Defines | Typedefs | Functions
geometry.hpp File Reference

Declarations for geometry-related calculations. More...

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "pcl_resources.hpp"
#include "ros_resources.hpp"
#include <Eigen/Geometry>
Include dependency graph for geometry.hpp:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Defines

#define ALGEBRAIC_DISTANCE   1
#define DEFAULT_ASSIGN_MODE   0
#define EPIPOLAR_DISTANCE   2
#define LOURAKIS_DISTANCE   3
#define MAPPER_ASSIGN_MODE   1
#define SAMPSON_DISTANCE   0

Typedefs

typedef Eigen::Matrix< float,
3, 3, Eigen::RowMajor > 
Matrix3frm
typedef Eigen::Quaternion< double > QuaternionDbl

Functions

void assignPose (geometry_msgs::PoseStamped &pPose, cv::Mat &C, int idx, ros::Time timestamp, int mode=DEFAULT_ASSIGN_MODE)
double calcGeometryDistance (cv::Point2f &pt1, cv::Point2f &pt2, cv::Mat &mat, int distMethod=SAMPSON_DISTANCE)
double calculateGRIC (std::vector< cv::Point2f > &pts1, std::vector< cv::Point2f > &pts2, cv::Mat &rel, cv::Mat &mask, int d, double k, double r, double lambda_3, int distMethod)
double calculateRho (double e, double sig, double r, double lambda_3, int d)
void composeTransform (const cv::Mat &R, const cv::Mat &t, cv::Mat &c)
void convert3frmToRmat (const Matrix3frm &R_src, cv::Mat &R_dst)
void convertAndShiftPoseFormat (const geometry_msgs::Pose &pose, cv::Mat &t, Eigen::Quaternion< double > &Q)
void convertAndShiftPoseFormat (const cv::Mat &t, const Eigen::Quaternion< double > &Q, geometry_msgs::Pose &pose)
void convertEigenvecToTvec (const Eigen::Vector3f &T_src, cv::Mat &T_dst)
void convertPoseFormat (const geometry_msgs::Pose &pose, cv::Mat &t, Eigen::Quaternion< double > &Q)
void convertPoseFormat (const cv::Mat &t, const Eigen::Quaternion< double > &Q, geometry_msgs::Pose &pose)
void convertRmatTo3frm (const cv::Mat &R_src, Matrix3frm &R_dst)
void convertTvecToEigenvec (const cv::Mat &T_src, Eigen::Vector3f &T_dst)
void decomposeTransform (const cv::Mat &c, cv::Mat &R, cv::Mat &t)
double lourakisSampsonError (cv::Point2f &pt1, cv::Point2f &pt2, cv::Mat &H)
void matrixToQuaternion (const cv::Mat &mat, Eigen::Quaternion< double > &quat)
int minProjections (int pairs)
 Minimum number of projections required to achieve the specified number of pairs.
double normalizedGRICdifference (std::vector< cv::Point2f > &pts1, std::vector< cv::Point2f > &pts2, cv::Mat &F, cv::Mat &H, cv::Mat &mask_F, cv::Mat &mask_H, double &F_GRIC, double &H_GRIC)
int possiblePairs (int projections)
 Maximum possible number of pairs able to be achieved with specified number of projections.
void projectionToRotation (const cv::Mat &src, cv::Mat &dst)
void projectionToTransformation (const cv::Mat &proj, cv::Mat &trans)
void quaternionToMatrix (const Eigen::Quaternion< double > &quat, cv::Mat &mat, bool handedness=false)
void rotationToProjection (const cv::Mat &src, cv::Mat &dst)
void transformationToProjection (const cv::Mat &trans, cv::Mat &proj)
void transformPoints (cv::vector< cv::Point3d > &pts, unsigned int option=0)
void transformPoints (cv::vector< cv::Point3d > &pts, int *options)

Detailed Description

Declarations for geometry-related calculations.

Definition in file geometry.hpp.


Define Documentation

#define ALGEBRAIC_DISTANCE   1

Definition at line 22 of file geometry.hpp.

#define DEFAULT_ASSIGN_MODE   0

Definition at line 26 of file geometry.hpp.

#define EPIPOLAR_DISTANCE   2

Definition at line 23 of file geometry.hpp.

#define LOURAKIS_DISTANCE   3

Definition at line 24 of file geometry.hpp.

#define MAPPER_ASSIGN_MODE   1

Definition at line 27 of file geometry.hpp.

#define SAMPSON_DISTANCE   0

Definition at line 21 of file geometry.hpp.


Typedef Documentation

typedef Eigen::Matrix<float, 3, 3, Eigen::RowMajor> Matrix3frm

Definition at line 15 of file geometry.hpp.

typedef Eigen::Quaternion<double> QuaternionDbl

Definition at line 16 of file geometry.hpp.


