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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
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<td id="projectalign">
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</td>
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</tr>
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
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$(document).ready(function(){initNavTree('util2d_8h_source.html',''); initResizable(); });
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<div id="nav-path" class="navpath">
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<ul>
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="headertitle"><div class="title">util2d.h</div></div>
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@@ -126,164 +143,162 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
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<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html"> 45</a></span><span class="keyword">namespace </span>util2d</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>{</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a179e07ca5bc9581ff4782ae8f9d33521"> 66</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a179e07ca5bc9581ff4782ae8f9d33521">ssd</a>(<span class="keyword">const</span> cv::Mat & windowLeft, <span class="keyword">const</span> cv::Mat & windowRight);</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a4cd865b8edc489f950b0c1b5e1a0c992"> 86</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a4cd865b8edc489f950b0c1b5e1a0c992">sad</a>(<span class="keyword">const</span> cv::Mat & windowLeft, <span class="keyword">const</span> cv::Mat & windowRight);</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a53e2ae078c4c5c997fda9f1b6d1dda33"> 120</a></span>std::vector<cv::Point2f> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a53e2ae078c4c5c997fda9f1b6d1dda33">calcStereoCorrespondences</a>(</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keyword">const</span> cv::Mat & rightImage,</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> std::vector<unsigned char> & status,</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> cv::Size winSize = cv::Size(6,3),</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">int</span> maxLevel = 3,</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">int</span> iterations = 5,</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">float</span> minDisparity = 0.0f,</div>
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<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">float</span> maxDisparity = 64.0f,</div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">bool</span> ssdApproach = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a3d01284751a6b46770a28a7f63576600"> 171</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a3d01284751a6b46770a28a7f63576600">calcOpticalFlowPyrLKStereo</a>( cv::InputArray _prevImg, cv::InputArray _nextImg,</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> cv::InputArray _prevPts, cv::InputOutputArray _nextPts,</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> cv::OutputArray _status, cv::OutputArray _err,</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> cv::Size winSize = cv::Size(15,3), <span class="keywordtype">int</span> maxLevel = 3,</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">int</span> flags = 0, <span class="keywordtype">double</span> minEigThreshold = 1e-4 );</div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ad7ea8d1905c7143d376c57c9e22dcea5"> 207</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ad7ea8d1905c7143d376c57c9e22dcea5">disparityFromStereoImages</a>(</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">const</span> cv::Mat & rightImage,</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">const</span> ParametersMap & parameters = ParametersMap());</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> </div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a110359c4884579e1c7b68d8baa7acb6c"> 232</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a110359c4884579e1c7b68d8baa7acb6c">depthFromDisparity</a>(<span class="keyword">const</span> cv::Mat & disparity,</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> baseline,</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">int</span> type = CV_32FC1); <span class="comment">// CV_32FC1 or CV_16UC1</span></div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> </div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aacf89454b054d86b53a8038c8a404b50"> 258</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aacf89454b054d86b53a8038c8a404b50">depthFromStereoImages</a>(</div>
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<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keyword">const</span> cv::Mat & rightImage,</div>
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<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
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<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordtype">float</span> fx,</div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordtype">float</span> baseline,</div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordtype">int</span> flowWinSize = 9,</div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keywordtype">int</span> flowMaxLevel = 4,</div>
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<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keywordtype">int</span> flowIterations = 20,</div>
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<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keywordtype">double</span> flowEps = 0.02);</div>
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<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> </div>
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<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a4f10f8038c62a97d3a79bd2dc5bf2c58"> 293</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a4f10f8038c62a97d3a79bd2dc5bf2c58">disparityFromStereoCorrespondences</a>(</div>
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<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keyword">const</span> cv::Size & disparitySize,</div>
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<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
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<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="keyword">const</span> std::vector<cv::Point2f> & rightCorners,</div>
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<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <span class="keyword">const</span> std::vector<unsigned char> & mask);</div>
