Functions
opencv_utils.cpp File Reference
#include <ucl_drone/opencv_utils.h>
Include dependency graph for opencv_utils.cpp:

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Functions

void debugRTMatrix (cv::Mat Rt)
 Debug for the transformation (rotation and transltation) matrix.
std::vector< cv::Point2f > Points (const std::vector< cv::KeyPoint > &keypoints)
 Convert vector of opencv keypoints in a vector of opencv 2D points.
cv::Mat rollPitchYawToRotationMatrix (const double roll, const double pitch, const double yaw)
 Rotation matrix given RPY angles.
cv::Mat rotationMatrixX (const double angle)
 Rotation matrix about the X axis.
cv::Mat rotationMatrixY (const double angle)
 Rotation matrix about the Y axis.
cv::Mat rotationMatrixZ (const double angle)
 Rotation matrix about the Z axis.
cv::Mat rTMatrix (const cv::Mat rot, const double tx, const double ty, const double tz)
 Transofmation (rotation and translation) matrix given RPY angles and translation lengths.

Function Documentation

void debugRTMatrix ( cv::Mat  Rt)

Debug for the transformation (rotation and transltation) matrix.

Definition at line 56 of file opencv_utils.cpp.

std::vector< cv::Point2f > Points ( const std::vector< cv::KeyPoint > &  keypoints)

Convert vector of opencv keypoints in a vector of opencv 2D points.

This method converts opencv keypoint coordinates to opencv point format.

Definition at line 66 of file opencv_utils.cpp.

cv::Mat rollPitchYawToRotationMatrix ( const double  roll,
const double  pitch,
const double  yaw 
)

Rotation matrix given RPY angles.

Returns:
the rotation matrix given the roll,pitch,yaw angles

Definition at line 37 of file opencv_utils.cpp.

cv::Mat rotationMatrixX ( const double  angle)

Rotation matrix about the X axis.

Returns:
the rotation matrix given the roll angle (around x axis)

Definition at line 13 of file opencv_utils.cpp.

cv::Mat rotationMatrixY ( const double  angle)

Rotation matrix about the Y axis.

Returns:
the rotation matrix given the pitch angle (around y axis)

Definition at line 21 of file opencv_utils.cpp.

cv::Mat rotationMatrixZ ( const double  angle)

Rotation matrix about the Z axis.

Returns:
the rotation matrix given the yaw angle (around z axis)

Definition at line 29 of file opencv_utils.cpp.

cv::Mat rTMatrix ( const cv::Mat  rot,
const double  tx,
const double  ty,
const double  tz 
)

Transofmation (rotation and translation) matrix given RPY angles and translation lengths.

Returns:
the transformation (rotation and transltation) matrix

Definition at line 47 of file opencv_utils.cpp.



ucl_drone
Author(s): dronesinma
autogenerated on Sat Jun 8 2019 20:51:53