rtabmap::util2d Namespace Reference

Classes
class	Array3D

Typedefs
typedef float	acctype
typedef float	itemtype

Functions
cv::Mat RTABMAP_CORE_EXPORT	brightnessAndContrastAuto (const cv::Mat &src, const cv::Mat &mask, float clipLowHistPercent, float clipHighHistPercent, float *alphaOut, float *betaOut)
	Automatic brightness and contrast optimization with optional histogram clipping. More...
void RTABMAP_CORE_EXPORT	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_CORE_EXPORT	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, float minDisparity=0.0f, float maxDisparity=64.0f, bool ssdApproach=true)
cv::Rect RTABMAP_CORE_EXPORT	computeRoi (const cv::Mat &image, const std::string &roiRatios)
cv::Rect RTABMAP_CORE_EXPORT	computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
cv::Rect RTABMAP_CORE_EXPORT	computeRoi (const cv::Size &imageSize, const std::string &roiRatios)
cv::Rect RTABMAP_CORE_EXPORT	computeRoi (const cv::Size &imageSize, const std::vector< float > &roiRatios)
cv::Mat RTABMAP_CORE_EXPORT	cvtDepthFromFloat (const cv::Mat &depth32F)
cv::Mat RTABMAP_CORE_EXPORT	cvtDepthToFloat (const cv::Mat &depth16U)
cv::Mat RTABMAP_CORE_EXPORT	decimate (const cv::Mat &image, int d)
cv::Mat RTABMAP_CORE_EXPORT	depthFromDisparity (const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)
cv::Mat RTABMAP_CORE_EXPORT	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_CORE_EXPORT	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_CORE_EXPORT	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_CORE_EXPORT	disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())
cv::Mat RTABMAP_CORE_EXPORT	exposureFusion (const std::vector< cv::Mat > &images)
cv::Mat RTABMAP_CORE_EXPORT	fastBilateralFiltering (const cv::Mat &depth, float sigmaS=15.0f, float sigmaR=0.05f, bool earlyDivision=false)
cv::Mat RTABMAP_CORE_EXPORT	fillDepthHoles (const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)
void RTABMAP_CORE_EXPORT	fillRegisteredDepthHoles (cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
float RTABMAP_CORE_EXPORT	getDepth (const cv::Mat &depthImage, float x, float y, bool smoothing, float depthErrorRatio=0.02f, bool estWithNeighborsIfNull=false)
void RTABMAP_CORE_EXPORT	HSVtoRGB (float *r, float *g, float *b, float h, float s, float v)
cv::Mat RTABMAP_CORE_EXPORT	interpolate (const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
void RTABMAP_CORE_EXPORT	NMS (const std::vector< cv::KeyPoint > &ptsIn, const cv::Mat &descriptorsIn, std::vector< cv::KeyPoint > &ptsOut, cv::Mat &descriptorsOut, int border, int dist_thresh, int img_width, int img_height)
cv::Mat RTABMAP_CORE_EXPORT	registerDepth (const cv::Mat &depth, const cv::Mat &depthK, const cv::Size &colorSize, const cv::Mat &colorK, const rtabmap::Transform &transform)
void RTABMAP_CORE_EXPORT	rotateImagesUpsideUpIfNecessary (CameraModel &model, cv::Mat &rgb, cv::Mat &depth)
	Rotate images and camera model so that the top of the image is up. More...
float RTABMAP_CORE_EXPORT	sad (const cv::Mat &windowLeft, const cv::Mat &windowRight)
std::vector< int > RTABMAP_CORE_EXPORT	SSC (const std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, float tolerance, int cols, int rows)
float RTABMAP_CORE_EXPORT	ssd (const cv::Mat &windowLeft, const cv::Mat &windowRight)

Typedef Documentation

acctype

typedef float rtabmap::util2d::acctype

Definition at line 356 of file util2d.cpp.

itemtype

typedef float rtabmap::util2d::itemtype

Definition at line 357 of file util2d.cpp.

Function Documentation

brightnessAndContrastAuto()

cv::Mat rtabmap::util2d::brightnessAndContrastAuto	(	const cv::Mat &	src,
		const cv::Mat &	mask,
		float	clipLowHistPercent,
		float	clipHighHistPercent,
		float *	alphaOut,
		float *	betaOut
	)

Automatic brightness and contrast optimization with optional histogram clipping.