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<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> </div>
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<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ae6548e6246eceaff5dcc9ee30514eac5"> 321</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ae6548e6246eceaff5dcc9ee30514eac5">depthFromStereoCorrespondences</a>(</div>
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<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
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<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
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<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">const</span> std::vector<cv::Point2f> & rightCorners,</div>
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<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keyword">const</span> std::vector<unsigned char> & mask,</div>
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<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> baseline);</div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> </div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a6740b13198a2c437ab51d8e0503f2d33"> 349</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a6740b13198a2c437ab51d8e0503f2d33">cvtDepthFromFloat</a>(<span class="keyword">const</span> cv::Mat & depth32F);</div>
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<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
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<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a0e4631bed561b3a694a1a65853221f75"> 368</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a0e4631bed561b3a694a1a65853221f75">cvtDepthToFloat</a>(<span class="keyword">const</span> cv::Mat & depth16U);</div>
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<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
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<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a48b07b02efba21a914db10e832589aba"> 395</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a48b07b02efba21a914db10e832589aba">getDepth</a>(</div>
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<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
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<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordtype">bool</span> smoothing,</div>
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<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="keywordtype">float</span> depthErrorRatio = 0.02f, <span class="comment">//ratio</span></div>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keywordtype">bool</span> estWithNeighborsIfNull = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> </div>
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<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478"> 418</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keyword">const</span> std::string & roiRatios);</div>
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<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> </div>
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<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga2f0ffb8f6882e28709b03446d50250bb"> 428</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Size & imageSize, <span class="keyword">const</span> std::string & roiRatios);</div>
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<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> </div>
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<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga81d9f49d117d02494c7ff57f5d426b15"> 438</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keyword">const</span> std::vector<float> & roiRatios);</div>
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<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> </div>
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<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga56fed8ce688e8e9eb3b1f74ad0febcef"> 449</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Size & imageSize, <span class="keyword">const</span> std::vector<float> & roiRatios);</div>
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<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
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<span class="comment">// end of RoiComputation group</span><div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> </div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a0b545a9f852684afb0a6d8f835f9eaf2"> 467</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a0b545a9f852684afb0a6d8f835f9eaf2">decimate</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keywordtype">int</span> d);</div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
|
||||
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#afc241016af8396edf5228dbe9e80ee8d"> 485</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#afc241016af8396edf5228dbe9e80ee8d">interpolate</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keywordtype">int</span> factor, <span class="keywordtype">float</span> depthErrorRatio = 0.02f);</div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
|
||||
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a48a7e15282f392e77561dd96ed3320f9"> 510</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a48a7e15282f392e77561dd96ed3320f9">registerDepth</a>(</div>
|
||||
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> <span class="keyword">const</span> cv::Mat & depthK,</div>
|
||||
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> <span class="keyword">const</span> cv::Size & colorSize,</div>
|
||||
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> <span class="keyword">const</span> cv::Mat & colorK,</div>
|
||||
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & transform);</div>
|
||||
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a48a7e15282f392e77561dd96ed3320f9">registerDepth</a>(</div>
|
||||
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keyword">const</span> cv::Mat & confidence,</div>
|
||||
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> <span class="keyword">const</span> cv::Mat & depthK,</div>
|
||||
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> <span class="keyword">const</span> cv::Size & colorSize,</div>
|
||||
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keyword">const</span> cv::Mat & colorK,</div>
|
||||
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & transform,</div>
|
||||
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> cv::Mat & registeredConfidence);</div>
