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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="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
|
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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||||
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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||||
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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||||
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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||||
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
|
||||
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef UTIL2D_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define UTIL2D_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include <rtabmap/core/rtabmap_core_export.h></span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <rtabmap/core/Parameters.h></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <rtabmap/core/CameraModel.h></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <vector></span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
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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>
|
||||
<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>
|
||||
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> <span class="keyword">const</span> cv::Size & disparitySize,</div>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keyword">const</span> cv::Mat & leftImage,</div>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
|
||||
<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>
|
||||
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordtype">bool</span> smoothing,</div>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> </div>
|
||||
<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>
|
||||
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
|
||||
<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>
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||||
<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>
|
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<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"> 786</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"> 787</span> cv::Mat & depth);</div>
|
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<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> </div>
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||||
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span>} <span class="comment">// namespace util2d</span></div>
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</div>
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<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>
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||||
<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>
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||||
<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>
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||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a076914fde23d1323fccf71a794b9bc51"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a076914fde23d1323fccf71a794b9bc51">rtabmap::util2d::fastBilateralFiltering</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT fastBilateralFiltering(const cv::Mat &depth, float sigmaS=15.0f, float sigmaR=0.05f, bool earlyDivision=false)</div><div class="ttdoc">Applies a 2D fast bilateral filter to a depth image.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a0b545a9f852684afb0a6d8f835f9eaf2"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a0b545a9f852684afb0a6d8f835f9eaf2">rtabmap::util2d::decimate</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT decimate(const cv::Mat &image, int d)</div><div class="ttdoc">Downsamples an image by a given decimation factor.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a0e4631bed561b3a694a1a65853221f75"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a0e4631bed561b3a694a1a65853221f75">rtabmap::util2d::cvtDepthToFloat</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT cvtDepthToFloat(const cv::Mat &depth16U)</div><div class="ttdoc">Converts a 16-bit unsigned depth image (in millimeters) to a 32-bit float depth image (in meters).</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a110359c4884579e1c7b68d8baa7acb6c"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a110359c4884579e1c7b68d8baa7acb6c">rtabmap::util2d::depthFromDisparity</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT depthFromDisparity(const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)</div><div class="ttdoc">Converts a disparity map to a depth map using stereo camera parameters.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a1577494ad9730181d5b768ca8237d5dd"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a1577494ad9730181d5b768ca8237d5dd">rtabmap::util2d::rotateImagesUpsideUpIfNecessary</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT rotateImagesUpsideUpIfNecessary(CameraModel &model, cv::Mat &rgb, cv::Mat &depth)</div><div class="ttdoc">Rotates the input RGB and depth images to make them appear upright based on the camera's roll angle.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a179e07ca5bc9581ff4782ae8f9d33521"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a179e07ca5bc9581ff4782ae8f9d33521">rtabmap::util2d::ssd</a></div><div class="ttdeci">float RTABMAP_CORE_EXPORT ssd(const cv::Mat &windowLeft, const cv::Mat &windowRight)</div><div class="ttdoc">Computes the Sum of Squared Differences (SSD) between two image patches.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a3d01284751a6b46770a28a7f63576600"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a3d01284751a6b46770a28a7f63576600">rtabmap::util2d::calcOpticalFlowPyrLKStereo</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT 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)</div><div class="ttdoc">Computes sparse optical flow using a pyramidal Lucas-Kanade method constrained to the x-axis.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a48a7e15282f392e77561dd96ed3320f9"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a48a7e15282f392e77561dd96ed3320f9">rtabmap::util2d::registerDepth</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT registerDepth(const cv::Mat &depth, const cv::Mat &depthK, const cv::Size &colorSize, const cv::Mat &colorK, const rtabmap::Transform &transform)</div><div class="ttdoc">Registers a depth image to a different camera frame (typically RGB).