆ normalizeVector() [2/2]

◆ normalizeVectorOpt()

◆ onFrameAvailableRouter()