Namespaces | Defines | Typedefs | Functions
util2d.cpp File Reference
#include "rtabmap/core/util2d.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/StereoDense.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <map>
Include dependency graph for util2d.cpp:

Go to the source code of this file.

Namespaces

namespace  rtabmap
namespace  rtabmap::util2d

Defines

#define CV_DESCALE(x, n)   (((x) + (1 << ((n)-1))) >> (n))

Typedefs

typedef float rtabmap::util2d::acctype
typedef float rtabmap::util2d::itemtype

Functions

void RTABMAP_EXP 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)
std::vector< cv::Point2f >
RTABMAP_EXP 
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, int minDisparity=0, int maxDisparity=64, bool ssdApproach=true)
cv::Mat RTABMAP_EXP rtabmap::util2d::cvtDepthFromFloat (const cv::Mat &depth32F)
cv::Mat RTABMAP_EXP rtabmap::util2d::cvtDepthToFloat (const cv::Mat &depth16U)
cv::Mat RTABMAP_EXP rtabmap::util2d::decimate (const cv::Mat &image, int d)
cv::Mat RTABMAP_EXP rtabmap::util2d::depthFromDisparity (const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)
cv::Mat RTABMAP_EXP 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)
cv::Mat RTABMAP_EXP 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)
cv::Mat RTABMAP_EXP 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)
cv::Mat RTABMAP_EXP rtabmap::util2d::disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())
cv::Mat RTABMAP_EXP rtabmap::util2d::fillDepthHoles (const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)
void RTABMAP_EXP rtabmap::util2d::fillRegisteredDepthHoles (cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
float RTABMAP_EXP rtabmap::util2d::getDepth (const cv::Mat &depthImage, float x, float y, bool smoothing, float maxZError=0.02f, bool estWithNeighborsIfNull=false)
cv::Mat RTABMAP_EXP rtabmap::util2d::interpolate (const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
cv::Mat RTABMAP_EXP rtabmap::util2d::registerDepth (const cv::Mat &depth, const cv::Mat &depthK, const cv::Mat &colorK, const rtabmap::Transform &transform)
float RTABMAP_EXP rtabmap::util2d::sad (const cv::Mat &windowLeft, const cv::Mat &windowRight)
float RTABMAP_EXP rtabmap::util2d::ssd (const cv::Mat &windowLeft, const cv::Mat &windowRight)

Define Documentation

#define CV_DESCALE (   x,
 
)    (((x) + (1 << ((n)-1))) >> (n))

Definition at line 345 of file util2d.cpp.



rtabmap
Author(s): Mathieu Labbe
autogenerated on Sat Jul 23 2016 11:44:30