Function Documentation

void assignPose ( geometry_msgs::PoseStamped &  pPose,
cv::Mat &  C,
int  idx,
ros::Time  timestamp,
int  mode = DEFAULT_ASSIGN_MODE 
)

Definition at line 113 of file geometry.cpp.

double calcGeometryDistance ( cv::Point2f &  pt1,
cv::Point2f &  pt2,
cv::Mat &  mat,
int  distMethod = SAMPSON_DISTANCE 
)

Definition at line 718 of file geometry.cpp.

double calculateGRIC ( std::vector< cv::Point2f > &  pts1,
std::vector< cv::Point2f > &  pts2,
cv::Mat &  rel,
cv::Mat &  mask,
int  d,
double  k,
double  r,
double  lambda_3,
int  distMethod 
)

Definition at line 666 of file geometry.cpp.

double calculateRho ( double  e,
double  sig,
double  r,
double  lambda_3,
int  d 
)

Definition at line 709 of file geometry.cpp.

void composeTransform ( const cv::Mat &  R,
const cv::Mat &  t,
cv::Mat &  c 
)

Definition at line 367 of file geometry.cpp.

void convert3frmToRmat ( const Matrix3frm R_src,
cv::Mat &  R_dst 
)

Definition at line 218 of file geometry.cpp.

void convertAndShiftPoseFormat ( const geometry_msgs::Pose pose,
cv::Mat &  t,
Eigen::Quaternion< double > &  Q 
)

Definition at line 342 of file geometry.cpp.

void convertAndShiftPoseFormat ( const cv::Mat &  t,
const Eigen::Quaternion< double > &  Q,
geometry_msgs::Pose pose 
)

Definition at line 354 of file geometry.cpp.

void convertEigenvecToTvec ( const Eigen::Vector3f &  T_src,
cv::Mat &  T_dst 
)

Definition at line 210 of file geometry.cpp.

void convertPoseFormat ( const geometry_msgs::Pose pose,
cv::Mat &  t,
Eigen::Quaternion< double > &  Q 
)

Definition at line 330 of file geometry.cpp.

void convertPoseFormat ( const cv::Mat &  t,
const Eigen::Quaternion< double > &  Q,
geometry_msgs::Pose pose 
)

Definition at line 317 of file geometry.cpp.

void convertRmatTo3frm ( const cv::Mat &  R_src,
Matrix3frm R_dst 
)

Definition at line 190 of file geometry.cpp.

void convertTvecToEigenvec ( const cv::Mat &  T_src,
Eigen::Vector3f &  T_dst 
)

Definition at line 204 of file geometry.cpp.

void decomposeTransform ( const cv::Mat &  c,
cv::Mat &  R,
cv::Mat &  t 
)

Definition at line 393 of file geometry.cpp.

double lourakisSampsonError ( cv::Point2f &  pt1,
cv::Point2f &  pt2,
cv::Mat &  H 
)

Definition at line 785 of file geometry.cpp.

void matrixToQuaternion ( const cv::Mat &  mat,
Eigen::Quaternion< double > &  quat 
)

Definition at line 418 of file geometry.cpp.

int minProjections ( int  pairs)

Minimum number of projections required to achieve the specified number of pairs.

Definition at line 8 of file geometry.cpp.

double normalizedGRICdifference ( std::vector< cv::Point2f > &  pts1,
std::vector< cv::Point2f > &  pts2,
cv::Mat &  F,
cv::Mat &  H,
cv::Mat &  mask_F,
cv::Mat &  mask_H,
double &  F_GRIC,
double &  H_GRIC 
)

Definition at line 641 of file geometry.cpp.

int possiblePairs ( int  projections)

Maximum possible number of pairs able to be achieved with specified number of projections.

Definition at line 15 of file geometry.cpp.

void projectionToRotation ( const cv::Mat &  src,
cv::Mat &  dst 
)

Definition at line 279 of file geometry.cpp.

void projectionToTransformation ( const cv::Mat &  proj,
cv::Mat &  trans 
)

Definition at line 234 of file geometry.cpp.

void quaternionToMatrix ( const Eigen::Quaternion< double > &  quat,
cv::Mat &  mat,
bool  handedness = false 
)

Definition at line 599 of file geometry.cpp.

void rotationToProjection ( const cv::Mat &  src,
cv::Mat &  dst 
)

Definition at line 296 of file geometry.cpp.

void transformationToProjection ( const cv::Mat &  trans,
cv::Mat &  proj 
)

Definition at line 259 of file geometry.cpp.

void transformPoints ( cv::vector< cv::Point3d > &  pts,
unsigned int  option = 0 
)

Definition at line 77 of file geometry.cpp.

void transformPoints ( cv::vector< cv::Point3d > &  pts,
int *  options 
)

Definition at line 20 of file geometry.cpp.



thermalvis
Author(s): Stephen Vidas
autogenerated on Sun Jan 5 2014 11:38:45