misc.h

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#ifndef RGBD_SLAM_MISC_H_
#define RGBD_SLAM_MISC_H_
/* This file is part of RGBDSLAM.
 * 
 * RGBDSLAM 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.
 * 
 * RGBDSLAM 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 RGBDSLAM.  If not, see <http://www.gnu.org/licenses/>.
 */
#include <QMatrix4x4>

void printTransform(const char* name, const tf::Transform t) ;
void logTransform(QTextStream& out, const tf::Transform& t, double timestamp, const char* label = NULL);
void printQMatrix4x4(const char* name, const QMatrix4x4& m);

QMatrix4x4    g2o2QMatrix(const g2o::SE3Quat se3) ;
tf::Transform g2o2TF(     const g2o::SE3Quat se3) ;
g2o::SE3Quat  eigen2G2O(  const Eigen::Matrix4d& eigen_mat);
g2o::SE3Quat  tf2G2O(     const tf::Transform t);

void mat2components(const Eigen::Matrix4f& t, double& roll, double& pitch, double& yaw, double& dist);
void mat2RPY(const Eigen::Matrix4f& t, double& roll, double& pitch, double& yaw);
void mat2dist(const Eigen::Matrix4f& t, double &dist);


pointcloud_type* createXYZRGBPointCloud (const sensor_msgs::ImageConstPtr& depth_msg, const sensor_msgs::ImageConstPtr& rgb_msg, const sensor_msgs::CameraInfoConstPtr& cam_info); 

void transformAndAppendPointCloud (const pointcloud_type &cloud_in, pointcloud_type &cloud_to_append_to,
                                   const tf::Transform transformation, float Max_Depth);


geometry_msgs::Point pointInWorldFrame(const Eigen::Vector4f& point3d, g2o::SE3Quat transf);
// true if translation > 10cm or largest euler-angle>5 deg
// used to decide if the camera has moved far enough to generate a new nodes
bool isBigTrafo(const Eigen::Matrix4f& t);
bool isBigTrafo(const g2o::SE3Quat& t);


//bool overlappingViews(LoadedEdge3D edge);
//bool triangleRayIntersection(Eigen::Vector3d triangle1,Eigen::Vector3d triangle2, Eigen::Vector3d ray_origin, Eigen::Vector3d ray);


cv::FeatureDetector* createDetector( const std::string& detectorType );
cv::DescriptorExtractor* createDescriptorExtractor( const std::string& descriptorType );
void depthToCV8UC1(const cv::Mat& float_img, cv::Mat& mono8_img);

std::string openCVCode2String(unsigned int code);

void printMatrixInfo(cv::Mat& image, std::string name = std::string(""));

bool asyncFrameDrop(ros::Time depth, ros::Time rgb);

double errorFunction(const Eigen::Vector4f& x1, const double x1_depth_cov, 
                      const Eigen::Vector4f& x2, const double x2_depth_cov, 
                      const Eigen::Matrix4f& tf_1_to_2);

double errorFunction2(const Eigen::Vector4f& x1, 
                      const Eigen::Vector4f& x2, 
                      const Eigen::Matrix4f& tf_1_to_2);

float getMinDepthInNeighborhood(const cv::Mat& depth, cv::Point2f center, float diameter);

#endif