|
||||
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> </div>
|
||||
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aeb3dee2cf6484f0b224d4687899cb004"> 542</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aeb3dee2cf6484f0b224d4687899cb004">fillDepthHoles</a>(</div>
|
||||
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="keywordtype">int</span> maximumHoleSize = 1,</div>
|
||||
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="keywordtype">float</span> errorRatio = 0.02f);</div>
|
||||
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> </div>
|
||||
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#afc6c9b3442c64ef2061365ead3923228"> 574</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#afc6c9b3442c64ef2061365ead3923228">fillRegisteredDepthHoles</a>(</div>
|
||||
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> cv::Mat & depthRegistered,</div>
|
||||
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> <span class="keywordtype">bool</span> vertical,</div>
|
||||
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> <span class="keywordtype">bool</span> horizontal,</div>
|
||||
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> <span class="keywordtype">bool</span> fillDoubleHoles = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> </div>
|
||||
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a076914fde23d1323fccf71a794b9bc51"> 603</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a076914fde23d1323fccf71a794b9bc51">fastBilateralFiltering</a>(</div>
|
||||
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keywordtype">float</span> sigmaS = 15.0f,</div>
|
||||
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">float</span> sigmaR = 0.05f,</div>
|
||||
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">bool</span> earlyDivision = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> </div>
|
||||
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a7788d4dabf084959aa69162d5dbb2d2e"> 624</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a7788d4dabf084959aa69162d5dbb2d2e">depthBleedingFiltering</a>(</div>
|
||||
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keywordtype">float</span> maxDepthError);</div>
|
||||
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> </div>
|
||||
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a89ec90b2659c764ba22b5c36d729c8f8"> 649</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a89ec90b2659c764ba22b5c36d729c8f8">brightnessAndContrastAuto</a>(</div>
|
||||
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> <span class="keyword">const</span> cv::Mat & src,</div>
|
||||
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> <span class="keyword">const</span> cv::Mat & mask,</div>
|
||||
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> <span class="keywordtype">float</span> clipLowHistPercent=0,</div>
|
||||
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> <span class="keywordtype">float</span> clipHighHistPercent=0,</div>
|
||||
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> <span class="keywordtype">float</span> * alphaOut = 0,</div>
|
||||
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> <span class="keywordtype">float</span> * betaOut = 0);</div>
|
||||
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> </div>
|
||||
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ac38e8ed586d24c4b9fe72d64afeb9583"> 675</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ac38e8ed586d24c4b9fe72d64afeb9583">exposureFusion</a>(</div>
|
||||
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> <span class="keyword">const</span> std::vector<cv::Mat> & images);</div>
|
||||
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> </div>
|
||||
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ac29ac5b8bed26a5299d378708170dd11"> 696</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ac29ac5b8bed26a5299d378708170dd11">HSVtoRGB</a>( <span class="keywordtype">float</span> *r, <span class="keywordtype">float</span> *g, <span class="keywordtype">float</span> *b, <span class="keywordtype">float</span> h, <span class="keywordtype">float</span> s, <span class="keywordtype">float</span> v );</div>
|
||||
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"> 697</span> </div>
|
||||
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aafa9a426c8e7dd0359adf40e1b45ee1c"> 717</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aafa9a426c8e7dd0359adf40e1b45ee1c">NMS</a>(</div>
|
||||
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"> 718</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & ptsIn,</div>
|
||||
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"> 719</span> <span class="keyword">const</span> cv::Mat & descriptorsIn,</div>
|
||||
<div class="line"><a id="l00720" name="l00720"></a><span class="lineno"> 720</span> std::vector<cv::KeyPoint> & ptsOut,</div>
|
||||
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"> 721</span> cv::Mat & descriptorsOut,</div>
|
||||
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span> <span class="keywordtype">int</span> dist_thresh, <span class="keywordtype">int</span> img_width, <span class="keywordtype">int</span> img_height);</div>
|
||||
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> </div>
|
||||
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aa6957971e17f27bb066efe036d80fd46"> 752</a></span>std::vector<int> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aa6957971e17f27bb066efe036d80fd46">SSC</a>(</div>
|
||||
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints,</div>
|
||||
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span> <span class="keywordtype">int</span> maxKeypoints,</div>
|
||||
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> <span class="keywordtype">float</span> tolerance,</div>
|
||||
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> <span class="keywordtype">int</span> cols,</div>
|
||||
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span> <span class="keywordtype">int</span> rows,</div>
|
||||
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <span class="keyword">const</span> std::vector<int> & indx = {});</div>
|
||||
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> </div>
|
||||
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a1577494ad9730181d5b768ca8237d5dd"> 784</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a1577494ad9730181d5b768ca8237d5dd">rotateImagesUpsideUpIfNecessary</a>(</div>
|
||||
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"> 786</span> cv::Mat & rgb,</div>
|
||||
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"> 787</span> cv::Mat & depth);</div>