</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a48b07b02efba21a914db10e832589aba"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a48b07b02efba21a914db10e832589aba">rtabmap::util2d::getDepth</a></div><div class="ttdeci">float RTABMAP_CORE_EXPORT getDepth(const cv::Mat &depthImage, float x, float y, bool smoothing, float depthErrorRatio=0.02f, bool estWithNeighborsIfNull=false)</div><div class="ttdoc">Retrieves a depth value from a depth image at a subpixel coordinate.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a4cd865b8edc489f950b0c1b5e1a0c992"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a4cd865b8edc489f950b0c1b5e1a0c992">rtabmap::util2d::sad</a></div><div class="ttdeci">float RTABMAP_CORE_EXPORT sad(const cv::Mat &windowLeft, const cv::Mat &windowRight)</div><div class="ttdoc">Computes the Sum of Absolute Differences (SAD) between two image patches.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a4f10f8038c62a97d3a79bd2dc5bf2c58"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a4f10f8038c62a97d3a79bd2dc5bf2c58">rtabmap::util2d::disparityFromStereoCorrespondences</a></div><div class="ttdeci">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)</div><div class="ttdoc">Computes a disparity map from stereo correspondences between two images.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a53e2ae078c4c5c997fda9f1b6d1dda33"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a53e2ae078c4c5c997fda9f1b6d1dda33">rtabmap::util2d::calcStereoCorrespondences</a></div><div class="ttdeci">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)</div><div class="ttdoc">Computes stereo correspondences between left and right images using a pyramidal window-based matching...</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a6740b13198a2c437ab51d8e0503f2d33"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a6740b13198a2c437ab51d8e0503f2d33">rtabmap::util2d::cvtDepthFromFloat</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT cvtDepthFromFloat(const cv::Mat &depth32F)</div><div class="ttdoc">Converts a 32-bit float depth image (in meters) to a 16-bit unsigned depth image (in millimeters).</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a7788d4dabf084959aa69162d5dbb2d2e"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a7788d4dabf084959aa69162d5dbb2d2e">rtabmap::util2d::depthBleedingFiltering</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT depthBleedingFiltering(cv::Mat &depth, float maxDepthError)</div><div class="ttdoc">Filters out depth bleeding artifacts in a depth image.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_a89ec90b2659c764ba22b5c36d729c8f8"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#a89ec90b2659c764ba22b5c36d729c8f8">rtabmap::util2d::brightnessAndContrastAuto</a></div><div class="ttdeci">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)</div><div class="ttdoc">Automatic brightness and contrast optimization with optional histogram clipping.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_aa6957971e17f27bb066efe036d80fd46"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#aa6957971e17f27bb066efe036d80fd46">rtabmap::util2d::SSC</a></div><div class="ttdeci">std::vector< int > RTABMAP_CORE_EXPORT SSC(const std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, float tolerance, int cols, int rows, const std::vector< int > &indx={})</div><div class="ttdoc">Applies the SSC (Suppression via Square Covering) algorithm to spatially select keypoints.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_aacf89454b054d86b53a8038c8a404b50"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#aacf89454b054d86b53a8038c8a404b50">rtabmap::util2d::depthFromStereoImages</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT 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)</div><div class="ttdoc">Computes a depth map from stereo image pairs using optical flow tracking.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_aafa9a426c8e7dd0359adf40e1b45ee1c"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#aafa9a426c8e7dd0359adf40e1b45ee1c">rtabmap::util2d::NMS</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT NMS(const std::vector< cv::KeyPoint > &ptsIn, const cv::Mat &descriptorsIn, std::vector< cv::KeyPoint > &ptsOut, cv::Mat &descriptorsOut, int dist_thresh, int img_width, int img_height)</div><div class="ttdoc">Applies Non-Maximum Suppression (NMS) to a set of keypoints.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_ac29ac5b8bed26a5299d378708170dd11"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#ac29ac5b8bed26a5299d378708170dd11">rtabmap::util2d::HSVtoRGB</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT HSVtoRGB(float *r, float *g, float *b, float h, float s, float v)</div><div class="ttdoc">Converts a color from HSV (Hue, Saturation, Value) to RGB.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_ac38e8ed586d24c4b9fe72d64afeb9583"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#ac38e8ed586d24c4b9fe72d64afeb9583">rtabmap::util2d::exposureFusion</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT exposureFusion(const std::vector< cv::Mat > &images)</div><div class="ttdoc">Performs exposure fusion on a set of input images.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_ad7ea8d1905c7143d376c57c9e22dcea5"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#ad7ea8d1905c7143d376c57c9e22dcea5">rtabmap::util2d::disparityFromStereoImages</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages(const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Computes the disparity map from a pair of stereo images.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_ae6548e6246eceaff5dcc9ee30514eac5"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#ae6548e6246eceaff5dcc9ee30514eac5">rtabmap::util2d::depthFromStereoCorrespondences</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT 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)</div><div class="ttdoc">Computes a sparse depth map from corresponding stereo feature points.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util2d_html_aeb3dee2cf6484f0b224d4687899cb004"><div class="ttname"><a href="namespacertabmap_1_1util2d.html#aeb3dee2cf6484f0b224d4687899cb004">rtabmap::util2d::fillDepthHoles</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles(const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)</div><div class="ttdoc">Fills holes in the depth image using linear interpolation.</div></div>
|
||||
<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>
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