ccny_rgbd: rgbd_util.h File Reference

#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <tf/transform_datatypes.h>
#include <pcl/filters/voxel_grid.h>
#include <opencv2/opencv.hpp>
#include "ccny_rgbd/types.h"

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Namespaces
namespace	ccny_rgbd
Functions
void	ccny_rgbd::buildPointCloud (const cv::Mat &depth_img_rect, const cv::Mat &intr_rect_ir, PointCloudT &cloud)
	Constructs a point cloud, a depth image and instrinsic matrix.
void	ccny_rgbd::buildPointCloud (const cv::Mat &depth_img_rect_reg, const cv::Mat &rgb_img_rect, const cv::Mat &intr_rect_rgb, PointCloudT &cloud)
	Constructs a point cloud with color.
void	ccny_rgbd::buildRegisteredDepthImage (const cv::Mat &intr_rect_ir, const cv::Mat &intr_rect_rgb, const cv::Mat &ir2rgb, const cv::Mat &depth_img_rect, cv::Mat &depth_img_rect_reg)
	reprojects a depth image to another depth image, registered in the rgb camera's frame.
void	ccny_rgbd::convertCameraInfoToMats (const CameraInfoMsg::ConstPtr camera_info_msg, cv::Mat &intr, cv::Mat &dist)
	Create OpenCV matrices from a CameraInfoMsg.
void	ccny_rgbd::convertMatToCameraInfo (const cv::Mat &intr, CameraInfoMsg &camera_info_msg)
	Create CameraInfoMsg from OpenCV matrices (assumes no distortion)
void	ccny_rgbd::depthImageFloatTo16bit (const cv::Mat &depth_image_in, cv::Mat &depth_image_out)
	converts a 32FC1 depth image (in meters) to a 16UC1 depth image (in mm).
Eigen::Matrix4f	ccny_rgbd::eigenFromTf (const tf::Transform &tf)
	Converts an tf::Transform transform to an Eigen transform.
double	ccny_rgbd::getMsDuration (const ros::WallTime &start)
	Returns the duration, in ms, from a given time.
void	ccny_rgbd::getTfDifference (const tf::Transform &motion, double &dist, double &angle)
	Given a transform, calculates the linear and angular distance between it and identity.
void	ccny_rgbd::getTfDifference (const tf::Transform &a, const tf::Transform b, double &dist, double &angle)
	Given two transformss, calculates the linear and angular distance between them, or the linear and angular components of a.inv() * b.
void	ccny_rgbd::openCVRtToTf (const cv::Mat &R, const cv::Mat &t, tf::Transform &transform)
	Creates a tf transform from a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.
void	ccny_rgbd::pointCloudFromMeans (const Vector3fVector &means, PointCloudFeature &cloud)
	Creates a pcl point cloud form a vector of eigen matrix means.
void	ccny_rgbd::removeInvalidDistributions (const Vector3fVector &means, const Matrix3fVector &covariances, const BoolVector &valid, Vector3fVector &means_f, Matrix3fVector &covariances_f)
	Filters out a vector of means and a vector of covariances given a mask of valid entries.
void	ccny_rgbd::removeInvalidMeans (const Vector3fVector &means, const BoolVector &valid, Vector3fVector &means_f)
	Filters out a vector of means given a mask of valid entries.
tf::Transform	ccny_rgbd::tfFromEigen (Eigen::Matrix4f trans)
	Converts an Eigen transform to a tf::Transform.
bool	ccny_rgbd::tfGreaterThan (const tf::Transform &a, double dist, double angle)
	Given a transfom (possibly computed as a difference between two transforms) checks if either its angular or linar component exceeds a threshold.
void	ccny_rgbd::tfToEigenRt (const tf::Transform &tf, Matrix3f &R, Vector3f &t)
	Decomposes a tf into an Eigen 3x3 rotation matrix and Eigen 3x1 rotation vector.
void	ccny_rgbd::tfToOpenCVRt (const tf::Transform &transform, cv::Mat &R, cv::Mat &t)
	Decomposes a tf::Transform into a 3x3 OpenCV rotation matrix and a 3x1 OpenCV translation vector.
void	ccny_rgbd::tfToXYZRPY (const tf::Transform &t, double &x, double &y, double &z, double &roll, double &pitch, double &yaw)
	Decomposes a tf::Transform into x, y, z, roll, pitch, yaw.
void	ccny_rgbd::transformDistributions (Vector3fVector &means, Matrix3fVector &covariances, const tf::Transform &transform)
	Transforms a vector of means and covariances.
void	ccny_rgbd::transformMeans (Vector3fVector &means, const tf::Transform &transform)
	Transforms a vector of means.

Detailed Description

Author:: Ivan Dryanovski <ivan.dryanovski@gmail.com>

LICENSE

This program 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.

This program 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 this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file rgbd_util.h.

Namespaces

Functions

Detailed Description

LICENSE