Parameters

[in]

Definition at line 1942 of file util2d.cpp.

calcOpticalFlowPyrLKStereo()

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 371 of file util2d.cpp.

calcStereoCorrespondences()

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,
		float	minDisparity = 0.0f,
		float	maxDisparity = 64.0f,
		bool	ssdApproach = true
	)

Definition at line 122 of file util2d.cpp.

computeRoi() [1/4]

cv::Rect rtabmap::util2d::computeRoi	(	const cv::Mat &	image,
		const std::string &	roiRatios
	)

Definition at line 1113 of file util2d.cpp.

computeRoi() [2/4]

cv::Rect rtabmap::util2d::computeRoi	(	const cv::Mat &	image,
		const std::vector< float > &	roiRatios
	)

Definition at line 1150 of file util2d.cpp.

computeRoi() [3/4]

cv::Rect rtabmap::util2d::computeRoi	(	const cv::Size &	imageSize,
		const std::string &	roiRatios
	)

Definition at line 1118 of file util2d.cpp.

computeRoi() [4/4]

cv::Rect rtabmap::util2d::computeRoi	(	const cv::Size &	imageSize,
		const std::vector< float > &	roiRatios
	)

Definition at line 1155 of file util2d.cpp.

cvtDepthFromFloat()

cv::Mat rtabmap::util2d::cvtDepthFromFloat

(

const cv::Mat &

depth32F

)

Definition at line 892 of file util2d.cpp.

cvtDepthToFloat()

cv::Mat rtabmap::util2d::cvtDepthToFloat

(

const cv::Mat &

depth16U

)

Definition at line 928 of file util2d.cpp.

decimate()

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

Definition at line 1201 of file util2d.cpp.

depthFromDisparity()

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

Definition at line 763 of file util2d.cpp.

depthFromStereoCorrespondences()

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 867 of file util2d.cpp.

depthFromStereoImages()

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 808 of file util2d.cpp.

disparityFromStereoCorrespondences()

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 845 of file util2d.cpp.

disparityFromStereoImages()

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

Definition at line 738 of file util2d.cpp.

exposureFusion()

cv::Mat rtabmap::util2d::exposureFusion

(

const std::vector< cv::Mat > &

images

)

Definition at line 2027 of file util2d.cpp.

fastBilateralFiltering()

cv::Mat rtabmap::util2d::fastBilateralFiltering	(	const cv::Mat &	depth,
		float	sigmaS,
		float	sigmaR,
		bool	earlyDivision
	)

Converted pcl::FastBilateralFiltering class to 2d depth image

Definition at line 1814 of file util2d.cpp.

fillDepthHoles()

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

Definition at line 1439 of file util2d.cpp.

fillRegisteredDepthHoles()

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

Definition at line 1598 of file util2d.cpp.

getDepth()

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

Definition at line 947 of file util2d.cpp.

HSVtoRGB()

void rtabmap::util2d::HSVtoRGB	(	float *	r,
		float *	g,
		float *	b,
		float	h,
		float	s,
		float	v
	)

Definition at line 2047 of file util2d.cpp.

interpolate()

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

Definition at line 1250 of file util2d.cpp.

NMS()

void rtabmap::util2d::NMS	(	const std::vector< cv::KeyPoint > &	ptsIn,
		const cv::Mat &	descriptorsIn,
		std::vector< cv::KeyPoint > &	ptsOut,
		cv::Mat &	descriptorsOut,
		int	border,
		int	dist_thresh,
		int	img_width,
		int	img_height
	)

Definition at line 2096 of file util2d.cpp.

registerDepth()

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

Definition at line 1362 of file util2d.cpp.

rotateImagesUpsideUpIfNecessary()

void rtabmap::util2d::rotateImagesUpsideUpIfNecessary	(	CameraModel &	model,
		cv::Mat &	rgb,
		cv::Mat &	depth
	)

Rotate images and camera model so that the top of the image is up.

The roll value of local transform of the camera model is used to estimate if the images have to be rotated. If there is a pitch value higher than 45 deg, the original images and camera model will be returned (no rotation will happen). The return local transform of the camera model is updated accordingly. The distortion model is ignored and won't be transfered to modified camera model, so this function expects already rectified images.

Parameters

model	a valid camera model
rgb	a rgb/grayscale image (set cv::Mat() if not used)
depth	a depth image (set cv::Mat() if not used)

Definition at line 2282 of file util2d.cpp.

sad()

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

Definition at line 91 of file util2d.cpp.

SSC()

std::vector< int > rtabmap::util2d::SSC	(	const std::vector< cv::KeyPoint > &	keypoints,
		int	maxKeypoints,
		float	tolerance,
		int	cols,
		int	rows
	)

Definition at line 2205 of file util2d.cpp.

ssd()

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

Definition at line 56 of file util2d.cpp.