|
||||
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> </div>
|
||||
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span>} <span class="comment">// namespace util2d</span></div>
|
||||
</div>
|
||||
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> </div>
|
||||
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL2D_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">namespace </span>util2d</div>
|
||||
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>{</div>
|
||||
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> </div>
|
||||
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a179e07ca5bc9581ff4782ae8f9d33521"> 71</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a179e07ca5bc9581ff4782ae8f9d33521">ssd</a>(<span class="keyword">const</span> cv::Mat & windowLeft, <span class="keyword">const</span> cv::Mat & windowRight);</div>
|
||||
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> </div>
|
||||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a4cd865b8edc489f950b0c1b5e1a0c992"> 91</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a4cd865b8edc489f950b0c1b5e1a0c992">sad</a>(<span class="keyword">const</span> cv::Mat & windowLeft, <span class="keyword">const</span> cv::Mat & windowRight);</div>
|
||||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
|
||||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a53e2ae078c4c5c997fda9f1b6d1dda33"> 125</a></span>std::vector<cv::Point2f> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a53e2ae078c4c5c997fda9f1b6d1dda33">calcStereoCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">const</span> cv::Mat & rightImage,</div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> std::vector<unsigned char> & status,</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> cv::Size winSize = cv::Size(6,3),</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">int</span> maxLevel = 3,</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">int</span> iterations = 5,</div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">float</span> minDisparity = 0.0f,</div>
|
||||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">float</span> maxDisparity = 64.0f,</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">bool</span> ssdApproach = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a3d01284751a6b46770a28a7f63576600"> 176</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a3d01284751a6b46770a28a7f63576600">calcOpticalFlowPyrLKStereo</a>( cv::InputArray _prevImg, cv::InputArray _nextImg,</div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> cv::InputArray _prevPts, cv::InputOutputArray _nextPts,</div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> cv::OutputArray _status, cv::OutputArray _err,</div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> cv::Size winSize = cv::Size(15,3), <span class="keywordtype">int</span> maxLevel = 3,</div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),</div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">int</span> flags = 0, <span class="keywordtype">double</span> minEigThreshold = 1e-4 );</div>
|
||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> </div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ad7ea8d1905c7143d376c57c9e22dcea5"> 212</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ad7ea8d1905c7143d376c57c9e22dcea5">disparityFromStereoImages</a>(</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keyword">const</span> cv::Mat & rightImage,</div>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> </div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a110359c4884579e1c7b68d8baa7acb6c"> 237</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a110359c4884579e1c7b68d8baa7acb6c">depthFromDisparity</a>(<span class="keyword">const</span> cv::Mat & disparity,</div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> baseline,</div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">int</span> type = CV_32FC1); <span class="comment">// CV_32FC1 or CV_16UC1</span></div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
|
||||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aacf89454b054d86b53a8038c8a404b50"> 263</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aacf89454b054d86b53a8038c8a404b50">depthFromStereoImages</a>(</div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keyword">const</span> cv::Mat & rightImage,</div>
|
||||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keywordtype">float</span> fx,</div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">float</span> baseline,</div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordtype">int</span> flowWinSize = 9,</div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keywordtype">int</span> flowMaxLevel = 4,</div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keywordtype">int</span> flowIterations = 20,</div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keywordtype">double</span> flowEps = 0.02);</div>
|
||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
|
||||
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a4f10f8038c62a97d3a79bd2dc5bf2c58"> 298</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a4f10f8038c62a97d3a79bd2dc5bf2c58">disparityFromStereoCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keyword">const</span> cv::Size & disparitySize,</div>
|
||||
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
|
||||
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keyword">const</span> std::vector<cv::Point2f> & rightCorners,</div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keyword">const</span> std::vector<unsigned char> & mask);</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> </div>
|
||||
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ae6548e6246eceaff5dcc9ee30514eac5"> 326</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ae6548e6246eceaff5dcc9ee30514eac5">depthFromStereoCorrespondences</a>(</div>
|
||||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">const</span> std::vector<cv::Point2f> & leftCorners,</div>
|
||||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">const</span> std::vector<cv::Point2f> & rightCorners,</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keyword">const</span> std::vector<unsigned char> & mask,</div>
|
||||
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> baseline);</div>
|
||||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> </div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a6740b13198a2c437ab51d8e0503f2d33"> 354</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a6740b13198a2c437ab51d8e0503f2d33">cvtDepthFromFloat</a>(<span class="keyword">const</span> cv::Mat & depth32F);</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
