- RTAB-Map 0.24.1
+ RTAB-Map 0.24.2
Real-Time Appearance-Based Mapping
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@@ -277,32 +277,39 @@ $(document).ready(function(){initNavTree('util2d_8h_source.html',''); initResiza
681 const std::vector<cv::Mat> & images);
- 701void RTABMAP_CORE_EXPORT
HSVtoRGB(
float *r,
float *g,
float *b,
float h,
float s,
float v );
-
- 722void RTABMAP_CORE_EXPORT
NMS(
- 723 const std::vector<cv::KeyPoint> & ptsIn,
- 724 const cv::Mat & descriptorsIn,
- 725 std::vector<cv::KeyPoint> & ptsOut,
- 726 cv::Mat & descriptorsOut,
- 727 int dist_thresh,
int img_width,
int img_height);
-
- 757std::vector<int> RTABMAP_CORE_EXPORT
SSC(
- 758 const std::vector<cv::KeyPoint> & keypoints,
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- 763 const std::vector<int> & indx = {});
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+ 700 const cv::Mat & left,
+ 701 const cv::Mat & right,
+
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+ 704 std::vector<double> * gains = 0);
+
+ 724void RTABMAP_CORE_EXPORT
HSVtoRGB(
float *r,
float *g,
float *b,
float h,
float s,
float v );
+
+ 745void RTABMAP_CORE_EXPORT
NMS(
+ 746 const std::vector<cv::KeyPoint> & ptsIn,
+ 747 const cv::Mat & descriptorsIn,
+ 748 std::vector<cv::KeyPoint> & ptsOut,
+ 749 cv::Mat & descriptorsOut,
+ 750 int dist_thresh,
int img_width,
int img_height);
+
+ 780std::vector<int> RTABMAP_CORE_EXPORT
SSC(
+ 781 const std::vector<cv::KeyPoint> & keypoints,
+
+
+
+
+ 786 const std::vector<int> & indx = {});
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Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat &image, const std::string &roiRatios)
Computes a region of interest (ROI) in the image using string-defined ratios.
float RTABMAP_CORE_EXPORT sad(const cv::Mat &windowLeft, const cv::Mat &windowRight)
Computes the Sum of Absolute Differences (SAD) between two image patches.
cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoCorrespondences(const cv::Size &disparitySize, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask)
Computes a disparity map from stereo correspondences between two images.
std::vector< cv::Point2f > RTABMAP_CORE_EXPORT 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, float minDisparity=0.0f, float maxDisparity=64.0f, bool ssdApproach=true)
Computes stereo correspondences between left and right images using a pyramidal window-based matching...
bool RTABMAP_CORE_EXPORT stereoExposureCompensation(const cv::Mat &left, const cv::Mat &right, cv::Mat &leftOut, cv::Mat &rightOut, std::vector< double > *gains=0)
Equalizes the exposure of the left and right images of a stereo camera.
cv::Mat RTABMAP_CORE_EXPORT cvtDepthFromFloat(const cv::Mat &depth32F)
Converts a 32-bit float depth image (in meters) to a 16-bit unsigned depth image (in millimeters).
void RTABMAP_CORE_EXPORT depthBleedingFiltering(cv::Mat &depth, float maxDepthError)
Filters out depth bleeding artifacts in a depth image.
cv::Mat RTABMAP_CORE_EXPORT brightnessAndContrastAuto(const cv::Mat &src, const cv::Mat &mask, float clipLowHistPercent=0, float clipHighHistPercent=0, float *alphaOut=0, float *betaOut=0)
Automatic brightness and contrast optimization with optional histogram clipping.