|
||||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a0e4631bed561b3a694a1a65853221f75"> 373</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a0e4631bed561b3a694a1a65853221f75">cvtDepthToFloat</a>(<span class="keyword">const</span> cv::Mat & depth16U);</div>
|
||||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> </div>
|
||||
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a48b07b02efba21a914db10e832589aba"> 400</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a48b07b02efba21a914db10e832589aba">getDepth</a>(</div>
|
||||
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
|
||||
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
|
||||
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keywordtype">bool</span> smoothing,</div>
|
||||
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keywordtype">float</span> depthErrorRatio = 0.02f, <span class="comment">//ratio</span></div>
|
||||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keywordtype">bool</span> estWithNeighborsIfNull = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> </div>
|
||||
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478"> 423</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keyword">const</span> std::string & roiRatios);</div>
|
||||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> </div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga2f0ffb8f6882e28709b03446d50250bb"> 433</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Size & imageSize, <span class="keyword">const</span> std::string & roiRatios);</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> </div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga81d9f49d117d02494c7ff57f5d426b15"> 443</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keyword">const</span> std::vector<float> & roiRatios);</div>
|
||||
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> </div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"><a class="line" href="group__RoiComputation.html#ga56fed8ce688e8e9eb3b1f74ad0febcef"> 454</a></span>cv::Rect RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">computeRoi</a>(<span class="keyword">const</span> cv::Size & imageSize, <span class="keyword">const</span> std::vector<float> & roiRatios);</div>
|
||||
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> </div>
|
||||
<span class="comment">// end of RoiComputation group</span><div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
|
||||
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a0b545a9f852684afb0a6d8f835f9eaf2"> 472</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a0b545a9f852684afb0a6d8f835f9eaf2">decimate</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keywordtype">int</span> d);</div>
|
||||
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> </div>
|
||||
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#afc241016af8396edf5228dbe9e80ee8d"> 490</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#afc241016af8396edf5228dbe9e80ee8d">interpolate</a>(<span class="keyword">const</span> cv::Mat & image, <span class="keywordtype">int</span> factor, <span class="keywordtype">float</span> depthErrorRatio = 0.02f);</div>
|
||||
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> </div>
|
||||
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a48a7e15282f392e77561dd96ed3320f9"> 515</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a48a7e15282f392e77561dd96ed3320f9">registerDepth</a>(</div>
|
||||
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keyword">const</span> cv::Mat & depthK,</div>
|
||||
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keyword">const</span> cv::Size & colorSize,</div>
|
||||
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> <span class="keyword">const</span> cv::Mat & colorK,</div>
|
||||
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & transform);</div>
|
||||
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a48a7e15282f392e77561dd96ed3320f9">registerDepth</a>(</div>
|
||||
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> <span class="keyword">const</span> cv::Mat & confidence,</div>
|
||||
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keyword">const</span> cv::Mat & depthK,</div>
|
||||
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> <span class="keyword">const</span> cv::Size & colorSize,</div>
|
||||
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <span class="keyword">const</span> cv::Mat & colorK,</div>
|
||||
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & transform,</div>
|
||||
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> cv::Mat & registeredConfidence);</div>
|
||||
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> </div>
|
||||
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aeb3dee2cf6484f0b224d4687899cb004"> 547</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aeb3dee2cf6484f0b224d4687899cb004">fillDepthHoles</a>(</div>
|
||||
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <span class="keywordtype">int</span> maximumHoleSize = 1,</div>
|
||||
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> <span class="keywordtype">float</span> errorRatio = 0.02f);</div>
|
||||
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> </div>
|
||||
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#afc6c9b3442c64ef2061365ead3923228"> 579</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#afc6c9b3442c64ef2061365ead3923228">fillRegisteredDepthHoles</a>(</div>
|
||||
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> cv::Mat & depthRegistered,</div>
|
||||
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> <span class="keywordtype">bool</span> vertical,</div>
|
||||
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> <span class="keywordtype">bool</span> horizontal,</div>
|
||||
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <span class="keywordtype">bool</span> fillDoubleHoles = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> </div>
|
||||
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a076914fde23d1323fccf71a794b9bc51"> 608</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a076914fde23d1323fccf71a794b9bc51">fastBilateralFiltering</a>(</div>
|
||||
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">float</span> sigmaS = 15.0f,</div>
|
||||
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keywordtype">float</span> sigmaR = 0.05f,</div>
|
||||
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keywordtype">bool</span> earlyDivision = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> </div>
|
||||
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a7788d4dabf084959aa69162d5dbb2d2e"> 629</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a7788d4dabf084959aa69162d5dbb2d2e">depthBleedingFiltering</a>(</div>
|
||||
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="keywordtype">float</span> maxDepthError);</div>
|
||||
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> </div>
|
||||
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a89ec90b2659c764ba22b5c36d729c8f8"> 654</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a89ec90b2659c764ba22b5c36d729c8f8">brightnessAndContrastAuto</a>(</div>
|
||||
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> <span class="keyword">const</span> cv::Mat & src,</div>
|
||||
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keyword">const</span> cv::Mat & mask,</div>
|
||||
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> <span class="keywordtype">float</span> clipLowHistPercent=0,</div>
|
||||
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> <span class="keywordtype">float</span> clipHighHistPercent=0,</div>
|
||||
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> <span class="keywordtype">float</span> * alphaOut = 0,</div>
|
||||
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> <span class="keywordtype">float</span> * betaOut = 0);</div>
|
||||
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"> 661</span> </div>
|
||||
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ac38e8ed586d24c4b9fe72d64afeb9583"> 680</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ac38e8ed586d24c4b9fe72d64afeb9583">exposureFusion</a>(</div>
|
||||
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> <span class="keyword">const</span> std::vector<cv::Mat> & images);</div>
|
||||
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> </div>
|
||||
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#ac29ac5b8bed26a5299d378708170dd11"> 701</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#ac29ac5b8bed26a5299d378708170dd11">HSVtoRGB</a>( <span class="keywordtype">float</span> *r, <span class="keywordtype">float</span> *g, <span class="keywordtype">float</span> *b, <span class="keywordtype">float</span> h, <span class="keywordtype">float</span> s, <span class="keywordtype">float</span> v );</div>
|
||||
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> </div>
|
||||
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aafa9a426c8e7dd0359adf40e1b45ee1c"> 722</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aafa9a426c8e7dd0359adf40e1b45ee1c">NMS</a>(</div>
|
||||
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & ptsIn,</div>
|
||||
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> <span class="keyword">const</span> cv::Mat & descriptorsIn,</div>
|
||||
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> std::vector<cv::KeyPoint> & ptsOut,</div>
|
||||
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> cv::Mat & descriptorsOut,</div>
|
||||
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> <span class="keywordtype">int</span> dist_thresh, <span class="keywordtype">int</span> img_width, <span class="keywordtype">int</span> img_height);</div>
|
||||
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> </div>
|
||||
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#aa6957971e17f27bb066efe036d80fd46"> 757</a></span>std::vector<int> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#aa6957971e17f27bb066efe036d80fd46">SSC</a>(</div>
|
||||
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints,</div>
|
||||
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> <span class="keywordtype">int</span> maxKeypoints,</div>
|
||||
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> <span class="keywordtype">float</span> tolerance,</div>
|
||||
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"> 761</span> <span class="keywordtype">int</span> cols,</div>
|
||||
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> <span class="keywordtype">int</span> rows,</div>
|
||||
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> <span class="keyword">const</span> std::vector<int> & indx = {});</div>
|
||||
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> </div>
|
||||
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util2d.html#a1577494ad9730181d5b768ca8237d5dd"> 789</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util2d.html#a1577494ad9730181d5b768ca8237d5dd">rotateImagesUpsideUpIfNecessary</a>(</div>
|
||||
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> cv::Mat & rgb,</div>
|
||||
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> cv::Mat & depth);</div>
|
||||
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"> 793</span> </div>
|
||||
<div class="line"><a id="l00794" name="l00794"></a><span class="lineno"> 794</span>} <span class="comment">// namespace util2d</span></div>
|
||||
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"> 795</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> </div>
|
||||
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"> 797</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL2D_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
|
||||
<div class="ttc" id="agroup__RoiComputation_html_ga79d3f93673fb236980f0be532695f478"><div class="ttname"><a href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">rtabmap::util2d::computeRoi</a></div><div class="ttdeci">cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat &image, const std::string &roiRatios)</div><div class="ttdoc">Computes a region of interest (ROI) in the image using string-defined ratios.</div></div>
|
||||
@@ -313,10 +328,15 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_afc241016af8396edf5228dbe9e80ee8d"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#afc241016af8396edf5228dbe9e80ee8d">rtabmap::util2d::interpolate</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT interpolate(const cv::Mat &image, int factor, float depthErrorRatio=0.02f)</div><div class="ttdoc">Upsamples a depth image using bilinear interpolation with depth consistency check.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_afc6c9b3442c64ef2061365ead3923228"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#afc6c9b3442c64ef2061365ead3923228">rtabmap::util2d::fillRegisteredDepthHoles</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles(cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)</div><div class="ttdoc">Fill holes in a registered depth image using linear interpolation.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
|
||||
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
|
||||
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||||
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